Vehicle control device, control method, and control program

Abstract

To provide a vehicle control device capable of making a vehicle appropriately travel in an intersection with a simple configuration.SOLUTION: The control device 30 includes the recognition unit 31 that recognizes the surrounding situation of the vehicle 1, the trajectory generation unit 32 that generates the travel trajectory from the entry position to the exit position of the vehicle 1 at the intersection, and the travel control unit 33 that causes the vehicle 1 to travel based on the travel trajectory generated by the trajectory generation unit 32. When the intersection is an intersection to which five or more roads are connected, and an intersection angle at the intersection between a first road including the entry location and a second road including the exit location is within a predetermined first angle range including 180 degrees, the route generation section 32 identifies a first reference point that is an end point on one side in a width direction of the first road at a boundary between the first road and the intersection, and a second reference point that is an end point on one side in a width direction of the second road at a boundary between the second road and the intersection; The travel trajectory is generated based on a first reference line that is a line segment passing through the first reference point and the second reference point.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device, a control method, and a control program for controlling a vehicle. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have been gaining momentum. As part of these efforts, research and development is being conducted on driver assistance technologies and autonomous driving technologies for automobiles and other vehicles in order to further improve road safety and convenience.

[0003] As an example of a driving assistance technology, Patent Document 1 listed below discloses a technology that acquires intersection information, which is information about an intersection that the vehicle is about to enter, acquires data indicating the position and direction of each of multiple arrow markings just before the intersection based on the intersection information, calculates the distance in the lane width direction from the driving trajectory of the vehicle traveling through the intersection to each of the multiple road arrow markings, determines the destination of the driving trajectory of the vehicle based on the direction of a reference road arrow marking, which is a road arrow marking for which the distance is less than a first threshold, generates data indicating a duplicate driving trajectory by translating the driving trajectory to the position of a road arrow marking that is different from the reference road arrow marking and indicates the same direction as the destination of the driving trajectory, and estimates the shape of the road within the intersection based on the data indicating the duplicate driving trajectory. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-160381 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned conventional technology requires information about intersections to be prepared in advance, making it difficult to properly navigate vehicles through intersections using a simple configuration that does not require such information.

[0006] The present invention provides a vehicle control device, a control method, and a control program that enable vehicles to travel appropriately through intersections with a simple configuration, thereby improving traffic safety and contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] One aspect of the present invention is A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; a trajectory generation unit that generates a travel trajectory of the vehicle from an entry position to an exit position at the intersection when an intersection present in a traveling direction of the vehicle is recognized by the recognition unit; a travel control unit that causes the vehicle to travel based on the travel trajectory generated by the trajectory generation unit; Equipped with The trajectory generation unit When the intersection is a multi-junction where five or more roads are connected, and the intersection angle between a first road including the entry position and a second road including the exit position is within a first angle range including 180 degrees, a first reference point that is an end point on one side in the width direction of the first road at the boundary between the first road and the intersection; a second reference point that is an end point on one side in a width direction of the second road at a boundary between the second road and the intersection based on the recognition result of the recognition unit; deriving a first reference line, which is a line segment passing through the first reference point and the second reference point, based on the first reference point and the second reference point; generating the running trajectory based on the first reference line; A vehicle control device.

[0008] Another aspect of the present invention is The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position to an exit position of the vehicle at the intersection is generated; causing the vehicle to travel based on the generated travel trajectory; Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the intersection angle between a first road including the entry position and a second road including the exit position is within a first angle range including 180 degrees, a first reference point that is an end point on one side in the width direction of the first road at the boundary between the first road and the intersection; a second reference point that is an end point on one side in a width direction of the second road at a boundary between the second road and the intersection based on the recognition result of the surrounding situation; deriving a first reference line, which is a line segment passing through the first reference point and the second reference point, based on the first reference point and the second reference point; generating the running trajectory based on the first reference line; It is a control method.

[0009] Another aspect of the present invention is The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position to an exit position of the vehicle at the intersection is generated; causing the vehicle to travel based on the generated travel trajectory; Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the intersection angle between a first road including the entry position and a second road including the exit position is within a first angle range including 180 degrees, a first reference point that is an end point on one side in the width direction of the first road at the boundary between the first road and the intersection; a second reference point that is an end point on one side in a width direction of the second road at a boundary between the second road and the intersection based on the recognition result of the surrounding situation; deriving a first reference line, which is a line segment passing through the first reference point and the second reference point, based on the first reference point and the second reference point; generating the running trajectory based on the first reference line; It is a control program. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a vehicle control device, a control method, and a control program that are simple in configuration and enable a vehicle to travel appropriately within an intersection.

[0011] Another aspect of the present invention is A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; a trajectory generation unit that generates a travel trajectory of the vehicle from an entry position to an exit position at the intersection when an intersection present in a traveling direction of the vehicle is recognized by the recognition unit; a travel control unit that causes the vehicle to travel based on the travel trajectory generated by the trajectory generation unit; Equipped with The trajectory generation unit When the intersection is a multi-junction where five or more roads are connected, and the vehicle travels straight through the intersection from a first road including the entry position to a second road including the exit position, an entrance direction line that is a line segment that passes through the entry position and extends along the first road; an exit direction line that is a line segment that passes through the exit position and extends along the second road based on the recognition result of the recognition unit; deriving a reference circle that has the entrance direction line and the exit direction line as tangents and the entry position and the exit position as tangents based on the entry position, the exit position, the entrance direction line, and the exit direction line; An arc between the entry position and the exit position on the reference circle is generated as the traveling trajectory. A vehicle control device.

[0012] Another aspect of the present invention is The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position to an exit position of the vehicle at the intersection is generated; causing the vehicle to travel based on the generated travel trajectory; Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the vehicle travels straight through the intersection from a first road including the entry position to a second road including the exit position, an entrance direction line that is a line segment that passes through the entry position and extends along the first road; an exit direction line that is a line segment that passes through the exit position and extends along the second road based on the recognition result of the surrounding situation; deriving a reference circle that has the entrance direction line and the exit direction line as tangents and the entry position and the exit position as tangents based on the entry position, the exit position, the entrance direction line, and the exit direction line; An arc between the entry position and the exit position on the reference circle is generated as the traveling trajectory. It is a control method.

