To perform more appropriate driving control in a branch section.SOLUTION: A vehicle control device according to an embodiment includes: a recognition unit which recognizes the surrounding situation of an own vehicle on the basis of information obtained from at least one of a detection device and map information; and a driving control unit which generates a target trajectory for the own vehicle on the basis of the recognition result of the recognition unit and controls one or both of the speed and steering of the own vehicle so that the own vehicle travels along the generated target trajectory. In a branch section where a main lane and a plurality of branch lanes are connected, the recognition unit searches for a number-of-lanes increase start position satisfying a prescribed condition from the maximum width position of the branch section toward the start point direction of the branch section. The driving control unit generates the target trajectory for traveling in the branch lane through the number-of-lanes increase start position.SELECTED DRAWING: Figure 2
【課題】分岐区間において、より適切な運転制御を行うこと。【解決手段】実施形態の車両制御装置は、検知デバイスまたは地図情報のうち少なくとも一方から得られる情報に基づいて自車両の周辺状況を認識する認識部と、前記認識部の認識結果に基づいて前記自車両の目標軌道を生成し、生成した目標軌道に沿って前記自車両が走行するように前記自車両の速度または操舵のうち一方または双方を制御する運転制御部と、を備え、前記認識部は、本線と複数の分岐車線とが接続される分岐区間において、前記分岐区間の最大幅員位置から分岐区間の開始点方向に向かって所定条件を満たす車線増加開始位置を探索し、前記運転制御部は、前記車線増加開始位置を通過して前記分岐車線を走行する目標軌道を生成する。【選択図】図2
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM
車両制御装置、車両制御方法、およびプログラム
2023-10-12
Patent
Elektronische Ressource
Japanisch
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