Vehicle control device, vehicle control method, and program

A vehicle control method for controlling a vehicle including an imaging device, the vehicle control method comprising:

• acquiring a position and a planned route of the vehicle;
• recognizing a stop condition included in image data from the imaging device;
• setting a plurality of intermediate coordinates on the planned route;
• setting a recognizable range for the stop condition in the planned route, based at least in part on the plurality of intermediate coordinates;
• calculating a braking speed of the vehicle at one or more of the plurality of intermediate coordinates, the braking speed allowing the vehicle to stop at a stop position corresponding to the stop condition without an acceleration of the vehicle during deceleration exceeding a set value;
• and
• controlling a speed of the vehicle to the braking speed at the one or more of the plurality of intermediate coordinates when the position of the vehicle is included in the recognizable range and the stop condition fails to be recognized.

A program for controlling a vehicle including an imaging device and a vehicle control apparatus, the program causing the vehicle control apparatus to execute:

• a process of acquiring a position of the vehicle;
• a process of acquiring a planned route of the vehicle;
• a process of recognizing a stop condition included in image data from the imaging device;
• a process of setting a plurality of intermediate coordinates on the planned route;
• a process of setting a recognizable range for the stop condition in the planned route, based at least in part on the plurality of intermediate coordinates;
• a process of calculating a braking speed of the vehicle at one or more of the plurality of intermediate coordinates, the braking speed allowing the vehicle to stop at a stop position corresponding to the stop condition without an acceleration of the vehicle during deceleration exceeding a set value;
• and
• a process of controlling a speed of the vehicle to the braking speed at the one or more of the plurality of intermediate coordinates when the position of the vehicle is included in the recognizable range and the stop condition fails to be recognized.