Vehicle control device
AssigneeHonda Motor Co., Ltd.
InventorsDaichi KATO, Hiroshi OGURO
Life of this patent
Estimating the term…
Abstract
In this vehicle control device, a low-level short-terra trajectory generating unit generates a short-term trajectory by using the newest dynamic external environment recognition information while also using the same static external environment recognition information (lane shape information, or the like) as the static external environment recognition information used by a high-level medium-term trajectory generating unit. Performing such control prevents inconsistency between the external environment information (environment information) used by the low-level short-term trajectory generating unit and that used for a medium-term trajectory, which is a high-level trajectory, and makes stable trajectory output possible.
Claims7
A vehicle control device that controls a vehicle configured to be driven automatically, comprising:
- an external environment recognition unit configured to recognize a lane shape of a lane in which at least a host vehicle travels, from external environmental information that is detected by an external environment sensor configured to detect the external environmental information, and the external environment recognition unit configured to generate static external environment recognition information including lane shape information of the recognized lane shape and dynamic external environment recognition information including travel restraint source information including a traffic participant that restrains traveling of the host vehicle;
- a first trajectory generating unit configured to generate, using the external environment recognition information, a first trajectory in a first operation cycle;
- and
- a second trajectory generating unit configured to generate, using the external environment recognition information, a second trajectory that is longer than the first trajectory in a second operation cycle that is longer than the first operation cycle;
- and
- an integrated control unit configured to control the first trajectory generating unit and the second trajectory generating unit;
- wherein the external environment recognition unit is configured to perform the recognition process in a period that is less than or equal to that of the first operation cycle;
- and
- when the first trajectory generating unit generates the first trajectory, the integrated control unit is configured to cause the first trajectory generating unit to use the most recent dynamic external environment recognition information, and in a case that the static external environment recognition information that is used by the second trajectory generating unit exists, the integrated control unit is configured to cause the first trajectory generating unit to refer to the static external environment recognition information, and to generate the first trajectory.
(canceled)
Dependencies are inferred from the claim text.