To improve comfort of an occupant by selecting an appropriate vehicle as a preceding vehicle from a plurality of peripheral vehicles predicted to perform an interruption.SOLUTION: A vehicle control device 100 includes: a peripheral vehicle lane determination section 110; a peripheral vehicle behavior prediction section 120 for predicting whether or not peripheral vehicles will perform an interruption after a present time; a preceding vehicle determination section 130 for determining a preceding vehicle which an own vehicle should follow, out of the peripheral vehicles; a target acceleration calculation section 140 for calculating a target acceleration; and a drive force calculation section 150 for calculating drive force of the own vehicle. The preceding vehicle determination section includes: a preceding vehicle candidate selection section 131 for selecting the peripheral vehicle traveling in front on an own vehicle travel lane and a peripheral vehicle predicted to perform an interruption on the own vehicle travel lane as preceding vehicle candidates; a collision risk degree determination section 132 for determining a collision risk degree of the peripheral vehicles selected as the preceding vehicle candidates; and a preceding vehicle selection section 133 for selecting the peripheral vehicle with the greatest collision risk degree as the preceding vehicle.SELECTED DRAWING: Figure 1
【課題】割り込みが予想される複数の周辺車両の中から適切な車両を先行車に選択することで乗員の快適性を向上させる。【解決手段】車両制御装置100は、周辺車両車線判定部110と、周辺車両に対して現在より後の時刻において割り込みを行うか否かを予測する周辺車両行動予測部120と、周辺車両の中から自車両が追従すべき先行車を判定する先行車判定部130と、目標加速度を演算する目標加速度演算部140と、自車両の駆動力を演算する駆動力演算部150とを備えている。先行車判定部は、自車両走行車線の前方を走行する周辺車両および自車両走行車線に割り込みを行うと予想された周辺車両を先行車候補に選定する先行車候補選定部131と、先行車候補に選定された周辺車両の衝突危険度を判定する衝突危険度判定部132と、衝突危険度が最も大きい周辺車両を先行車として選択する先行車選択部133とを備えている。【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、車両制御方法および車両制御プログラム
12.05.2023
Patent
Elektronische Ressource
Japanisch
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