To properly control travel of a vehicle in a parking area managed by an automated valet parking system.SOLUTION: A travel controller: executes travel control of a vehicle including collision avoidance control for avoiding a collision of the vehicle with an object present around the vehicle, based on surrounding information including control information that is received from a control device via a communication network and indicates a surrounding situation of the vehicle and surrounding data that is output from the surrounding sensor mounted on the vehicle and indicates the surrounding situation of the vehicle; limits a speed of the vehicle, and estimates, from the surrounding information, an avoidance difficulty degree indicating difficulty in avoiding the collision with an object by the collision avoidance control where the object is detected in the surrounding situation of the vehicle indicated in the surrounding information when a delay time in reception of the control information exceeds a delay threshold; sets the delay threshold to a first threshold when the estimated avoidance difficulty degree is smaller than the difficulty degree threshold; and sets the delay threshold to a second threshold smaller than the first threshold when the estimated avoidance difficulty degree is larger than the difficulty degree threshold.SELECTED DRAWING: Figure 6
【課題】自動バレー駐車システムにより管理される駐車エリアでの車両の走行を適切に制御する。【解決手段】走行制御装置は、通信ネットワークを介して管制装置から受信され、車両の周辺の状況を表す管制情報と、車両に搭載された周辺センサから出力され、車両の周辺の状況を表す周辺データと、を含む周辺情報に基づいて、車両の周辺に存在する物体への車両の衝突を回避する衝突回避制御を含む車両の走行制御を実行し、管制情報の受信における遅延時間が遅延閾値を超える場合、車両の速度を制限し、周辺情報から、周辺情報に表された車両の周辺の状況において物体が検出された場合の衝突回避制御による物体への衝突の回避の難しさを示す回避困難度を推定し、推定された回避困難度が困難度閾値より小さい場合、遅延閾値を第1の閾値に設定し、推定された回避困難度が困難度閾値より大きい場合、遅延閾値を第1の閾値よりも小さい第2の閾値に設定する。【選択図】図6
TRAVELING CONTROLLER, TRAVELING CONTROL METHOD, AND TRAVELING CONTROL COMPUTER PROGRAM
走行制御装置、走行制御方法、および走行制御用コンピュータプログラム
2024-05-01
Patent
Electronic Resource
Japanese
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