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

Abstract

A vehicle control device comprises: a detection unit that detects objects in the vicinity of a host vehicle; a generation unit that, on the basis of the shape of a travel path traveled by the host vehicle, generates a first target trajectory; a first potential calculation unit that calculates an induced potential indicating safety resulting from traveling along the first target trajectory; a second potential calculation unit that calculates vicinity potential indicating safety on the basis of objects in the vicinity of the host vehicle; a third potential calculation unit that calculates a travel potential indicating safety when the host vehicle is moved in a direction intersecting the direction of travel of the host vehicle, for each geographical point included in an area that the host vehicle can travel through in the future, on the basis of the induced potential and the vicinity potential and using the first target trajectory as a reference therefor; and a travel control unit that controls host vehicle travel on the basis of a second target trajectory obtained by correcting the first target trajectory on the basis of the travel potential.

Description

technical field [0001] The present invention relates to a vehicle control device, a vehicle control method and a vehicle control program. Background technique [0002] In recent years, research on automatic driving that automatically performs acceleration, deceleration, and steering has progressed. In connection with this, there is disclosed a technique of performing automatic steering based on the travel trajectory of the preceding vehicle when the possibility of encountering an obstacle is high while maintaining travel along a predetermined route as much as possible (for example, refer to Patent Document 1 ). [0003] prior art literature [0004] patent documents [0005] Patent Document 1: Japanese Unexamined Patent Publication No. 2004-78333 [0006] Summary of the invention [0007] The problem to be solved by the invention [0008] However, the technology disclosed in Patent Document 1 may not be able to realize appropriate automatic steering when there is no pr...

AI Technical Summary

Problems solved by technology

[0008] However, the technique disclosed in Patent Document 1 may not be able to realize appropriate automatic steering in the absence of a preceding vehicle, and the vehicle occupants may feel uneasy due to the presence of obstacles around the own vehicle.

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