To provide a vehicle control device for suppressing obstruction of the traffic of a mobile body in the periphery of an own vehicle while suppressing an increase of an arithmetic load.SOLUTION: A vehicle control device 1 includes: an own vehicle position recognition section 11 for recognizing an own vehicle position; an outer environment recognition section 12 for recognizing a mobile body in the periphery of an own vehicle; a map database 5 for storing map information; an influence recognition section 13 for recognizing an influence of the mobile body on the own vehicle traveling along a target route; and a vehicle control section 14 for decelerating the own vehicle so as to avoid a collision with the mobile body based on an influence recognition result. The map information includes area information related to a plurality of areas on a map to identify the mobile body to be a recognition object of the influence. When the own vehicle position satisfies a predetermined own vehicle position condition which is preset for each area based on the own vehicle position, the area information, and the recognition result of the mobile body, the influence recognition section 13 recognizes the influence about the mobile body existing in the area where the own vehicle position satisfies the own vehicle position condition.SELECTED DRAWING: Figure 1
【課題】演算負荷の増大を抑制しつつ、自車両の周囲の移動体の交通を妨げることを抑制できる車両制御装置を提供する。【解決手段】車両制御装置1は、自車位置を認識する自車位置認識部11と、自車両の周囲の移動体を認識する外部環境認識部12と、地図情報を記憶する地図データベース5と、目標経路に沿って走行する自車両に対する移動体の影響を認識する影響認識部13と、影響の認識結果に基づいて移動体との衝突を回避するように自車両を減速させる車両制御部14と、を備える。地図情報は、影響の認識の対象となる移動体を特定するための地図上の複数のエリアに関するエリア情報を含む。影響認識部13は、自車位置とエリア情報と移動体の認識結果とに基づいてエリアごとに予め設定された所定の自車位置条件を自車位置が満たす場合に、自車位置が自車位置条件を満たすエリアに存在する移動体について影響を認識する。【選択図】図1
VEHICLE CONTROL DEVICE
車両制御装置
2022-06-13
Patent
Elektronische Ressource
Japanisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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