To provide a mobile body control device capable of accurately stopping lane change, a mobile body, and a mobile body control method.SOLUTION: A mobile body control device 12 includes a stop control unit 64 for controlling a stop of lane change when a first stop condition and a second stop condition for stopping the lane change are satisfied. When the first stop condition is satisfied in a state in which grip by an occupant with respect to an operator 74 is a predetermined degree or higher, and if a distance L in a vehicle width direction between a lane mark 73 and a moving body 10 is equal to or larger than a first distance threshold TH1, the stop control unit determines that the second stop condition is satisfied to stop the lane change. When the first stop condition is satisfied in a state in which grip by the occupant with respect to the operator 74 is lower than a predetermined degree, and if the distance in the vehicle width direction between the lane mark 73 and the moving body is equal to or larger than a second distance threshold TH2 that is larger than the first distance threshold, the stop control unit determines that the second stop condition is satisfied to stop the lane change.SELECTED DRAWING: Figure 4
【課題】車線変更の中止を的確に行い得る移動体制御装置、移動体及び移動体制御方法を提供する。【解決手段】移動体制御装置12は、車線変更が中止されるための第1中止条件及び第2中止条件が満たされた場合に車線変更の中止の制御を行う中止制御部64を備え、中止制御部は、操作子74に対する乗員による把持が所定程度以上である状態で第1中止条件が満たされた場合、レーンマーク73と移動体10との間の車幅方向における距離Lが第1距離閾値TH1以上であれば、第2中止条件が満たされたと判定して、車線変更を中止し、操作子74に対する乗員による把持が所定程度未満である状態で第1中止条件が満たされた場合、レーンマーク73と移動体との間の車幅方向における距離が第1距離閾値より大きい第2距離閾値TH2以上であれば、第2中止条件が満たされたと判定して、車線変更を中止する。【選択図】図4
MOBILE BODY CONTROL DEVICE, MOBILE BODY, AND MOBILE BODY CONTROL METHOD
移動体制御装置、移動体及び移動体制御方法
2021-09-27
Patent
Electronic Resource
Japanese
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