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 information representing a stationary obstacle on the basis of the detection information, estimates a location of a shielding object based on the detection point information, evaluates ghost likelihood indicative of the possibility that the approaching object is a ghost on the basis of the location of the shielding object and the information on the approaching object, and excludes the approaching object from collision determination according to the ghost likelihood.SELECTED DRAWING: Figure 6
【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情報と、を生成し、検知点の情報に基づいて、遮蔽物の位置を推定し、遮蔽物の位置と接近物の情報に基づいて、接近物がゴーストである可能性を示すゴースト尤度を評価し、ゴースト尤度に基づいて、接近物を衝突判定から除外する。【選択図】図6
VEHICLE CONTROL DEVICE, VEHICLE, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL PROGRAM
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
2023-05-10
Patent
Electronic Resource
Japanese
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