[0013] Another aspect of the present invention is The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position to an exit position of the vehicle at the intersection is generated; causing the vehicle to travel based on the generated travel trajectory; Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the vehicle travels straight through the intersection from a first road including the entry position to a second road including the exit position, an entrance direction line that is a line segment that passes through the entry position and extends along the first road; an exit direction line that is a line segment that passes through the exit position and extends along the second road based on the recognition result of the surrounding situation; deriving a reference circle that has the entrance direction line and the exit direction line as tangents and the entry position and the exit position as tangents based on the entry position, the exit position, the entrance direction line, and the exit direction line; An arc between the entry position and the exit position on the reference circle is generated as the traveling trajectory. It is a control program. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30 that is an embodiment of a vehicle control device of the present invention. [Figure 2] FIG. 2 is a diagram showing an example of a situation assumed in this embodiment. [Figure 3] FIG. 3 is a diagram showing an example of a travel trajectory that is generated when the vehicle 1 travels from the road Rd1 to the road Rd3 at the intersection CP. [Figure 4] FIG. 4 is a diagram showing an example of a travel trajectory that is generated when the vehicle 1 travels from the road Rd1 to the road Rd2 at the intersection CP. [Figure 5] FIG. 5 is a diagram showing an example of a travel trajectory that is generated when the vehicle 1 travels from the road Rd1 to the road Rd4 at the intersection CP. [Figure 6] FIG. 6 is a diagram showing an example of a travel trajectory that is generated when the vehicle 1 travels from the road Rd1 to the road Rd5 at the intersection CP. [Figure 7] FIG. 7 is a flowchart (part 1) to (part 3) (part 1) showing an example of a processing procedure by the control device 30. [Figure 8] FIG. 8 is a flowchart (part 1) to (part 3) (part 2) showing an example of a processing procedure by the control device 30. [Figure 9] FIG. 9 is a flowchart (part 1) to (part 3) showing an example of a processing procedure by the control device 30. [Figure 10] FIG. 10 is a diagram showing a modified example (part 1) of a driving trajectory that is generated when the vehicle 1 travels straight through the intersection CP. [Figure 11] FIG. 11 is a diagram showing a second modified example of a travel trajectory that is generated when the vehicle 1 travels straight through the intersection CP. [Figure 12] FIG. 12 is a diagram showing a modified example of a travel trajectory that is generated when the vehicle 1 turns right at the intersection CP. [Figure 13] FIG. 13 is a diagram showing a modified example of a travel trajectory that is generated when the vehicle 1 turns left at the intersection CP. [Figure 14] FIG. 14 is a diagram showing another modified example of a travel trajectory that is generated when the vehicle 1 travels straight through the intersection CP. [Figure 15] FIG. 15 is a flowchart showing another example of the processing procedure of the straight driving processing in step Sp3 by the control device 30. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, an embodiment of a vehicle control device, a control method, and a control program of the present invention will be described with reference to the drawings. The drawings should be viewed in the direction of the reference symbols. Note that the following embodiment does not limit the present invention, and not all of the elements described in the following embodiment are necessarily essential to the present invention. Furthermore, two or more elements described in the following embodiment may be arbitrarily combined without departing from the spirit of the present invention. Hereinafter, identical or similar elements will be assigned identical or similar reference symbols, and their description may be omitted or simplified.

[0016] In addition, in order to simplify and clarify the explanation in this specification and elsewhere, the front and rear (including the front and back), left and right, and up and down directions will be described according to the direction as seen by the driver, who is an occupant of the vehicle (vehicle 1 described below), and in the drawings, the front of the vehicle is indicated as Fr, the rear as Rr, the left as L, and the right as R.

[0017] In the following embodiments, an example will be described assuming a region where people drive on the left, such as Japan, but the present invention is not limited to this. For example, when the present invention is applied to a region where people drive on the right, such as the United States of America or the People's Republic of China, each of the drawings such as Figures 2 to 6 and 10 to 13 may be viewed with the left and right reversed, and "right turn" in the following description may be read as "left turn" and "left turn" respectively.

[0018] [1. Vehicle] Fig. 1 is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30, which is one embodiment of a vehicle control device of the present invention. The vehicle 1 of this embodiment shown in Fig. 1 is an automobile equipped with a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steerable wheels. As an example, the vehicle 1 can be a four-wheeled automobile having a pair of front wheels and a pair of rear wheels on the left and right.

[0019] The drive source of vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. The drive source of vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front and rear wheels, i.e., four wheels. Either one of the front wheels or the rear wheels of vehicle 1 may be steerable wheels, or both may be steerable wheels.

[0020] The vehicle 1 is configured to include a sensor group 10, a navigation device 20, a control device 30 which is an example of a vehicle control device of the present invention, an electric power steering (EPS: Electric Power Steering) system 40, a driving force control system 50, a braking force control system 60, a communication unit 70, an operation input unit 80, and an alarm device 90.

[0021] The sensor group 10 is configured to include an external sensor 11 that acquires information about the periphery of the vehicle 1 (hereinafter also referred to as "peripheral information"), and a vehicle sensor 12 that acquires information about the vehicle 1 (hereinafter also referred to as "vehicle information"). The information acquired by each sensor included in the sensor group 10 (in other words, detected values) is output to the control device 30 and is used for controlling the vehicle 1 by the control device 30 (hereinafter also referred to as "vehicle control").

[0022] The external sensor 11 includes, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 is an imaging device that captures an image of the surroundings of the vehicle 1 including the area ahead of the vehicle 1, and outputs image data of the obtained surrounding image to the control device 30. As the camera 111, for example, a digital camera using an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) can be used.

[0023] Sonar 112 emits sound waves around vehicle 1 (for example, in front of, behind, and to the sides of vehicle 1) and receives reflected sound from objects around vehicle 1, thereby detecting the distance and direction of the objects. Radar 113 emits radio waves around vehicle 1, including in front of vehicle 1, and receives reflected waves from objects around vehicle 1, thereby detecting the distance and direction of the objects. For example, a millimeter wave radar can be used as radar 113.

[0024] The external sensor 11 may be configured to include a LiDAR (Light Detection and Ranging) instead of or in addition to the sonar 112 or the radar 113. In this case, the LiDAR emits laser light to the periphery of the vehicle 1 including the area ahead of the vehicle 1, and receives reflected light from an object present around the vehicle 1 to detect the distance and direction to the object.

[0025] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, and a steering touch sensor 126.

