To provide a vehicle controller capable of determining whether or not a result of estimating the position of a vehicle is correct.SOLUTION: A vehicle controller includes: a position estimation section 31 that estimates the position of a vehicle 10 by comparing an image representing an area around the vehicle 10 generated by an imaging section 3 mounted on the vehicle 10 with map information; a route setting section 32 that sets a planned travel route of the vehicle 10 along a lane including the estimated position of the vehicle 10 by referring to the map information; a detection section 33 that detects a stationary object in the area around the vehicle 10 from the image or a ranging signal obtained by a distance sensor 4 mounted on the vehicle 10 for detecting the distance to an object in the area around the vehicle 10; and a determination section 34 that determines whether or not the detected stationary object is on the planned travel route and determine that the estimated position of the vehicle 10 is incorrect when the stationary object is on the planned travel route.SELECTED DRAWING: Figure 3
【課題】車両の位置の推定結果が正しいか否かを判定できる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に搭載された撮像部3により生成された、車両10の周囲を表す画像と地図情報とを照合することで、車両10の位置を推定する位置推定部31と、地図情報を参照して、推定された車両10の位置を含む車線に沿って車両10の走行予定経路を設定する経路設定部32と、車両10に搭載された、車両10の周囲の物体までの距離を検知する距離センサ4により得られた測距信号または画像から、車両10の周囲に存在する静止物を検出する検出部33と、走行予定経路上に検出された静止物が位置するか否か判定し、走行予定経路上にその静止物が位置する場合に、推定された車両10の位置が誤りであると判定する判定部34とを有する。【選択図】図3
VEHICLE CONTROLLER, VEHICLE CONTROL METHOD, AND COMPUTER PROGRAM FOR VEHICLE CONTROL
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
2024-03-07
Patent
Electronic Resource
Japanese
VEHICLE CONTROLLER, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL COMPUTER PROGRAM
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