To avoid effect of occlusion during traffic jam.SOLUTION: A vehicular control device 30 comprises: a camera 1a that photographs an external world around an own vehicle to obtain positional information about a target; detectors 1b-1-5 that obtain positional information about the target on the basis of a reflected wave from an object to be detected in an imaging area of the camera 1a; a setting part 14a that sets a target for control that is used in travel control of the own vehicle, on the basis of positional information respectively obtained by the camera 1a and the detectors 1b-1-5; a determining part 17c that determines a traffic-jam state of the other lane adjacent to an own lane on which the own vehicle is travelling on the basis of the positional information respectively obtained by the camera 1a and the detectors 1b-1-5; and a restricting part 14b that restricts the setting part 14a from newly setting a target for control in a specific area including a boundary between the other lane and the own lane along a line of cars constituting the traffic jam, when the determining part 17c determines that the other lane is traffic-jammed.SELECTED DRAWING: Figure 2
【課題】渋滞時のオクルージョンの影響を避けること。【解決手段】車両用制御装置30は、自車両の周囲の外界を撮像して物標の位置情報を取得するカメラ1aと、カメラ1aの撮像領域内における検出対象からの反射波に基づいて物標の位置情報を取得する検出器1b-1~5と、カメラ1aおよび検出器1b-1~5でそれぞれ取得された位置情報に基づいて、自車両の走行制御に用いる制御用物標を設定する設定部14aと、カメラ1aおよび検出器1b-1~5でそれぞれ取得された位置情報に基づいて、自車両が走行する自レーンに隣接する他レーンの渋滞状態を判断する判断部17cと、判断部17cで他レーンが渋滞であると判断されている場合に、渋滞を構成する車列に沿った他レーンおよび自レーンの境界を含む特定領域で、設定部14aが制御用物標を新規に設定することを制限する制限部14bとを備える。【選択図】図2
VEHICULAR CONTROL DEVICE
車両用制御装置
2023-06-23
Patent
Elektronische Ressource
Japanisch
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