To improve an accuracy of driving control when map information and information acquired by a camera do not match with each other.SOLUTION: Recognition means recognizes a lane in which a moving body travels based on an image taken by a camera provided on the moving body. Control means controls a traveling of the moving body based on a recognition result of the recognition means and map information around the moving body. First determination means determines whether or not a first angle difference between the lane recognized by the recognition means and a lane based on the map information in a first range in front of the moving body is continuously equal to or greater than a first threshold value in a first state. Second determination means determines whether or not a second angle difference between the lane recognized by the recognition means and the lane based on the map information in a second range in front of the moving body and on the moving body side of the first range is equal to or greater than a second threshold value in a second state.SELECTED DRAWING: Figure 6
【課題】地図情報とカメラにより取得した情報とがマッチングしない場合の走行制御の精度を向上すること。【解決手段】認識手段は、移動体に設けられたカメラが撮影した画像に基づいて移動体が走行する車線を認識する。制御手段は、認識手段の認識結果及び移動体の周辺の地図情報に基づいて移動体の走行制御を行う。第1判定手段は、移動体の前方の第1範囲における、認識手段により認識される車線と、地図情報に基づく車線との間の第1角度差が継続的に第1閾値以上である第1状態であるか否かを判定する。第2判定手段は、移動体の前方であって第1範囲よりも移動体側の第2範囲における、認識手段により認識される車線と、地図情報に基づく車線との間の第2角度差が第2閾値以上である第2状態であるか否かを判定する。【選択図】図6
DRIVING CONTROL DEVICE, VEHICLE, DRIVING CONTROL METHOD AND PROGRAM
走行制御装置、車両、走行制御方法及びプログラム
2021-09-27
Patent
Electronic Resource
Japanese
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