To provide a vehicle control device allowing a vehicle to move between lanes by automatic control when a vehicle passage area includes a control transition area.SOLUTION: A vehicle control device determines whether an automatic control prohibited area where driving of a vehicle by automatic control is not permitted is included on a travel lane where the vehicle travels, in a predetermined section. When it is determined that the automatic control prohibited area is included, the vehicle control device sets a control transition area on the travel lane before the automatic control prohibited area. The vehicle control device determines whether a vehicle passage area on a travel lane through which the vehicle is scheduled to pass when the vehicle moves between lanes includes part of the control transition area. When it is determined that the vehicle passage area includes part of the control transition area, the vehicle control device newly sets the automatic control prohibited area so that the vehicle passage area is included. When the vehicle passage area includes part of the control transition area, and the control transition area satisfies a predetermined condition, the control transition area is newly set by shortening a length of the control transition area so that the control transition area is not included in the vehicle passage area.SELECTED DRAWING: Figure 4
【課題】車両通行領域が制御移行領域を含む場合、自動制御で車両の車線間の移動を可能とする車両制御装置を提供する。【解決手段】車両制御装置は、所定の区間において、車両が走行する走行車線上に、自動制御による自動制御禁止領域が含まれるか否かを判定し、自動制御禁止領域が含まれると判定された場合、自動制御禁止領域の手前の走行車線上に、制御移行領域を設定し、車両が車線間を移動する時に、車両が通過することが予定される走行車線上の車両通行領域が、制御移行領域の一部を含むか否かを判定し、車両通行領域が制御移行領域の一部を含むと判定された場合、車両通行領域を含むように新たに自動制御禁止領域を設定し、車両通行領域が制御移行領域の一部を含み、且つ、制御移行領域が所定の条件を満たす場合、制御移行領域が車両通行領域に含まれないように制御移行領域の長さを短縮して新たに制御移行領域が設定される。【選択図】図4
VEHICLE CONTROL DEVICE, COMPUTER PROGRAM FOR CONTROLLING VEHICLE, AND VEHICLE CONTROL METHOD
車両制御装置、車両制御用コンピュータプログラム及び車両制御方法
2024-08-01
Patent
Electronic Resource
Japanese
VEHICLE CONTROL DEVICE, COMPUTER PROGRAM FOR CONTROLLING VEHICLE, AND VEHICLE CONTROL METHOD
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