The purpose of the present invention is to achieve deviation suppression control at an appropriate timing during curve travel. The present invention relates to a vehicle control device for controllinga vehicle, the vehicle control device being provided with: a detection unit for detecting at least one of a road dividing line and a road boundary; a shape detection unit that detects the shape of the road; and a control unit that performs deviation suppression control for suppressing deviation from at least one of the dividing line and the road boundary on the basis of a determination position in the traveling direction of the vehicle, that, if the shape of the road in the traveling direction of the vehicle is not a curved shape, performs the deviation suppression control on the basis of a first determination position in the traveling direction of the vehicle, and that, when the shape of the road in the traveling direction of the vehicle is a curved shape, performs the deviation suppression control on the basis of a second determination position farther from the vehicle than the first determination position.
本发明的目的在于在弯道行驶时在适当的时机实现偏离抑制控制。本发明涉及一种控制车辆的车辆控制装置,该车辆控制装置具备:检测部,其检测道路的划分线和道路边界中的至少一方;形状检测部,其检测所述道路的形状;以及控制部,其基于所述车辆的行进方向上的判定位置来实施对从所述划分线和所述道路边界中的至少一方的偏离进行抑制的偏离抑制控制,在所述车辆的行进方向的所述道路的形状不是弯道形状的情况下,所述控制部基于所述车辆的行进方向上的第一判定位置来实施所述偏离抑制控制,在所述车辆的行进方向的所述道路的形状是弯道形状的情况下,所述控制部基于比所述第一判定位置远离所述车辆的第二判定位置来实施所述偏离抑制控制。
VEHICLE CONTROL DEVICE, OPERATING METHOD THEREOF, VEHICLE, AND STORAGE MEDIUM
车辆控制装置及其动作方法、车辆以及存储介质
2020-12-08
Patent
Electronic Resource
Chinese
IPC: | 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 |
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