To provide a vehicle control device, a vehicle control method, and a program which can stabilize the control of a vehicle.SOLUTION: A vehicle control device (100) comprises: a recognition section (130) for recognizing the surrounding situation of an own vehicle; and a driving control section (140, 160) for controlling the acceleration/deceleration and steering of the own vehicle on the basis of the surrounding situation recognized by the recognition section. When allowing the own vehicle to make a lane change, the driving control section sets one or more target position candidates, performs calculation according to a positional relationship and a speed relationship between each of the one or more target position candidates and the own vehicle, thereby evaluating part or all of the one or more target position candidates, and determines a target position on the basis of evaluation results.SELECTED DRAWING: Figure 2
【課題】車両の制御を安定化することができる車両制御装置、車両制御方法、およびプログラムを提供すること。【解決手段】自車両の周辺状況を認識する認識部(130)と、前記認識部により認識された周辺状況に基づいて、前記自車両の加減速および操舵を制御する運転制御部(140、160)と、を備え、前記運転制御部は、前記自車両を車線変更させる場合、一以上のターゲット位置候補を設定し、前記一以上のターゲット位置候補のそれぞれと前記自車両との位置関係および速度関係に応じた演算を行って、前記一以上のターゲット位置候補のうち一部または全部を評価し、評価結果に基づいてターゲット位置を決定する、車両制御装置(100)。【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
2019-12-26
Patent
Electronic Resource
Japanese
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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