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US 12,612,074 B2Granted
Vehicle control device, vehicle control method, and automatic driving method
AssigneeDenso Corporation
InventorsKazuhisa Ishimaru, Atsushi Baba
Life of this patent
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Abstract
In a vehicle control device, environmental information is acquired which is information about an environment in which a vehicle is placed. The environmental information precludes an obstacle around the vehicle. A possibility is estimated for potential proximity of the vehicle to the obstacle. A behavior of a predicted target moving object including the vehicle and at least one moving object around the vehicle is predicted based on the estimated possibility. A responsibility is determined for a potential accident that is assumed in response to the vehicle traveling on a candidate route that the vehicle travels.
Claims15
A vehicle control device mounted on a vehicle including a travel planning unit for calculating a candidate route for the vehicle to travel,
- the vehicle control device comprising:
- at least one memory storing computer program code;
- and
- at least one processor communicably coupled to the at least one memory;
- wherein
- the at least one memory is configured to, when the at least one processor executes the computer program code, cause the at least one processor to:
- acquire environmental information that is information about an environment in which the vehicle is placed, the environment precluding an obstacle around the vehicle;
- estimate a possibility that a potential proximity of the vehicle to the obstacle occurs based on the acquired environmental information;
- predict a behavior of a predicted target moving object including the vehicle and at least one moving object around the vehicle based on the estimated possibility;
- determine a responsibility of the vehicle for a potential accident on the candidate route based on the predicted behavior of the predicted target moving object;
- and
- control the vehicle based on the responsibility for the potential accident,
- wherein
- an accident responsibility rule is stored in a storage device, and
- the at least one memory further causes the at least one processor to:
- determine the responsibility for the potential accident by applying the predicted behavior of the predicted target moving object to the accident responsibility rule stored in the storage device;
- and
- predict that the predicted target moving object will reduce speed when the potential proximity of the vehicle to the obstacle is likely to occur, and
- wherein
- the vehicle is provided with an automatic driving function unit that automatically controls a speed and a steering of the vehicle to drive the vehicle along a route, and
- in response to determining that the responsibility does not arise on the vehicle that is to travel the candidate route, the at least one memory is configured to further cause the at least one processor to instruct the automatic driving function unit to adopt the candidate route as a route that the vehicle travels.
18 more elements
A computer-implemented vehicle control method executed by a processor,
- the vehicle control method comprising:
- acquiring environmental information that is information about an environment in which a vehicle is placed, the environmental information precluding an obstacle around the vehicle;
- estimating a possibility of a potential proximity of the vehicle to the obstacle occurs based on the acquired environmental information;
- predicting a behavior of a predicted target moving object including the vehicle and at least one moving object around the vehicle based on the estimated possibility;
- determining a responsibility of the vehicle for a potential accident while traveling on a candidate route based on the predicted behavior of the predicted target moving object, wherein the responsibility for the potential accident is determined by applying the predicted behavior of the predicted target moving object to an accident responsibility rule, wherein the accident responsibility rule is stored in a storage device;
- and
- control the vehicle based on the responsibility for the potential accident,
- wherein
- the predicted target moving object is predicted to reduce speed when the potential proximity of the vehicle to the obstacle is likely to occur, and
- wherein
- the vehicle is provided with an automatic driving function unit that automatically controls a speed and a steering of the vehicle to drive the vehicle along a route, and
- in response to determining that the responsibility does not arise on the vehicle that is to travel the candidate route, the at least one memory is configured to further cause the at least one processor to instruct the automatic driving function unit to adopt the candidate route as a route that the vehicle travels.
9 more elements
Dependencies are inferred from the claim text.