Vehicle control device, vehicle control method, and storage medium
A vehicle control device, vehicle technology, applied in the direction of control device, vehicle position/route/altitude control, vehicle components, etc.
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no. 1 approach
[0041] [the whole frame]
[0042] figure 1It is a configuration diagram of a vehicle system 1 using the vehicle control device of the first embodiment. The vehicle on which the vehicle system 1 is mounted (hereinafter referred to as the vehicle M) is, for example, a two-wheel, three-wheel, or four-wheel vehicle, and its drive source includes an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a generator connected to the internal combustion engine or discharged power from a secondary battery or a fuel cell.
[0043] The vehicle system 1 includes, for example, a camera 10, a radar device 12, a detector 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, an MPU (Map Positioning Unit) 60, a driving operation Component 80 , automatic driving control device 100 , driv...
no. 2 approach
[0105] Hereinafter, a second embodiment will be described. In the second embodiment, the difference from the above-mentioned first embodiment is that, in the case where the adjacent lane adjacent to the own lane is a lane dedicated to motorcycles, it is easy for the two-wheeled vehicle to move from the outside of the road to the two-wheeled vehicle. At the entry point within the private lane, the own vehicle M is further away from the two-wheeled vehicle exclusive lane than at other points. A point where motorcycles are likely to enter the motorcycle-only lane from the outside of the road is, for example, a point where the motorcycle-only lane appears next to the own lane (hereinafter referred to as a start point). Hereinafter, differences from the first embodiment will be mainly described, and descriptions of functions and the like common to the first embodiment will be omitted.
[0106] The recognition unit 130 in the second embodiment recognizes the start point of the excl...
no. 3 approach
[0113] Hereinafter, a third embodiment will be described. In the third embodiment, the point of difference from the above-mentioned first and second embodiments is that there is a structure such as a fence or a pole (hereinafter referred to as a lane separation structure) at the boundary between the exclusive lane for motorcycles and the own lane. In the case of physically demarcating the dedicated lane for two-wheeled vehicles from the own lane, compared with the case where the dedicated lane for two-wheeled vehicles and the own lane are not physically divided by the lane separation structure ST2, the host vehicle M is closer to two. A dedicated lane for wheeled vehicles. Hereinafter, differences from the first embodiment and the second embodiment will be mainly described, and descriptions of functions and the like common to the first embodiment and the second embodiment will be omitted.
[0114] The recognition unit 130 in the third embodiment recognizes the lane separation...
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