To provide a vehicle control device, a vehicle control method, and a program which enable a natural lane change with a reduced sense of discomfort.SOLUTION: An automated driving control device 100 comprises: a recognition section 130 for recognizing the surrounding situation of an own vehicle; and a driving control section 120, 160 for controlling the acceleration/deceleration and steering of the own vehicle on the basis of the recognition result of the recognition section. When allowing the own vehicle to make a lane change from a first lane to a second lane, the driving control section 120, 160 determines the target speed of the own vehicle by reflecting a first target speed based on a relationship between a first vehicle traveling ahead of the own vehicle in the first lane and the own vehicle, and a second target speed based on a relationship between a second vehicle traveling ahead of a target position toward which the own vehicle makes the lane change in the second lane and the own vehicle, in a prescribed ratio according to the progress of the lane change, and determines the degree of change in the prescribed ratio relative to the progress of the lane change, according to the mode of the lane change.SELECTED DRAWING: Figure 2
【課題】違和感の小さい自然な車線変更を実現することができる車両制御装置、車両制御方法、およびプログラムを提供すること。【解決手段】自車両の周辺状況を認識する認識部130と、前記認識部の認識結果に基づいて自車両の加減速および操舵を制御する運転制御部120、160と、を備え、前記運転制御部120、160は、自車両を第1車線から第2車線に車線変更させる場合、前記第1車線において自車両の前方を走行する第1車両と自車両との関係に基づく第1目標速度と、前記第2車線において自車両が車線変更する先のターゲット位置の前方を走行する第2車両と自車両との関係に基づく第2目標速度と、車線変更の進捗に応じた所定の割合で反映させて自車両の目標速度を決定し、車線変更の進捗に対する所定の割合の変化度合いを、車線変更の態様に応じて決定する、自動運転制御装置100。【選択図】図2
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM
車両制御装置、車両制御方法、およびプログラム
2019-12-26
Patent
Elektronische Ressource
Japanisch
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