[0026] The wheel sensor 121 detects the rotation angle of one or more of the wheels of the vehicle 1. As an example, the wheel sensor 121 detects the rotation angle of each of the left rear wheel and the right rear wheel. As the wheel sensor 121, for example, an angle sensor or a displacement sensor can be adopted.

[0027] The vehicle speed sensor 122 detects the vehicle speed VP, which is the traveling speed (in other words, the moving speed of the vehicle body) of the vehicle 1. For example, the vehicle speed sensor 122 detects the vehicle speed VP based on the number of rotations of a countershaft (not shown) provided in the vehicle 1.

[0028] The inertial measurement unit 123 detects angular velocities in the pitch, roll, and yaw directions of the vehicle 1, and accelerations in the front-to-rear, left-to-right, and up-to-down directions of the vehicle 1. Note that instead of the inertial measurement unit 123, the vehicle sensor 12 may be configured to include an acceleration sensor that detects acceleration in a predetermined direction of the vehicle 1, or a gyro sensor that detects angular velocity in a predetermined direction of the vehicle 1.

[0029] The occupant camera 124 is a digital camera that captures an image of the interior of the vehicle 1 and outputs image data of the obtained interior image to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is installed so as to be able to capture an image of the head (in other words, the face) of an occupant (hereinafter also referred to as "driver") sitting in the driver's seat of the vehicle 1 from the front. As with the camera 111, the occupant camera 124 can be a digital camera that uses an imaging element such as a CCD or CMOS.

[0030] The operation detection unit 125 detects an operation performed using the operation input unit 80 that is operable by the driver. In this embodiment, the operation input unit 80 may include, for example, an operation button that accepts an operation to switch on (in other words, activated) and off (in other words, not activated) a predetermined driving assistance control, such as steering control by the driving control unit 33, which will be described later. In this case, the operation detection unit 125 can detect an operation to turn on / off the predetermined driving assistance control.

[0031] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is being properly gripped. For example, the steering touch sensor 126 is realized by a capacitance sensor or the like. In this case, the capacitance sensor is provided at a portion where the driver touches the steering wheel 46 when the steering wheel 46 is being properly gripped.

[0032] The navigation device 20 includes, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) configured with a flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24 as an example of map information.

[0033] The map information database 24 is configured to include road network information. The road network information is information that represents each road as a combination of nodes and links (also called "paths") that connect the nodes. Each node in the road network information represents a characteristic point on a road, such as an intersection, a corner, or a dead end. In the road network information, each node is set with information indicating, for example, the point corresponding to the node (for example, coordinates that can identify a point on a map, such as latitude and longitude). In addition, in the road network information, each link is set with information indicating the nodes at both ends of the link, the road corresponding to the link, the link length, the number of lanes, the direction of travel, the road type, etc.

[0034] The GNSS receiver 21 identifies the current position of the vehicle 1 (for example, the latitude and longitude of the location where the vehicle 1 is located) based on signals received from GNSS satellites. Note that the navigation device 20 may acquire, for example, detection results from vehicle sensors 12 (for example, wheel sensors 121 and vehicle speed sensors 122) via the control device 30, and identify or complement the current position of the vehicle 1 by an INS (Inertial Navigation System) that uses the detection values ​​of the vehicle sensors 12.

[0035] The touch panel 22 is configured by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (e.g., a touchpad). The speaker 23 is configured to be able to output audio to a passenger of the vehicle 1 (e.g., the driver).

[0036] For example, the navigation device 20 searches for a route from the current position of the vehicle 1 to a destination set by the driver using the touch panel 22 by referring to the map information database 24. Then, the navigation device 20 provides route guidance using the touch panel 22 and the speaker 23 based on the searched route. The navigation device 20 may also cause the touch panel 22 to display a predetermined information in accordance with an instruction from the control device 30. Furthermore, the navigation device 20 may output, for example, information indicating the identified current position of the vehicle 1 and predetermined information (for example, information indicating an operation received via the touch panel 22) to the control device 30.

[0037] In this embodiment, the control device 30 is configured to be able to refer to the map information database 24 (i.e., map information) of the navigation device 20. However, the present invention is not limited to this, and map information including road network information similar to that in the map information database 24 may be separately stored in the control device 30 or the like, and the control device 30 may be configured to refer to this map information.

[0038] The control device 30 is a computer that has, for example, a processor that performs various calculations, a storage unit that has a non-transitory storage medium (e.g., a flash memory) that stores various information, an input / output unit that controls input and output of data between the inside and outside of the control device 30, and the like (all not shown), and performs overall control of the vehicle 1. For example, the control device 30 is realized by one ECU (Electronic Control Unit) or by multiple ECUs working together. Note that specific examples of control by the control device 30 will be described later, so description thereof will be omitted here.

[0039] The EPS system 40 includes, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0040] The steering angle sensor 41 detects the steering angle θst of the steering wheel 46 and outputs information indicating the detected steering angle θst to the EPS ECU 45. The torque sensor 42 detects the steering torque TQ, which is the torque applied to the steering wheel 46 of the vehicle 1, and outputs information indicating the detected steering torque TQ to the EPS ECU 45.

[0041] The EPS motor 43 applies a driving force or a reaction force to a steering column 47 connected to the steering wheel 46 in accordance with instructions from the EPS ECU 45, thereby assisting the driver in operating the steering wheel 46. The resolver 44 detects a rotation angle θm of the EPS motor 43, and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0042] The EPS ECU 45 is a computer that controls the EPS system 40 (e.g., the EPS motor 43) and is implemented by one or more ECUs. For example, the EPS ECU 45 has a processor that performs various calculations, a storage unit that has a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the EPS ECU 45 (all of which are not shown). For example, the EPS ECU 45 controls the EPS system 40 (e.g., the EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, the rotation angle θm detected by the resolver 44, etc. The EPS ECU 45 can also control the EPS system 40 in accordance with instructions from the control device 30.

[0043] Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, the rotation angle θm detected by the resolver 44, etc. to the control device 30. Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering speed ω of the steering wheel 46 to the control device 30. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0044] The driving force control system 50 includes a driving ECU 51 and is configured to be able to control the driving force of the vehicle 1. The driving ECU 51 is a computer that controls the driving force control system 50 and is realized by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the driving ECU 51 (all of which are not shown). For example, the driving ECU 51 controls the power output from a driving source of the vehicle 1 based on operation of an accelerator pedal 52 provided on the vehicle 1. The driving ECU 51 can also control the driving force control system 50 (for example, the driving source) according to instructions from the control device 30.

