To provide a technology capable of moving a vehicle into an intersection while further accurately grasping a situation around the intersection.SOLUTION: A control device 10 mounted on a vehicle 100 comprises: a runway identification part 12 for identifying a runway of the vehicle; an obstacle recognition part 13 for recognizing an obstacle existing around the vehicle; a determination part 14 for determining whether to execute first control in which, when the vehicle is moved into an intersection without a traffic light from a traveling road that is a road on which the vehicle is being traveled at present, in accordance with the runway after temporary stop, based on a travel direction of the vehicle at the intersection and a position of a stationary obstacle recognized on a crossing road crossing the traveling road at the intersection, the vehicle is moved to a stop position in the intersection while reducing the speed, or second control in which the vehicle is moved in the travel direction without reducing the speed in relative to the first control; and a vehicle control part 15 for controlling driving of the vehicle in accordance with a determination result in the determination part.SELECTED DRAWING: Figure 1
【課題】交差点の周囲の状況をより的確に把握して車両を交差点に進入させることのできる技術を提供する。【解決手段】車両100に搭載される制御装置10は、車両の走路を特定する走路特定部12と、車両の周囲に存在する障害物を認識する障害物認識部13と、現在走行中の道路である走行道路から走路に従って信号のない交差点に一旦停止後に進入する場合に、交差点における車両の進行方向と、交差点において走行道路に交差する交差道路上に認識された静止した障害物の位置とに基づいて、交差点内の停止位置まで車両を徐行させて進入させる第1の制御と、前記第1の制御と比べて車両を徐行させずに進行方向に進行させる第2の制御の何れを実行するかを判断する判断部14と、判断部における判断結果に従って車両を運転制御する車両制御部15と、を備える。【選択図】図1
CONTROL DEVICE FOR VEHICLE AND CONTROL METHOD
車両の制御装置および制御方法
2019-07-22
Patent
Elektronische Ressource
Japanisch
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