To provide a vehicle control device, a vehicle control method, and a program capable of appropriately linking object detection with drive control.SOLUTION: A vehicle control device comprises: a recognition unit for recognizing a peripheral environment around a vehicle; and a drive control unit for performing drive control by speed control and steering control for the vehicle, on the basis of a recognition result of the recognition unit, The recognition unit comprises: an object recognition unit for recognizing an object existing on a route of the vehicle on the basis of images acquired from an imaging unit for imaging a space in a proceeding direction of the vehicle; and an obstacle determination unit for determining whether the object recognized by the object recognition unit is a specific obstacle that causes any hindrance in traveling on a lane where the vehicle is currently traveling. When the object recognition unit recognizes the object in the case the vehicle is caused to perform a lane change, the drive control unit starts to determine whether or not to perform the lane change before the obstacle determination unit performs determination or at the same time the obstacle determination unit starts the determination.SELECTED DRAWING: Figure 1
【課題】物体検知と運転制御とを好適に連動させ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】車両の周辺環境を認識する認識部と、認識部の認識結果に基づいて、車両の速度制御および操舵制御による運転制御を行う運転制御部と、を備え、認識部は、車両の進行方向の空間を撮像する撮像部から取得した画像に基づいて車両の進路上に存在する物体を認識する物体認識部と、物体認識部が認識した物体が、車両が現在走行している車線における走行に支障をきたす特定障害物であるか否かを判定する障害物判定部と、を備え、運転制御部は、車両に車線変更を行わせる場合において、物体認識部が物体を認識した場合、障害物判定部が判定を行う前、または判定を開始するのと同時に、車線変更の実行可否判断を開始する、車両制御装置。【選択図】図1
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
2020-10-01
Patent
Elektronische Ressource
Japanisch
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