[0045] The braking force control system 60 includes a braking ECU 61 and is configured to be able to control the braking force of the vehicle 1. The braking ECU 61 is a computer that controls the braking force control system 60 and includes, for example, a processor that performs various calculations, a storage unit having a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the braking ECU 61 (all of which are not shown), and is realized by one or more ECUs. For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling a brake device (not shown) provided in the vehicle 1 based on operation of a brake pedal 62 provided in the vehicle 1. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force corresponding to operation of the brake pedal 62 is generated. The braking ECU 61 can also control the braking force control system 60 (for example, the brake device) according to instructions from the control device 30.

[0046] The communication unit 70 is a communication interface that communicates with the external device 2 under the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include a driver's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. Note that communication between the vehicle 1 and the external device 2 can be performed using, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark).

[0047] The warning device 90 is a device that issues a warning to the driver under the control of the control device 30. The warning device 90 includes, for example, an MID (Multi-Information Display) 91 and a buzzer 92.

[0048] The MID 91 is configured with a display device such as a liquid crystal display or an OLED, and is provided in a position visible to the driver (for example, in the meter panel of the vehicle 1). For example, the MID 91 displays a predetermined warning image in accordance with an instruction from the control device 30. The MID 91 may be shared with the above-mentioned touch panel 22. That is, the term "MID 91" in the following description may be read as "touch panel 22."

[0049] The buzzer 92 is configured to be able to output a predetermined alarm sound. For example, the buzzer 92 outputs the predetermined alarm sound in accordance with an instruction from the control device 30. The buzzer 92 may be shared with the above-mentioned speaker 23. That is, the "buzzer 92" in the following description may be read as the "speaker 23."

[0050] [2. Control device] Next, a more detailed description will be given of the control device 30. First, for the sake of simplicity and clarity of the following description, each term that may be used in the following description will be explained.

[0051] 2 is a diagram showing an example of a situation assumed in this embodiment. In this embodiment, it is assumed that a vehicle 1 is traveling through a five-way (i.e., multi-way) intersection CP where roads Rd1, Rd2, Rd3, Rd4, and Rd5 intersect, as shown in FIG.

[0052] (Intersection CP) In Figure 2, intersection CP is a five-way intersection where roads Rd1, Rd2, Rd3, Rd4, and Rd5 are connected. At such intersections CP, a right / left turn method pavement marking Rm may be provided at the actual center. Here, right / left turn method pavement marking Rm is a pavement marking that specifies the section that a vehicle, such as vehicle 1, traveling through intersection CP should travel when turning right or left at intersection CP.

[0053] (Road Rd1) Road Rd1 is a two-lane road having lanes Ln11 and Ln12 on which vehicle 1 is currently traveling. Lane boundary Ln11b is a boundary between lanes Ln11 and Ln12, and is, for example, the centerline of road Rd1.

[0054] 2, the direction of travel of lane Ln11 is from bottom to top, and can also be called the "own lane" that vehicle 1 is currently traveling in. The lane boundary Ln11a is a lane boundary that separates lane Ln11 from the outside of road Rd1, and is, for example, a dividing line or curb provided between lane Ln11 and the outside of the left side of road Rd1.

[0055] Lane Ln12 is a lane whose direction of travel is from top to bottom in Figure 2, and can also be called an "oncoming lane" whose direction of travel is opposite to that of the vehicle's own lane. The lane boundary Ln12a is a lane boundary that separates lane Ln12 from the outside of road Rd1, and is, for example, a dividing line or curb between lane Ln12 and the outside of the right side of road Rd1.

[0056] Boundary Rd1a is the boundary between road Rd1 and intersection CP. Junction P1 is the end point of boundary Rd1a on one side of road Rd1 in the width direction, more specifically, the end point of boundary Rd1a on the lane Ln11 side of road Rd1. Junction P1 can also be said to be the junction between road Rd1 and road Rd5 at intersection CP, or more specifically, the junction between lane boundary Ln11a and lane boundary Ln51a, which will be described later.

[0057] The tangent point P2 is the end point of the boundary Rd1a on the other side in the width direction of the road Rd1, more specifically, the end point of the boundary Rd1a on the lane Ln12 side of the road Rd1. The tangent point P2 can also be said to be the tangent point between the roads Rd1 and Rd2 at the intersection CP, or more specifically, the tangent point between the lane boundary Ln12a and the lane boundary Ln22a (described later).

[0058] (Road Rd2) Road Rd2 is a two-lane road that exists on the right side (i.e., the other side in the vehicle width direction) of vehicle 1. Road boundary Ln21b is a road boundary between lane Ln21 and lane Ln22, and is, for example, the center line of road Rd2.

[0059] Lane Ln21 is a lane whose direction of travel is from intersection CP to the lower right in Figure 2. Lane boundary Ln21a is a lane boundary that separates lane Ln21 from the outside of road Rd2, and is, for example, a dividing line or curb provided between lane Ln21 and the outside of road Rd2 on the far side.

[0060] Lane Ln22 is a lane whose travel direction is from the lower right toward intersection CP in Figure 2. Lane boundary Ln22a is a lane boundary that separates lane Ln22 from the outside of road Rd2, and is, for example, a dividing line or curb provided between lane Ln22 and the outside of road Rd2 on the near side.

[0061] Boundary Rd2a is the boundary between road Rd2 and intersection CP. The aforementioned tangent point P2 is also the end point of boundary Rd2a on one side of road Rd2 in the width direction, or more specifically, the end point of boundary Rd2a on the lane Ln22 side of road Rd2. Tangent point P2 can also be considered the tangent point between roads Rd2 and Rd1 at intersection CP, or more specifically, the tangent point between lane boundary Ln22a and lane boundary Ln12a.

[0062] The tangent point P3 is the end point of the boundary Rd2a on the other side in the width direction of the road Rd2, more specifically, the end point of the boundary Rd2a on the lane Ln21 side of the road Rd2. The tangent point P3 can also be said to be the tangent point between the roads Rd2 and Rd3 at the intersection CP, or more specifically, the tangent point between the lane boundary Ln21a and the lane boundary Ln32a (described later).

[0063] (Road Rd3) Road Rd3 is a two-lane road having lanes Ln31 and Ln32. Lane boundary Ln31b is the boundary between lanes Ln31 and Ln32, and is, for example, the center line of road Rd3.

