To generate a target trajectory of a vehicle more speedily and flexibly.SOLUTION: There is provided a vehicle control device that comprises: a recognition part which recognizes a circumferential state of a vehicle; a target trajectory candidate generation part which generates one or more target trajectory candidates as candidates for a target trajectory where the vehicle is to travel in future in a search region set on a side in a direction of traveling of the vehicle on the basis of, at least the circumferential state; a determination part which determines whether there is a target trajectory candidate meeting predetermined conditions among the one or more target trajectory candidates; and a driving control part which allows the vehicle to travel according to the target trajectory based upon a target trajectory candidate determined to meet the predetermined conditions when it is determined that there is the target trajectory candidate meeting the predetermined conditions, wherein the target trajectory candidate generation part which generates the one or more target trajectory candidates in a wider search region when it is determined that there is no target trajectory candidates meeting the predetermined conditions.SELECTED DRAWING: Figure 1
【課題】より迅速かつ柔軟に車両の目標軌道を生成すること。【解決手段】車両の周辺状況を認識する認識部と、少なくとも前記周辺状況に基づいて前記車両の進行方向側に設定される探索領域内で、前記車両が将来走行する目標軌道の候補である一以上の目標軌道候補を生成する目標軌道候補生成部と、一以上の前記目標軌道候補の中に、所定条件を満たす目標軌道候補が存在するか否かを判定する判定部と、前記所定条件を満たす目標軌道候補が存在すると判定された場合、前記所定条件を満たすと判定された目標軌道候補に基づく目標軌道に従って前記車両を走行させる運転制御部と、を備え、前記目標軌道候補生成部は、前記所定条件を満たす目標軌道候補が存在しないと判定された場合、より広い探索領域内で一以上の前記目標軌道候補を生成する、車両制御装置。【選択図】図1
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
2022-07-20
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 |
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