Vehicle control device, method for control of vehicle, and program for control of vehicle control device

A control method of a vehicle, comprising:

• estimating an environment model relating to a search region, based on environment information acquired by an environment sensor, wherein the environment sensor acquires the environment information representing an environment around a local vehicle among one or more vehicles, and the environment sensor is provided in the local vehicle;
• estimating an effective range, based on the estimated environment model, when the local vehicle, and each vehicle which is another vehicle being different from the local vehicle and including a same function as the local vehicle among the one or more vehicles move to each predetermined candidate destination, the effective range being in the search region of a search sensor, the search sensor provided for searching for an object existing in the search region and the search sensor provided in each vehicle of the one or more vehicles;
• and
• configuring a plurality of sets being configurable by the candidate destinations, which are different from one another, of all the vehicles, determining, based on the estimated effective range, a certain set, among the plurality of sets, by which an entire size demarcated by the effective range of the search sensor in one set among the plurality of sets becomes maximum, determining a destination of the local vehicle, based on the certain set, and instructing, on the determined destination, a drive unit being provided in the local vehicle and achieving movement of the local vehicle.

A non-transitory storage medium storing a control program of a vehicle control device, the control program causing a computer provided in a vehicle control device controlling an operation of a local vehicle among one or more vehicles to execute:

• environment estimation processing of estimating an environment model relating to a search region, based on environment information acquired by an environment sensor, wherein the environment sensor acquires the environment information representing an environment around the local vehicle, and the environment sensor is provided in the local vehicle;
• coverage estimation processing of estimating an effective range based on the environment model estimated by the environment estimation processing, when the local vehicle, and each vehicle which is another vehicle being different from the local vehicle and including a same function as the local vehicle among the one or more vehicles move to each predetermined candidate destination, the effective range being in the search region of a search sensor, the search sensor provided for searching for an object existing in the search region and the search sensor provided in each vehicle of the one or more vehicles;
• and
• autonomous control processing of configuring a plurality of sets being configurable by the candidate destinations, which are different from one another, of all the vehicles, determining, based on the effective range estimated by the coverage estimation processing, a certain set, among the plurality of sets, by which an entire size demarcated by the effective range of the search sensor in one set among the plurality of sets becomes maximum, determining a destination of the local vehicle, based on the certain set, and instructing, on the determined destination, a drive unit being provided in the local vehicle and achieving movement of the local vehicle.