To provide a vehicle control device, a vehicle control method, and a program which can reasonably select a target position on the basis of an environment where an own vehicle is placed.SOLUTION: An automated driving 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 140, 160 evaluates one or more target position candidates on the basis of a plurality of evaluation values given to each of the one or more target position candidates, selects a target position from the one or more target position candidates on the basis of evaluation results, and changes an evaluation rule when evaluating the one or more target position candidates, on the basis of an environment where the own vehicle is placed.SELECTED DRAWING: Figure 2
【課題】自車両の置かれた環境に基づいて、合理的にターゲット位置を選択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140、160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にそれぞれ与えられている複数の評価値に基づいて前記一以上のターゲット位置候補を評価し、評価結果に基づいて、前記一以上のターゲット位置候補からターゲット位置を選択し、前記自車両の置かれた環境に基づいて、前記一以上のターゲット位置候補を評価する際の評価規則を変更する、自動運転制御装置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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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