Vehicle control device and vehicle control method for controlling speed according to lighting state of traffic light
AssigneesDenso Corporation, Toyota Jidosha Kabushiki Kaisha
InventorsYasuhiko Mukai, Tomohito Terazawa, Genki Kitahara, Norihiro Kurose
Life of this patent
Estimating the term…
Abstract
By a vehicle control device or a vehicle control method for controlling a speed of a vehicle, a lighting state of a main light of a traffic light and a travel permission direction of an arrow light of the traffic light is recognized, and stop deceleration control that starts deceleration control executed for stop at a stop line and primary deceleration control that decelerates the vehicle at a deceleration rate slower than a deceleration rate by the stop deceleration control are executed.
Claims10
A vehicle control device for controlling a speed of a vehicle, the device comprising:
- at least one of (i) a circuit and (ii) a processor with a memory storing computer program code executable by the processor, the at least one of the circuit and the processor configured to cause the vehicle control device to:
- recognize a lighting state of a red light and a lighting state of an arrow light based on an image obtained by a camera that recognizes a periphery environment of the vehicle, the red light and the arrow light each comprising one of a plurality of main lights of a traffic light;
- recognize a travel permission direction of an arrow light of the traffic light based on an the image or map data;
- execute a stop deceleration control based on recognizing that the red light is lit and recognizing the lighting state of the arrow light;
- and
- execute a primary deceleration control based on a primary control condition being satisfied, the primary control condition includes recognizing that the red light is lit and not recognizing the lighting state of the arrow light,
- wherein
- the stop deceleration control starts deceleration control at a predetermined deceleration rate to stop at a stop line from a stop deceleration start position, and
- the primary deceleration control decelerates the vehicle at a deceleration rate slower than a deceleration rate by the stop deceleration control from a position farther from the stop line than the stop deceleration start position,
- wherein
- the stop deceleration start position is a position before the stop line in a traveling direction of the vehicle.
A vehicle control method for controlling a speed of a vehicle, the method comprising:
- recognizing a lighting state of a red light and a lighting state of an arrow light based on an image obtained by a camera that recognizes a periphery environment of the vehicle, the red light and the arrow light each comprising one of a plurality of main lights of a traffic light;
- recognizing a travel permission direction of an arrow light of the traffic light based on the image or map data;
- and
- executing:
- a stop deceleration control based on recognizing that the red light is lit and recognizing the lighting state of the arrow light;
- and
- primary deceleration control based on a primary control condition being satisfied, the primary control condition includes recognizing that the red light is lit and not recognizing the lighting state of the arrow light,
- wherein
- the stop deceleration control starts deceleration control at a predetermined deceleration rate to stop at a stop line from a stop deceleration start position, and
- the primary deceleration control decelerates the vehicle at a deceleration rate slower than a deceleration rate by the stop deceleration control from a position farther from the stop line than the stop deceleration start position,
- wherein
- the stop deceleration start position is a position before the stop line in a traveling direction of the vehicle.
Dependencies are inferred from the claim text.