To improve accuracy in a situation in which a stop line cannot be recognized for driving support control when a stop instruction object is recognized.SOLUTION: A vehicle controller according to the present invention executes: crossing object determination processing for determining presence/absence of a crossing object as an object crossing on an own vehicle travel lane in a state in which a stop instruction object as an object representing a stop instruction of a vehicle is recognized but a stop line is not recognized; target position setting processing for setting a stop target position of the vehicle on the basis of distance to the crossing object when it is determined that there is the crossing object; and control processing for performing control concerning driving support of the vehicle on the basis of information of the stop target position.SELECTED DRAWING: Figure 2
【課題】停止指示物体が認識された場合の運転支援制御について、停止線が認識できない状況での制御精度の向上を図る。【解決手段】本発明に係る車両制御装置は、車両の停止指示を表す物体である停止指示物体が認識されているが停止線が認識されていない状態において、自車走行車線上を横断する物体としての横断物体の有無を判定する横断物体判定処理と、横断物体があると判定した場合に、横断物体までの距離に基づき車両の停止目標位置を設定する目標位置設定処理と、停止目標位置の情報に基づいて車両の運転支援に係る制御を行う制御処理と、を実行するものである。【選択図】図2
VEHICLE CONTROLLER
車両制御装置
2023-06-15
Patent
Elektronische Ressource
Japanisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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