The invention provides a mobile body control device, a mobile body, and a mobile body control method. The mobile body control device includes an abortion control unit that performs abortion control of lane change when a first abortion condition and a second abortion condition for aborting lane change are satisfied, and performs abortion control of lane change when the first abortion condition is satisfied in a state in which an occupant grips an operation member to a predetermined degree or more, and performs abortion control of lane change when the second abortion condition is satisfied in a state in which the occupant grips the operation member to a predetermined degree or more. When the distance between the lane marking line and the moving body in the vehicle width direction is equal to or greater than a first distance threshold value, the pause control unit determines that a second pause condition is satisfied and pauses the lane change, and when the first pause condition is satisfied in a state in which the holding of the operator by the occupant does not reach a predetermined degree, the pause control unit stops the lane change. If the distance between the lane marking line and the moving body in the vehicle width direction is greater than or equal to a second distance threshold value, which is greater than the first distance threshold value, the pause control unit determines that a second pause condition is satisfied and pauses the lane change. Accordingly, the lane change can be accurately stopped.
本发明提供一种移动体控制装置、移动体以及移动体控制方法。移动体控制装置具有中止控制部,在满足用于中止车道变更的第1中止条件和第2中止条件的情况下,所述中止控制部进行车道变更的中止控制,当在乘员对操作件的把持为规定程度以上的状态下满足第1中止条件的时,若车道标识线与移动体之间在车宽方向上的距离为第1距离阈值以上,则中止控制部判定为满足第2中止条件并中止车道变更,当在乘员对操作件的把持未达到规定程度的状态下满足第1中止条件时,若车道标识线与移动体之间在车宽方向上的距离为大于第1距离阈值的第2距离阈值以上,则中止控制部判定为满足第2中止条件并中止车道变更。据此,能准确地中止车道变更。
Mobile body control device, mobile body, and mobile body control method
移动体控制装置、移动体以及移动体控制方法
2024-07-05
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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