The invention provides a mobile body control device, a mobile body, and a mobile body control method. A mobile body control device (12) is provided with: a peripheral information acquisition unit (58) that acquires peripheral information of a mobile body (10); a lane change control unit (62) capable of executing a first lane change, which is a lane change in a single crossing lane line (76A-76C), and a second lane change, which is a lane change in a multiple crossing lane line; and a region setting unit (64) that sets, on the basis of the peripheral information, a first changeable lane region (82), which is a region in which the first lane change is permitted, and a second changeable lane region (84), which is a region in which the second lane change is permitted, and that sets the first changeable lane region (82) and the second changeable lane region (84) within a range in which the distance to a diverting position (75B) to the destination is less than a predetermined distance (LX). The second changeable lane region is smaller than the first changeable lane region. Accordingly, lane change can be appropriately performed.

    本发明提供一种移动体控制装置、移动体及移动体控制方法。移动体控制装置(12)具有:周边信息获取部(58),其获取移动体(10)的周边信息;车道变更控制部(62),其能够执行作为单次越过车道分界线(76A~76C)的车道变更的第1车道变更和作为多次越过车道分界线的车道变更的第2车道变更;区域设定部(64),其根据周边信息来设定作为允许进行第1车道变更的区域的第1可变更车道区域(82)和作为允许进行第2车道变更的区域的第2可变更车道区域(84),在到通往目的地的分流位置(75B)的距离小于规定距离(LX)的范围内,所述第2可变更车道区域比所述第1可变更车道区域小。据此,能够恰当地进行车道变更。


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    Title :

    Mobile body control device, mobile body, and mobile body control method


    Additional title:

    移动体控制装置、移动体以及移动体控制方法


    Contributors:

    Publication date :

    2023-09-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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