To allow for accurately determining whether or not a detected approaching object should be excluded from collision determination.SOLUTION: A vehicle control device provided herein is designed to be mounted on a vehicle and comprises an acquisition unit configured to acquire detection information on an obstacle detected around the vehicle, and a sensor control unit configured to perform collision determination to evaluate possibility of collision with the obstacle. The sensor control unit generates approaching object information on an obstacle approaching the vehicle and detection point cloud information on a set of detection points representing a stationary obstacle on the basis of the detection information, and excludes the approaching object from collision determination if the detection point cloud has a shielding effect that shields the vehicle from the approaching object, where the shielding effect is evaluated using a gap threshold based on a vehicle width.SELECTED DRAWING: Figure 11

    【課題】検知された接近物を衝突判定から除外すべきか否かを確度良く判定する。【解決手段】車両制御装置は、車両に搭載された車両制御装置であって、車両周辺の障害物を検知した検知情報を取得する取得部と、障害物との衝突可能性を評価する衝突判定を行うセンサ制御部と、を備え、センサ制御部は、検知情報に基づいて、車両に接近する障害物である接近物の情報と、移動しない障害物を示す検知点の集合である検知点群の情報と、を生成し、検知点群が接近物から車両を遮蔽する遮蔽効果を有する場合は接近物を衝突判定から除外し、遮蔽効果は、車幅に基づく隙間閾値を用いて評価する。【選択図】図11


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    Title :

    VEHICLE CONTROL DEVICE, VEHICLE, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL PROGRAM


    Additional title:

    車両制御装置、車両、車両制御方法および車両制御プログラム


    Contributors:

    Publication date :

    2023-05-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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