To provide a vehicle controller capable of preventing a vehicle from deviating from its own lane on which the vehicle is traveling, without causing the vehicle's driver to feel insecure.SOLUTION: A vehicle controller includes a detection unit 31 that detects a lane defining line which defines an own lane on which a vehicle 10 travels, a calculation unit 32 that calculates a deviation index value, which represents a possibility that the vehicle 10 may deviate from the own lane, on the basis of a positional relationship between the lane defining line and vehicle 10, a control unit 33 that determines based on the deviation index value whether a predetermined condition for deviation is satisfied, and that, when the condition for deviation is satisfied, implements deviation prevention control for the vehicle 10 so as to prevent the vehicle 10 from deviating from the own lane, and an alteration unit 34 that alleviates the condition for deviation according to a manipulation performed by the driver of the vehicle 10 in order to prevent the vehicle 10 from deviating from the own lane before the predetermined condition for deviation is satisfied, and diminishes the control quantity of the vehicle 10 at the time of the implementation of deviation prevention control.SELECTED DRAWING: Figure 3
【課題】車両のドライバに不安を感じさせずに車両が走行中の自車線から逸脱することを防止可能な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が走行する自車線を区画する車線区画線を検出する検出部31と、車線区画線と車両10との位置関係に基づいて、車両10が自車線から逸脱する可能性を表す逸脱指標値を算出する算出部32と、逸脱指標値に基づいて所定の逸脱条件が満たされるか否か判定し、その逸脱条件が満たされる場合に、車両10が自車線から逸脱することを防止するように車両10に対して逸脱防止制御を実行する制御部33と、所定の逸脱条件が満たされるよりも前に行われた、車両10のドライバによる車両10が自車線から逸脱することを防止する操作に応じて、逸脱条件を緩和するとともに、逸脱防止制御の実行時における車両10の制御量を小さくする変更部34と、を有する。【選択図】図3
VEHICLE CONTROLLER, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL COMPUTER PROGRAM
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
2024-09-20
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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