To provide a vehicle control device for enabling an emergency stop corresponding to a road state.SOLUTION: A vehicle control device to be mounted on an own vehicle 1 includes: a route plan section 120 for sequentially planning a candidate route to be a candidate of a route on which an own vehicle 1 has to travel next in order to continue traveling; an accident responsibility prediction section 132 for predicting a responsibility value indicating a responsibility which the own vehicle 1 has to have for each candidate route when the own vehicle 1 travels on the candidate route and also when an accident occurs between an object vehicle selected from peripheral vehicles existing in the periphery of the own vehicle 1 and the own vehicle; a route selection section 133 for selecting a route on which the own vehicle is to travel from the candidate routes based on a responsibility value which the own vehicle has to have for each candidate route; an emergency case route plan section 134 for planning an emergency stop route for allowing the own vehicle 1 to perform an emergency stop when there is no prudence route; and a travel section 140 for performing control to allow the own vehicle 1 to travel on a route selected by the route selection section or on an emergency stop route. Then, an emergency stop route is planned so as to correspond to a road state on which the own vehicle 1 is traveling.SELECTED DRAWING: Figure 1
【課題】道路状況に応じた緊急停止が可能になる車両制御装置を提供する。【解決手段】自車両1に搭載される車両制御装置であって、自車両1が走行を継続するために次に走行すべき経路の候補となる候補経路を逐次計画する経路計画部120と、候補経路を自車両1が走行した場合であって、自車両1の周囲に存在する周辺車両から選択した対象車両と自車両との間に事故が生じた場合に、自車両1に生じる責任を示す責任値を、候補経路別に予測する事故責任予測部132と、候補経路別の自車両に生じる責任値に基づいて、候補経路から、自車両が走行する経路を選択する経路選択部133と、慎重経路がない場合に、自車両1を緊急停止させる緊急停止経路を計画する緊急時経路計画部134と、経路選択部が選択した経路または緊急停止経路を自車両1が走行するための制御を行う走行部140とを備え、自車両1が走行している道路状況に応じた緊急停止経路を計画する。【選択図】図1
VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD
車両制御装置および車両制御方法
2021-03-01
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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