[0064] Lane Ln31 is a lane whose direction of travel is from intersection CP to the upper right in Figure 2. Lane boundary Ln31a is a lane boundary that separates lane Ln31 from the outside of road Rd3, and is, for example, a dividing line or curb provided between lane Ln31 and the outside of the far left side of road Rd3.

[0065] Lane Ln32 is a lane whose travel direction is from the upper right toward intersection CP in Figure 2. Lane boundary Ln32a is a lane boundary that separates lane Ln32 from the outside of road Rd3, and is, for example, a dividing line or curb provided between lane Ln32 and the outside of road Rd3 on the near right side.

[0066] Boundary Rd3a is the boundary between road Rd3 and intersection CP. The aforementioned tangent point P3 is also the end point of boundary Rd3a on one side of road Rd3 in the width direction, or more specifically, the end point of boundary Rd3a on the lane Ln32 side of road Rd3. Tangent point P3 can also be considered the tangent point between roads Rd3 and Rd2 at intersection CP, or more specifically, the tangent point between lane boundary Ln32a and lane boundary Ln21a.

[0067] The tangent point P4 is the end point of the boundary Rd3a on the other side in the width direction of the road Rd3, more specifically, the end point of the boundary Rd3a on the lane Ln31 side of the road Rd3. The tangent point P4 can also be said to be the tangent point between the roads Rd3 and Rd4 at the intersection CP, or more specifically, the tangent point between the lane boundary Ln31a and the lane boundary Ln42a (described later).

[0068] (Road Rd4) Road Rd4 is a two-lane road having lanes Ln41 and Ln42. Lane boundary Ln41b is the boundary between lanes Ln41 and Ln42, and is, for example, the center line of road Rd4.

[0069] Lane Ln41 is a lane whose direction of travel is from intersection CP to the upper left in Fig. 2. Lane boundary Ln41a is a lane boundary that separates lane Ln41 from the outside of road Rd4, and is, for example, a dividing line or curb provided between lane Ln41 and the outside of road Rd4 on the near left side.

[0070] Lane Ln42 is a lane whose travel direction is from the upper left toward intersection CP in Figure 2. Lane boundary Ln42a is a lane boundary that separates lane Ln42 from the outside of road Rd4, and is, for example, a dividing line or curb provided between lane Ln42 and the outside of road Rd4 on the far right side.

[0071] Boundary Rd4a is the boundary between road Rd4 and intersection CP. The aforementioned tangent point P4 is also the end point of boundary Rd4a on one side of road Rd4 in the width direction, or more specifically, the end point of boundary Rd4a on the lane Ln42 side of road Rd4. Tangent point P4 can also be considered the tangent point between roads Rd4 and Rd3 at intersection CP, or more specifically, the tangent point between lane boundary Ln42a and lane boundary Ln31a.

[0072] The tangent point P5 is the end point of the boundary Rd4a on the other side in the width direction of the road Rd4, more specifically, the end point of the boundary Rd4a on the lane Ln41 side of the road Rd4. The tangent point P5 can also be said to be the tangent point between the roads Rd4 and Rd5 at the intersection CP, or more specifically, the tangent point between the lane boundary Ln41a and the lane boundary Ln52a (described later).

[0073] (Road Rd5) Road Rd5 is a two-lane road having lanes Ln51 and Ln52. Lane boundary Ln51b is the boundary between lanes Ln51 and Ln52, and is, for example, the center line of road Rd5.

[0074] Lane Ln51 is a lane whose travel direction is upward and downward to the left from intersection CP in Figure 2. Lane boundary Ln51a is a lane boundary that separates lane Ln51 from the outside of road Rd5, and is, for example, a dividing line or curb provided between lane Ln51 and the outside of road Rd5 on the near side.

[0075] Lane Ln52 is a lane whose travel direction is from the lower left toward intersection CP in Figure 2. Lane boundary Ln52a is a lane boundary that separates lane Ln52 from the outside of road Rd5, and is, for example, a dividing line or curb provided between lane Ln52 and the outside at the far side of road Rd5.

[0076] Boundary Rd5a is the boundary between road Rd5 and intersection CP. The aforementioned tangent point P5 is also the end point of boundary Rd5a on one side of road Rd5 in the width direction, or more specifically, the end point of boundary Rd5a on the lane Ln52 side of road Rd5. Furthermore, tangent point P5 can also be considered the tangent point between roads Rd5 and Rd4 at intersection CP, or more specifically, the tangent point between lane boundaries Ln52a and Ln41a.

[0077] The aforementioned tangent point P1 is also the end point of the boundary Rd5a on the other side in the width direction of the road Rd5, more specifically, the end point of the boundary Rd5a on the lane Ln51 side of the road Rd5.

[0078] (An example of a process implemented by a functional unit included in a control device) The control device 30 includes, for example, a recognition unit 31, a trajectory generation unit 32, and a travel control unit 33 as functional units realized by a processor executing a program stored in a memory unit of the control device 30.

[0079] The recognition unit 31 recognizes the surrounding situation of the vehicle 1. For example, the recognition unit 31 performs sensor fusion processing on the detection results from some or all of the camera 111, sonar 112, and radar 113 included in the external sensor 11, and recognizes the surrounding situation of the vehicle 1 based on the processing results.

[0080] The recognition unit 31 recognizes the position, type, speed, acceleration, etc. of objects present around the vehicle 1 as the surrounding conditions of the vehicle 1. At this time, the recognition unit 31 recognizes the position of the object as a position on absolute coordinates with a representative point of the vehicle 1 (for example, the center of gravity or the center of the drive shaft) as the origin. This makes it possible to recognize the relative position between the vehicle 1 and the objects present around it. Furthermore, on the above absolute coordinates, the position of the object may be represented using a representative point such as the center of gravity or a corner of the object, or may be represented as an area.

[0081] Examples of objects that can be recognized by the recognition unit 31 include traffic participants such as other vehicles and pedestrians, lane boundaries such as lane markings, curbs, and median strips, road structures such as guardrails and road shoulders, road markings (e.g., right and left turn direction road markings Rm), road signs, etc. The recognition unit 31 can also recognize other road phenomena such as traffic lights, stop lines, crosswalks, forks, merging points, interchanges, and toll booths on toll roads.

