To provide a vehicle control device that is able to smoothly perform an avoidance operation with respect to an action of a peripheral vehicle.SOLUTION: A vehicle control device 100 of the present disclosure includes: an action type prediction unit 120 that predicts an action type of a peripheral vehicle 30; an occurrence probability calculation unit 130 that calculates an occurrence probability for each of the action types of the peripheral vehicle 30; an action type selection unit 140 that selects an action type whose occurrence probability for each action type is larger than a selection threshold value; a peripheral vehicle position predicting unit 150 that predicts a position of the peripheral vehicle of the selected action type; an avoidance operation amount computing unit 160 that calculates an amount of avoidance operation for one or both of steering and acceleration/deceleration required for an own vehicle 1 to perform an avoidance operation with respect to the peripheral vehicle 30; an adjusted avoidance operation amount computing unit 170 that calculates an adjusted amount of avoidance operation in which the amount of avoidance operation is increased/decreased, based on the occurrence probability of the selected action type; and a vehicle control unit 180 that controls an operation of the own vehicle 1, based on the adjusted amount of avoidance operation.SELECTED DRAWING: Figure 1
【課題】周辺車両の行動に対して、円滑な回避動作が可能な車両制御装置を得る。【解決手段】本開示の車両制御装置100は、周辺車両30の行動種別を予測する行動種別予測部120と、周辺車両30の行動種別ごとの発生確率を計算する発生確率演算部130と、行動種別ごとの発生確率が選択閾値よりも大きい行動種別を選択する行動種別選択部140と、選択された行動種別における周辺車両の位置を予測する周辺車両位置予測部150と、周辺車両30に対して、自車両1が回避動作するための操舵及び加減速のいずれか一方または両方の回避操作量を計算する回避操作量演算部160と、選択された行動種別の発生確率に基づき、回避操作量を増減した調整後回避操作量を計算する調整後回避操作量演算部170と、調整後回避操作量に基づき自車両1の操作を制御する車両制御部180と、を備える。【選択図】図1
VEHICLE CONTROL DEVICE, VEHICLE CONTROL SYSTEM, VEHICLE CONTROL METHOD AND VEHICLE CONTROL PROGRAM
車両制御装置、車両制御システム、車両制御方法及び車両制御プログラム
2022-11-29
Patent
Elektronische Ressource
Japanisch
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