Vehicle control device
AssigneeHonda Motor Co., Ltd.
InventorsDaichi Kato, Hiroshi Oguro
Life of this patent
Estimating the term…
Abstract
In this vehicle control device, a low-level short-term trajectory generating unit generates a short-term trajectory by using the newest dynamic external environment recognition information while also using the same static external environment recognition information (lane shape information, or the like) as the static external environment recognition information used by a high-level medium-term trajectory generating unit. Performing such control prevents inconsistency between the external environment information (environmental information) used by the low-level short-term trajectory generating unit and that used for a medium-term trajectory, which is a high-level trajectory, and makes stable trajectory output possible.
Claims6
A vehicle control device that controls a vehicle configured to be driven automatically, comprising one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instruction to cause the vehicle control device to:
- recognize a lane shape of a lane in which at least a host vehicle travels, from external environmental information that is detected by an external environment sensor configured to detect the external environmental information, and generate, at a generation cycle equal to or shorter than a first operation cycle, static external environment recognition information including lane shape information of the recognized lane shape and dynamic external environment recognition information including travel restraint source information including a traffic participant that restrains traveling of the host vehicle;
- generate, using the external environment recognition information, a first trajectory in the first operation cycle;
- and
- generate, using the external environment recognition information, a second trajectory that is longer than the first trajectory in a second operation cycle that is longer than the first operation cycle;
- and
- for generating a newest one of the first trajectory, use the dynamic external environment recognition information generated at a most recent one of the generation cycle, and in a case that the static external environment recognition information the second operation cycle ago that is used in generating an immediate one of the second trajectory exists, refer to the static external recognition information the second operation cycle ago and the immediate one of the second trajectory.
Dependencies are inferred from the claim text.