Vehicle control system, vehicle control method and vehicle control program

A vehicle control system comprising:

• a position recognition part that recognizes a position of a vehicle;
• a trajectory generating part that generates a trajectory which includes a plurality of future target positions to be reached by the vehicle, the plurality of future target positions being consecutively aligned in time series;
• a calculation reference position setting part that sets a calculation reference position at a position closest to the position of the vehicle recognized by the position recognition part in the trajectory;
• and
• a travel controller that extracts a first target position corresponding to a future time after a first predetermined time has elapsed from a recognition time at which a recognition of the position of the vehicle has been performed from among the plurality of target positions included in the trajectory, and that derives a target speed when the vehicle is caused to travel along the trajectory on the basis of a length of the trajectory from the calculation reference position to the first target position.

A vehicle control method comprising:

• recognizing, by an in-vehicle computer, a position of a vehicle;
• generating, by the in-vehicle computer, a trajectory which includes a plurality of future target positions to be reached by the vehicle, the plurality of future target positions being consecutively aligned in time series;
• setting, by the in-vehicle computer, a calculation reference position at a position closest to the recognized position of the vehicle in the trajectory;
• extracting, by the in-vehicle computer, a first target position corresponding to a future time after a first predetermined time has elapsed from a recognition time at which a recognition of the position of the vehicle has been performed from among the plurality of target positions included in the trajectory;
• and
• deriving, by the in-vehicle computer, a target speed when the vehicle is caused to travel along the trajectory on the basis of a length of the trajectory from the calculation reference position to the first target position.

A vehicle control program causing an in-vehicle computer to:

• recognize a position of a vehicle;
• generate a trajectory which includes a plurality of future target positions to be reached by the vehicle, the plurality of future target positions being consecutively aligned in time series;
• set a calculation reference position at a position closest to the recognized position of the vehicle in the trajectory;
• extract a first target position corresponding to a future time after a first predetermined time has elapsed from a recognition time at which a recognition of the position of the vehicle has been performed from among the plurality of target positions included in the trajectory;
• and
• derive a target speed when the vehicle is caused to travel along the trajectory on the basis of a length of the trajectory from the calculation reference position to the first target position.