[0082] The recognition unit 31 can recognize road markings such as lane boundaries of roads Rd1 to Rd5 and right / left turn direction road markings Rm shown in Fig. 2. Based on the recognition results of the lane boundaries, the recognition unit 31 can recognize the shape of the lane on which the vehicle 1 is traveling, intersections CP located in the traveling direction of the vehicle 1, and the like. The recognition unit 31 may also recognize intersections CP located in the traveling direction of the vehicle 1 based on the current position of the vehicle 1 identified by the navigation device 20 (e.g., the GNSS receiver 21) and map information such as the map information database 24.

[0083] When the recognition unit 31 recognizes an intersection CP that exists in the traveling direction of the vehicle 1, the trajectory generation unit 32 generates a traveling trajectory from an entry position PA of the vehicle 1 at the intersection CP to an exit position PE of the vehicle 1 at the intersection CP. Here, the traveling trajectory is a trajectory that the vehicle 1 should travel when passing through the intersection CP, and can also be called a target traveling line.

[0084] In the following description, when a vehicle 1 passes through an intersection CP, a road including an entry position PA to the intersection CP is also referred to as an "entrance road RdA," and a road including an exit position PE from the intersection CP is also referred to as an "exit road RdE." Note that the entry road RdA is an example of a first road in the present invention, and the exit road RdE is an example of a second road in the present invention.

[0085] When generating a travel trajectory, the trajectory generation unit 32, for example, first determines the intersection angle θx (hereinafter, 0 degrees≦intersection angle θx≦180 degrees) at the intersection CP between the entry road RdA and the exit road RdE. As an example, the trajectory generation unit 32 determines the intersection angle θx based on the recognition result of the recognition unit 31. In this case, for example, based on the recognition result of the entry road RdA and the exit road RdE by the recognition unit 31, the trajectory generation unit 32 geometrically determines the angle formed between an imaginary line extending the center line (or lane boundary) of the entry road RdA toward the intersection CP and an imaginary line extending the center line (or lane boundary) of the exit road RdE toward the intersection CP, and determines the angle formed by these as the intersection angle θx. In this way, it is possible to determine the intersection angle θx based on the recognition result of the recognition unit 31 without having to prepare information about the intersection CP in advance.

[0086] As another example, the trajectory generating unit 32 may determine the intersection angle θx based on map information such as the map information database 24. In this case, the trajectory generating unit 32 may refer to map information such as the map information database 24 to geometrically determine the angle formed between the link of the entrance road RdA and the link of the exit road RdE connected to the node of the intersection CP, and determine the angle formed by these as the intersection angle θx. In this way, it is possible to determine the intersection angle θx based on map information having general road network information.

[0087] Then, the trajectory generating unit 32 generates a running trajectory according to the intersection angle θx. For example, assume that the intersection angle θx is within a predetermined first angle range. Here, the first angle range is an angle range that includes 180 degrees, and can be, for example, an angle range with a lower limit value that is a predetermined angle greater than 90 degrees and less than 180 degrees (e.g., 91 degrees) and an upper limit value of 180 degrees. As an example, in this embodiment, the angle range from 121 degrees to 180 degrees is defined as the first angle range.

[0088] When the intersection angle θx is within this first angle range, the trajectory generating unit 32 first identifies a first reference point Rp1, which is an end point on one side in the width direction of the approach road RdA at the boundary between the approach road RdA and the intersection CP, and a second reference point Rp2, which is an end point on one side in the width direction of the exit road RdE at the boundary between the exit road RdE and the intersection CP, based on the recognition result of the recognition unit 31. At this time, the trajectory generating unit 32 identifies, for example, the end point of the approach road RdA at the boundary between the approach road RdA and the intersection CP that is closer to the approach position PA (in other words, closer to the own lane) as the first reference point Rp1, and identifies the end point of the exit road RdE at the boundary between the exit road RdE and the intersection CP that is closer to the exit position PE (in other words, closer to the destination lane) as the second reference point Rp2.

[0089] Next, the trajectory generating unit 32 derives a first reference line RL1, which is a virtual line segment passing through the first reference point Rp1 and the second reference point Rp2, based on the identified first reference point Rp1 and second reference point Rp2. The first reference line RL1 can be geometrically determined from, for example, the position (in other words, the coordinates) of the first reference point Rp1 and the position of the second reference point Rp2.

[0090] The trajectory generating unit 32 then generates a traveling trajectory based on the derived first reference line RL1. At this time, the trajectory generating unit 32 generates, for example, a traveling trajectory that passes between the first reference line RL1 and a predetermined straight-ahead reference point Px at the intersection CP.

[0091] The straight-ahead reference point Px can be, for example, a point indicated by a node corresponding to an intersection CP in map information such as the map information database 24. This allows the trajectory generating unit 32 to set an appropriate straight-ahead reference point Px based on map information having general road network information such as the map information database 24.

[0092] Furthermore, the trajectory generating unit 32 may set the straight driving reference point Px based on the recognition result of the recognition unit 31. In this case, the trajectory generating unit 32, for example, first identifies a third reference point Rp3 which is an end point on the other side in the width direction of the approach road RdA at the boundary between the approach road RdA and the intersection CP, and a fourth reference point Rp4 which is an end point on the other side in the width direction of the exit road RdE at the boundary between the exit road RdE and the intersection CP, based on the recognition result of the recognition unit 31. At this time, the trajectory generation unit 32, for example, identifies the end point of the width direction of the approach road RdA at the boundary between the approach road RdA and the intersection CP that is not the first reference point Rp1 (for example, the end point farther from the approach position PA) as the third reference point Rp3, and identifies the end point of the width direction of the exit road RdE at the boundary between the exit road RdE and the intersection CP that is not the second reference point Rp2 (for example, the end point farther from the exit position PE) as the fourth reference point Rp4.

[0093] The trajectory generating unit 32 then derives a second reference line RL2, which is a virtual line segment passing through the second reference point Rp2 and the third reference point Rp3, based on the second reference point Rp2 and the third reference point Rp3 described above, and derives a third reference line RL3, which is a virtual line segment passing through the first reference point Rp1 and the fourth reference point Rp4, based on the first reference point Rp1 and the fourth reference point Rp4 described above, and sets the intersection of the second reference line RL2 and the third reference line RL3 as the straight-line reference point Px. In this way, the trajectory generating unit 32 can set an appropriate straight-line reference point Px based on the recognition result of the recognition unit 31.

