Vehicle traveling control device, vehicle traveling control method, control circuit, and storage medium

A vehicle traveling control method comprising:

• a first step of periodically receiving a dynamic map representing a state of objects;
• a second step of collecting, from one or more sensors mounted on a vehicle to measure a state of an object around the vehicle, a result of measurement representing a state of an object around the vehicle;
• a third step of comparing object data represented by the dynamic map with object data represented by the result of measurement, and in response to finding mismatching object data, detecting, from the mismatching object data, data of the dynamic map representing an object located within a specified range from the vehicle;
• and
• a fourth step of setting from the received dynamic map, data representing the vehicle as an avoidance non-target object that is an object to be excluded from objects to be avoided in traveling control for the vehicle, and setting data other than the data representing the vehicle as an avoidance target object that is an object to be avoided in traveling control for the vehicle or as the avoidance non-target object, to perform an object avoidance action to avoid colliding with the object based on the set avoidance target object.

A control circuit for controlling a vehicle traveling control device, the control circuit causing the vehicle traveling control device to perform:

• periodically receiving a dynamic map representing a state of objects;
• collecting, from one or more sensors mounted on a vehicle to measure a state of objects around the vehicle, a result of measurement representing the state of objects around the vehicle;
• comparing object data represented by the dynamic map with object data represented by the result of measurement, and in response to finding mismatching object data, detecting, from the mismatching object data, data of the dynamic map representing an object located within a specified range from the vehicle;
• and
• setting, from the detected data of the dynamic map, data representing the vehicle as an avoidance non-target object that is an object to be excluded from objects to be avoided in traveling control for the vehicle, and setting data representing an object other than the vehicle as an avoidance target object that is an object to be avoided in traveling control for the vehicle or as the avoidance non-target object, to perform an object avoidance action to avoid colliding with the object based on the set avoidance target object.

A storage medium in which a program configured to control a vehicle traveling control device is stored, the program causing the vehicle traveling control device to perform:

• periodically receiving a dynamic map representing a state of objects;
• collecting, from one or more sensors mounted on a vehicle to measure a state of objects around the vehicle, a result of measurement representing the state of objects around the vehicle;
• comparing object data represented by the dynamic map with object data represented by the result of measurement, and in response to finding mismatching object data, detecting, from the mismatching object data, data of the dynamic map representing an object located within a specified range from the vehicle;
• and
• setting, from the detected data of the dynamic map, data representing the vehicle as an avoidance non-target object that is an object to be excluded from objects to be avoided in traveling control for the vehicle, and setting data representing an object other than the vehicle as an avoidance target object that is an object to be avoided in traveling control for the vehicle or as the avoidance non-target object, to perform an object avoidance action to avoid colliding with the object based on the set avoidance target object.