Vehicle control device

Abstract

A vehicle control device capable of suppressing an unnecessary lane-change operation of a host vehicle and suppressing deterioration of ride comfort is achieved. A vehicle control device 1 includes peripheral state detection sensors 301 to 304 that detect a peripheral state for a host vehicle, a blind-spot object estimation processing unit 311 that calculates a blind-spot region around the host vehicle based on the detected peripheral state of the host vehicle and a feature amount of map information, and estimates an object existing in the blind-spot region and a behavior trend of the object, and a potential risk map generation unit 309 that generates a region having a potential risk that the host vehicle approaches the object, based on the behavior trend of the object estimated by the blind-spot object estimation processing unit 311. The vehicle control device 1 further includes an automatic driving planning unit 201 that generates a lane-change trajectory from the peripheral state of the host vehicle and the map information, compares the lane-change trajectory with a potential risk map, and determines whether or not lane change of the host vehicle is possible, and a vehicle motion control unit 203 that controls an operation of the host vehicle in accordance with the determination of whether or not the lane change is possible.

Dependencies are inferred from the claim text.