[0094] As another example, the trajectory generating unit 32 may identify a point where the right / left turn method pavement marking Rm recognized by the recognizing unit 31 is provided, and set that point as the straight-ahead reference point Px. In this way, it is possible to set an appropriate straight-ahead reference point Px taking into consideration the point where the right / left turn method pavement marking Rm is provided.

[0095] A specific example of a running trajectory generated by the trajectory generating unit 32 when the intersection angle θx is within the first angle range will be described later with reference to FIGS. 3 and 5.

[0096] On the other hand, suppose the intersection angle is within a second angle range that is smaller than the first angle range. Here, the second angle range is an angle range whose lower limit (i.e., minimum value) is greater than 0 degrees and whose upper limit (i.e., maximum value) is smaller than the lower limit value of the first angle range, and is an angle range that includes, for example, 90 degrees. As an example, in this embodiment, the angle range from 30 degrees to 120 degrees is defined as the second angle range.

[0097] When the crossing angle θx is within this second angle range, the trajectory generating unit 32, for example, first identifies the first reference point Rp1 and the second reference point Rp2 based on the recognition result of the recognition unit 31, as in the case when the crossing angle θx is within the first angle range, and derives the first reference point Rp1 and the second reference point Rp2. Then, in this case, the trajectory generating unit 32 generates a traveling trajectory that turns along the first reference line RL1 based on the derived first reference line RL1.

[0098] Furthermore, when the intersection angle θx is within the second angle range, the trajectory generating unit 32 may generate a different traveling trajectory depending on whether the vehicle 1 is turning right or left at the intersection CP. More specifically, for example, when the intersection angle θx is within the second angle range and the vehicle 1 is turning right at the intersection CP, the trajectory generating unit 32 may generate a traveling trajectory that turns along the first reference line RL1. On the other hand, when the intersection angle θx is within the second angle range and the vehicle 1 is turning left at the intersection CP, the trajectory generating unit 32 may generate a traveling trajectory that heads from the entry position PA to the exit position PE along the lane boundary of the entry road RdA or the exit road RdE.

[0099] A specific example of a running trajectory generated by the trajectory generating unit 32 when the intersection angle θx is within the second angle range will be described later with reference to FIGS. 4 and 6.

[0100] The driving control unit 33 causes the vehicle 1 to travel based on the traveling trajectory generated by the trajectory generation unit 32. For example, the driving control unit 33 may control the steering of the vehicle 1 via the EPS system 40 so that the vehicle 1 travels while tracing the traveling trajectory (in other words, the target traveling line) generated by the trajectory generation unit 32. In addition, at this time, the driving control unit 33 may control the driving force of the vehicle 1 via the driving force control system 50, or may control the braking force of the vehicle 1 via the braking force control system 60.

[0101] The control device 30 (e.g., the trajectory generation unit 32) can identify (in other words, determine) which road (i.e., which direction) the vehicle 1 is going to travel at the intersection CP, based on, for example, route guidance provided by the navigation device 20 or the lighting state of a turn signal (not shown) provided on the vehicle 1. Furthermore, if the vehicle 1 is an autonomously driven vehicle, the control device 30 may identify which road the vehicle 1 is going to travel at the intersection CP, based on a driving plan generated based on a route to the destination.

[0102] [3. Specific examples of driving trajectories generated by the control device] Next, specific examples of traveling trajectories generated by the control device 30 using the function of the trajectory generating unit 32 will be described with reference to Figures 3 to 6. In each of Figures 3 to 6, the vehicle 1 is traveling on the road Rd1 toward the intersection CP, as in the example shown in Figure 2, and the intersection CP is located in the traveling direction (i.e., ahead) of the vehicle 1.

[0103] (An example of a driving trajectory generated when a vehicle travels almost straight through an intersection) Fig. 3 is a diagram showing an example of a driving trajectory generated when vehicle 1 travels from road Rd1 to road Rd3 at intersection CP. That is, in the example shown in Fig. 3, entrance road RdA is road Rd1, and exit road RdE is road Rd3. In addition, in this example, the intersection angle θx at intersection CP between road Rd1, which is entrance road RdA, and road Rd3, which is exit road RdE, is about 150 degrees (i.e., within the first angle range), and vehicle 1 is attempting to travel straight through intersection CP slightly to the right onto road Rd3.

[0104] In this example, the entry position PA is, for example, on or near the boundary Rd1a (see FIG. 2) with the intersection CP of road Rd1, and is approximately the center in the width direction of the lane Ln11, which is the own lane. The exit position PE is, for example, on or near the boundary Rd3a (see FIG. 2) with the intersection CP of road Rd3, and is approximately the center in the width direction of the lane Ln31, which is the destination lane.

[0105] As shown in FIG. 3, in this example, the trajectory generating unit 32 identifies the tangent point P1 as the first reference point Rp1, the tangent point P4 as the second reference point Rp2, the tangent point P2 as the third reference point Rp3, and the tangent point P3 as the fourth reference point Rp4.

[0106] The trajectory generating unit 32 then derives a line segment passing through the first reference point Rp1 (here, the tangent point P1) and the second reference point Rp2 (here, the tangent point P4) as a first reference line RL1, a line segment passing through the second reference point Rp2 and the third reference point Rp3 (here, the tangent point P2) as a second reference line RL2, and a line segment passing through the first reference point Rp1 and the fourth reference point Rp4 (here, the tangent point P3) as a third reference line RL3. Furthermore, the trajectory generating unit 32 sets, for example, the intersection of the second reference line RL2 and the third reference line RL3 as a straight-ahead reference point Px.

[0107] In this example, since the intersection angle θx is within the first angle range, the trajectory generating unit 32 generates a traveling trajectory Ob1 that passes between the first reference line RL1 and the straight-ahead reference point Px and heads from the entry position PA to the exit position PE, as shown in Fig. 3. This makes it possible to generate an appropriate traveling trajectory Ob1 that takes into consideration other vehicles traveling at the intersection CP (for example, other vehicles traveling in the oncoming lane) without having to prepare information about the intersection CP in advance.

