Vehicle control device
AssigneeHonda Motor Co., Ltd.
InventorsKazuyuki Takahashi, Daichi Kato, Hiroshi Oguro
Life of this patent
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Abstract
In the present invention, a short-term route (provided at a timing for starting automatic driving) for automatic driving control that uses local environment map information generated constantly by a local environment map generation unit is generated continuously even when automatic driving is not set to an on state by an automatic driving switch. As a result, it is possible to instantly control the automatic driving of a vehicle by the continuously generated short-term route after transitioning to the on state of the automatic driving switch.
Claims8
A vehicle control device that controls a vehicle configured to be driven automatically, comprising:
- a long-term trajectory generating unit configured to generate a long-term trajectory having a long period whose operation cycle is relatively long;
- a short-term trajectory generating unit configured to generate a short-term trajectory with reference to the generated long-term trajectory, and having a short period which is shorter than the long period;
- an automated driving ON setting unit configured to set automated driving to an ON state;
- and
- an integrated control unit configured to control these elements;
- wherein, when the automated driving is set to the ON state by the automated driving ON setting unit, the integrated control unit is configured to control the vehicle on a basis of the long-term trajectory and the short-term trajectory generated by the long-term trajectory generating unit and the short-term trajectory generating unit, and when the automated driving is not set to the ON state, the integrated control unit is configured to continue to generate the short-term trajectory by the short-term trajectory generating unit.
A trajectory generating method in a vehicle control device that controls a vehicle configured to be driven automatically;
- the vehicle control device comprising:
- a recognition result receiving unit configured to receive external environment recognition information around a periphery of a host vehicle;
- an environment map generating unit configured to receive the external environment recognition information, and generate an environment map as information indicative of a situation around the periphery of the host vehicle;
- a trajectory generating unit to which the environment map is input, and which is configured to generate a trajectory on a basis of the environment map;
- and
- an automated driving ON setting unit configured to set automated driving to an ON state;
- the trajectory generating method comprising:
- a step of determining whether or not the automated driving ON setting unit is set to the ON state;
- a step of controlling the vehicle on a basis of the trajectory generated by the trajectory generating unit, when the automated driving is set to the ON state by the automated driving ON setting unit;
- and
- a step of not controlling the vehicle, but performing generation of the trajectory by the trajectory generating unit, when the automated driving is not set to the ON state.
A vehicle control device that controls a vehicle configured to be driven automatically, comprising:
- a recognition result receiving unit configured to receive external environment recognition information around a periphery of a host vehicle;
- an environment map generating unit configured to receive the external environment recognition information, and generate an environment map as information indicative of a situation around the periphery of the host vehicle;
- a trajectory generating unit to which the environment map is input, and which is configured to generate a trajectory on a basis of the environment map;
- an automated driving ON setting unit configured to set automated driving to an ON state;
- and
- an integrated control unit configured to control these elements;
- wherein, when the automated driving is set to the ON state by the automated driving ON setting unit, the integrated control unit is configured to control the vehicle on a basis of the trajectory generated by the trajectory generating unit, and when the automated driving is not set to the ON state, does not control the vehicle, but performs generation of the trajectory by the trajectory generating unit.
Dependencies are inferred from the claim text.