Vehicle control device
AssigneeToyota Jidosha Kabushiki Kaisha
InventorNobuhide Kamata
Life of this patent
Estimating the term…
Abstract
A vehicle control device includes a tracking unit estimating a motion of a moving object, a model selection unit selecting a motion model corresponding to a moving object type, an abnormality determination unit determining a presence or absence of an abnormality of the estimation of the motion of the moving object based on the estimated moving object motion and the motion indicated by the motion model, and a control unit. A control mode in which the control unit controls traveling of a host vehicle when the abnormality determination unit determines that the abnormality is present differs from a control mode in which the control unit controls the traveling of the host vehicle when the abnormality determination unit determines that the abnormality is absent.
Claims8
A vehicle control device controlling traveling of a host vehicle, the vehicle control device comprising:
- a detection unit configured to detect a moving object around the host vehicle;
- a tracking unit configured to track the moving object based on a detection result of the detection unit and estimate a motion of the moving object;
- a type determination unit configured to determine a type of the moving object;
- a model storage unit configured to store a plurality of motion models determined in advance for each moving object type and indicating the motion of the moving object;
- a model selection unit configured to select the motion model corresponding to the moving object type determined by the type determination unit among the plurality of motion models stored in the model storage unit;
- an abnormality determination unit configured to determine a presence or absence of an abnormality of the estimation of the motion of the moving object by comparing the motion of the moving object estimated by the tracking unit and the motion indicated by the motion model selected by the model selection unit to each other for a predetermined time;
- and
- a control unit configured to control the traveling of the host vehicle,
- wherein a control mode in which the control unit is configured to control the traveling of the host vehicle when the abnormality determination unit determines that the abnormality is present differs from a control mode in which the control unit is configured to control the traveling of the host vehicle when the abnormality determination unit determines that the abnormality is absent.
Dependencies are inferred from the claim text.