Vehicle control device and recording medium
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorYoshimasa Okabe
Life of this patent
Estimating the term…
Abstract
A host vehicle includes a rear image capturing device and a vehicle control device. The rear image capturing device captures an image of an area behind the host vehicle. The vehicle control device detects a lateral position of a following vehicle in the same lane as that in which the host vehicle travels, the following vehicle being reflected in the image captured by the rear image capturing device and traveling in the lane. The vehicle control device determines a lateral position of the host vehicle within a lane depending on the lateral position of the following vehicle within the same lane.
Claims17
A vehicle control device, comprising:
- a receiver structured to receive an image of a periphery of a host vehicle captured by an image capturing device;
- a detector structured to detect a lateral position of a following vehicle in the same lane as that in which the host vehicle travels, the following vehicle being reflected in the image received by the receiver and traveling in the lane;
- and
- a decision circuitry structured to determine a lateral position, which indicates a distance from a lane dividing line to a central portion of a vehicle body, the lane dividing line being a centerline or outer edge line of the lane, of the host vehicle in the lane depending on the lateral position of the following vehicle detected by the detector,
- wherein
- when the following vehicle changes the lateral position, which indicates the distance from the lane dividing line to the central portion of the vehicle body of the following vehicle, by a distance amount less than a predetermined threshold value, the decision circuitry determines a course of the host vehicle including a target stop position so that the lateral position of the host vehicle in the lane coincides with the lateral position of the following vehicle in the lane,
- when the following vehicle changes the lateral position, which indicates the distance from the lane dividing line to the central portion of the vehicle body of the following vehicle, by a distance amount exceeding the predetermined threshold value, the decision circuitry stops determining the course of the host vehicle so that the lateral position of the host vehicle in the lane does not coincide with the lateral position of the following vehicle in the lane, and
- an angle between the host vehicle and the lane dividing line does not exceed a predetermined value during a movement to the target stop position.
A non-transitory recording medium storing a computer program causing a computer to execute the following processes of:
- receiving an image of a periphery of a host vehicle captured by an image capturing device;
- detecting a lateral position of a following vehicle in the same lane as that in which the host vehicle travels, the following vehicle being reflected in the received image and traveling in the lane;
- determining a lateral position, which indicates a distance from a lane dividing line to a central portion of a vehicle body, the lane dividing line being a centerline or outer edge line of the lane, of the host vehicle in the lane depending on the detected lateral position of the following vehicle;
- when the following vehicle changes the lateral position, which indicates the distance from the lane dividing line to the central portion of the vehicle body of the following vehicle, by a distance amount less than a predetermined threshold value, determining a course of the host vehicle including a target stop position so that the lateral position of the host vehicle in the lane coincides with the lateral position of the following vehicle in the lane;
- and
- when the following vehicle changes the lateral position, which indicates the distance from the lane dividing line to the central portion of the vehicle body of the following vehicle, by a distance amount exceeding the predetermined threshold value, stopping determination of the course of the host vehicle so that the lateral position of the host vehicle in the lane does not coincide with the lateral position of the following vehicle in the lane,
- wherein an angle between the host vehicle and the lane dividing line does not exceed a predetermined value during a movement to the target stop position.
Dependencies are inferred from the claim text.