To correctly estimate the position of a vehicle even when the vehicle makes a lane change.SOLUTION: A vehicle controller comprises: a recognition unit that recognizes road compartment lines present ahead of a vehicle based on an image picked up by a camera; a matching unit that performs matching between compartment line information obtained based on a result of the recognition and map information describing the distribution of the road compartment lines, to specify the position of the vehicle in the extension direction of the road; and a travel control unit that performs travel control of causing the vehicle to travel based on a result of the matching. When the vehicle completes the lane change from a travel lane on which the vehicle currently travels to an adjacent lane adjacent to the travel lane, the matching unit does not perform the matching between the compartment line information and the map information in a section extending over a predetermined distance with respect to the fore-and-aft direction of the vehicle, and performs the matching between the compartment line information and the map information within a range that is outside the range of the section and includes the front side and the rear side of the section.SELECTED DRAWING: Figure 1

    【課題】車両が車線変更を行う場合であっても、正しく自己位置を推定すること。【解決手段】カメラによって撮像された画像に基づいて、車両の前方に存在する道路区画線を認識する認識部と、前記認識の結果に基づいて得られる区画線情報と、道路区画線の分布が記述された地図情報とをマッチングし、道路の延在方向に関する前記車両の位置を特定するマッチング部と、マッチングされた結果に基づいて、前記車両を走行させる走行制御を行う走行制御部と、を備え、前記マッチング部は、前記車両が現在走行している走行車線から隣接する隣接車線への車線変更が完了した際に、前記車両の前後方向に関して所定距離にわたる区間、前記区画線情報と前記地図情報とのマッチングを行わず、前記区間の範囲外でありかつ前記区間よりも前方側と後方側を含む範囲で前記区画線情報と前記地図情報とのマッチングを行う、車両制御装置。【選択図】図1


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    Titel :

    VEHICLE CONTROLLER, VEHICLE CONTROL METHOD, AND PROGRAM


    Weitere Titelangaben:

    車両制御装置、車両制御方法、およびプログラム


    Beteiligte:
    WADA KOICHIRO (Autor:in)

    Erscheinungsdatum :

    05.06.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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