To provide a movable body control device, a movable body, and a movable body control method which allow a lane change to be accurately performed.SOLUTION: A movable body control device includes: a peripheral information acquisition section 58 which acquires peripheral information on the periphery of a movable body 10; a lane change control section 62 capable of performing a first lane change defined as a lane change such that one of lane boundary lines 76A-76C is crossed once, and a second lane change defined as a lane change such that the lane boundary lines are crossed a plurality of times; and an area setting section 64 which, on the basis of the peripheral information, sets a first lane change allowable area 82 defined as an area where the first lane change is allowed, and a second lane change allowable area 84 defined as an area where the second lane change is allowed. In a range where a distance to a branch position 75B leading to a destination is less than a prescribed distance LX, the second lane change allowable area is smaller than the first lane change allowable area.SELECTED DRAWING: Figure 4
【課題】車線変更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10の周辺情報を取得する周辺情報取得部58と、車線境界線76A〜76Cを単一回越える車線変更である第1車線変更と、車線境界線を複数回越える車線変更である第2車線変更とを実行可能な車線変更制御部62と、第1車線変更が許可される領域である第1車線変更可能領域82と、第2車線変更が許可される領域である第2車線変更可能領域84とを周辺情報に基づいて設定する領域設定部64と、を備え、目的地に至る分岐位置75Bまでの距離が所定距離LX未満である範囲においては、前記第2車線変更可能領域は、前記第1車線変更可能領域より小さい。【選択図】図4
MOVABLE BODY CONTROL DEVICE, MOVABLE BODY, AND MOVABLE BODY CONTROL METHOD
移動体制御装置、移動体及び移動体制御方法
2021-10-07
Patent
Electronic Resource
Japanese
MOVABLE BODY CONTROL DEVICE, MOVABLE BODY, AND MOVABLE BODY CONTROL METHOD
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