To provide a vehicle control device, route generation device, vehicle control method, route generation method, and program capable of improving robustness of a driving support function.SOLUTION: A vehicle control device comprises: a recognition section for recognizing a state of the periphery of an own vehicle based on a detection result of an object detection device including a camera; and a behavior plan generation section for generating a behavior plan of the own vehicle based on the recognition result of the periphery of the own vehicle by the recognition section. When it is predicted that the camera is to be in a backlight state during traveling of the own vehicle, the behavior plan generation section generates a behavior plan to avoid a state where the camera actually becomes a backlight state at a predicted point and predicted timing where and when the camera is predicted to be in a backlight state.SELECTED DRAWING: Figure 1
【課題】運転支援機能のロバスト性を向上させることができる車両制御装置、経路生成装置、車両制御方法、経路生成方法、およびプログラムを提供すること。【解決手段】カメラを含む物体検出装置の検出結果に基づいて自車両周辺の状況を認識する認識部と、前記認識部による自車両周辺の認識結果に基づいて自車両の行動計画を生成する行動計画生成部と、を備え、前記行動計画生成部は、自車両の走行中に前記カメラが逆光状態となることが予測された場合に、前記カメラが逆光状態になると予測された予測地点および予測タイミングにおいて前記カメラが実際に逆光状態となることを回避するための行動計画を生成する、車両制御装置。【選択図】図1
VEHICLE CONTROL DEVICE, ROUTE GENERATION DEVICE, VEHICLE CONTROL METHOD, ROUTE GENERATION METHOD, AND PROGRAM
車両制御装置、経路生成装置、車両制御方法、経路生成方法、およびプログラム
2022-10-14
Patent
Electronic Resource
Japanese
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