To provide a vehicle control device that can appropriately control a vehicle even when it is difficult to identify a state of a signal blinker of a peripheral vehicle around the vehicle.SOLUTION: A vehicle control device includes: a state identification unit 33 that input, into a signal blinker state identification device, features extracted from an object area in an image taken by an imaging unit 3 of a vehicle 10, which represents a peripheral vehicle around the vehicle and identifies a state of a signal blinker of the peripheral vehicle; a first control command determination unit 34 that determines, based on the identification result of a state of the signal blinker of the peripheral vehicle and a relative positional relation between the vehicle 10 and the peripheral vehicle, a first control value in accordance with predetermined rules; a second control command determination unit 35 that inputs the identification result of a state of the signal blinker of the peripheral vehicle into a control command identification device learned in advance to output a second control value for controlling the vehicle to avoid a collision between the vehicle 10 and the peripheral vehicle, and determines the second control value; and a control command integrated unit 36 that determines, from the first control value and the second control value, an integrated control value used in control of the vehicle 10.SELECTED DRAWING: Figure 3
【課題】車両の周囲の他の車両の信号灯の状態の識別が困難でも車両を適切に制御することが可能な車両制御装置を提供する。【解決手段】車両制御装置は、車両10の撮像部3により得られた画像における周辺車両が表された物体領域から抽出される特徴を信号灯状態識別器に入力して周辺車両の信号灯の状態を識別する状態識別部33と、周辺車両の信号灯の状態の識別結果と車両10と周辺車両との相対的な位置関係とに基づいて、所定の規則に従って第1の制御値を決定する第1の制御指示決定部34と、周辺車両の信号灯の状態の識別結果を、車両10と周辺車両との衝突を回避するように車両を制御するための第2の制御値を出力するように予め学習された制御指示識別器に入力することで第2の制御値を決定する第2の制御指示決定部35と、第1の制御値と第2の制御値とから車両10の制御に用いられる統合制御値を決定する制御指示統合部36とを有する。【選択図】図3
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND COMPUTER PROGRAM FOR CONTROLLING VEHICLE
車両制御装置、車両制御方法及び車両制御用コンピュータプログラム
2022-09-30
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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