[0108] (An example of a driving trajectory generated when a vehicle turns right at an intersection) Fig. 4 is a diagram showing an example of a driving trajectory generated when vehicle 1 travels from road Rd1 to road Rd2 at intersection CP. That is, in the example shown in Fig. 4, entrance road RdA becomes road Rd1, and exit road RdE becomes road Rd2. Also, in this example, the intersection angle θx at intersection CP between road Rd1, which is entrance road RdA, and road Rd2, which is exit road RdE, is about 60 degrees (i.e., within the second angle range), and vehicle 1 is attempting to travel onto road Rd2 by turning right at intersection CP.

[0109] In this example, the entry position PA is, for example, on or near the boundary Rd1a (see FIG. 2) with intersection CP of road Rd1, and is approximately the center in the width direction of lane Ln11, which is the current lane. The exit position PE is, for example, on or near the boundary Rd2a (see FIG. 2) with intersection CP of road Rd2, and is approximately the center in the width direction of lane Ln21, the destination lane.

[0110] As shown in FIG. 4, in this example, the trajectory generating unit 32 identifies the contact point P1 as the first reference point Rp1, the contact point P3 as the second reference point Rp2, and the contact point P2 as the third reference point Rp3 and the fourth reference point Rp4.

[0111] The trajectory generating unit 32 then derives a line segment passing through the first reference point Rp1 (here, the tangent point P1) and the second reference point Rp2 (here, the tangent point P3) as a first reference line RL1, a line segment passing through the second reference point Rp2 and the third reference point Rp3 (here, the tangent point P2) as a second reference line RL2, and a line segment passing through the first reference point Rp1 and the fourth reference point Rp4 (here, the tangent point P2) as a third reference line RL3. Furthermore, the trajectory generating unit 32 sets, for example, the intersection (here, the tangent point P2) of the second reference line RL2 and the third reference line RL3 as a straight-ahead reference point Px.

[0112] In this example, since the intersection angle θx is within the second angle range, the trajectory generation unit 32 generates a travel trajectory Ob2 that turns along the first reference line RL1 and heads from the entry position PA to the exit position PE, as shown in FIG. 4 . In this case, the trajectory generation unit 32 may generate a travel trajectory Ob2 that includes a first trajectory that travels straight from the entry position PA to a predetermined distance before the first reference line RL1, and a second trajectory that curves along the first reference line RL1 from the end of the first trajectory. In other words, the travel trajectory Ob2 may be generated such that the vehicle 1 travels straight from the entry position PA to a predetermined distance before the first reference line RL1, and then turns along the first reference line RL1 and heads toward the exit position PE. Here, the predetermined distance is preferably as small as possible within a range that allows the vehicle 1 to make a right turn, in order to prevent the vehicle 1 from making excessively sharp turns. Furthermore, in order to make the predetermined distance as short as possible, it is preferable to make the curvature (ie, the degree of curvature) of the second track as large as possible, taking into consideration the crossing angle θx and the minimum turning radius of the vehicle 1.

[0113] In this way, when the intersection angle θx is within the second angle range, the trajectory generating unit 32 generates a driving trajectory Ob2 that turns along the first reference line RL1, so that the vehicle 1 can generate a driving trajectory Ob2 that allows it to turn right at the intersection CP appropriately without making too tight or too wide a turn, even if information about the intersection CP is not prepared in advance.

[0114] In this way, when the vehicle 1 turns right at the intersection CP, the trajectory generating unit 32 does not need to identify the third reference point Rp3 and the fourth reference point Rp4, and does not need to derive the second reference line RL2 and the third reference line RL3. This is because, when the vehicle 1 turns right at the intersection CP, the traveling trajectory Ob2 can be generated as long as there is the first reference line RL1, even if there is no second reference line RL2 or third reference line RL3.

[0115] (Another example of a driving trajectory generated when a vehicle travels almost straight through an intersection) Fig. 5 is a diagram showing an example of a driving trajectory generated when vehicle 1 travels from road Rd1 to road Rd4 at intersection CP. That is, in the example shown in Fig. 5, entrance road RdA is road Rd1, and exit road RdE is road Rd4. In addition, in this example, the intersection angle θx at intersection CP between road Rd1, which is entrance road RdA, and road Rd4, which is exit road RdE, is about 170 degrees (i.e., within the first angle range), and vehicle 1 is attempting to travel straight through intersection CP slightly to the left onto road Rd4.

[0116] In this example, the entry position PA is, for example, on or near the boundary Rd1a (see FIG. 2) with intersection CP of road Rd1, and is approximately the center in the width direction of lane Ln11, which is the current lane. The exit position PE is, for example, on or near the boundary Rd4a (see FIG. 2) with intersection CP of road Rd4, and is approximately the center in the width direction of lane Ln41, the destination lane.

[0117] As shown in FIG. 5, in this example, the trajectory generating unit 32 identifies the tangent point P1 as the first reference point Rp1, the tangent point P5 as the second reference point Rp2, the tangent point P2 as the third reference point Rp3, and the tangent point P4 as the fourth reference point Rp4.

[0118] The trajectory generating unit 32 then derives a line segment passing through the first reference point Rp1 (here, tangent point P1) and the second reference point Rp2 (here, tangent point P5) as a first reference line RL1, a line segment passing through the second reference point Rp2 and the third reference point Rp3 (here, tangent point P2) as a second reference line RL2, and a line segment passing through the first reference point Rp1 and the fourth reference point Rp4 (here, tangent point P4) as a third reference line RL3. Furthermore, the trajectory generating unit 32 sets, for example, the intersection of the second reference line RL2 and the third reference line RL3 as a straight-ahead reference point Px.

[0119] In this example, since the intersection angle θx is within the first angle range, the trajectory generating unit 32 generates a traveling trajectory Ob3 that passes between the first reference line RL1 and the straight-ahead reference point Px and heads from the entry position PA to the exit position PE, as shown in Fig. 5. This makes it possible to generate an appropriate traveling trajectory Ob3 that takes into consideration other vehicles traveling at the intersection CP (for example, other vehicles traveling in the oncoming lane) without having to prepare information about the intersection CP in advance.

[0120] (An example of a driving trajectory generated when a vehicle turns left at an intersection) Fig. 6 is a diagram showing an example of a driving trajectory generated when vehicle 1 travels from road Rd1 to road Rd5 at intersection CP. That is, in the example shown in Fig. 6, entrance road RdA is road Rd1, and exit road RdE is road Rd5. In addition, in this example, the intersection angle θx at intersection CP between road Rd1, which is entrance road RdA, and road Rd5, which is exit road RdE, is about 80 degrees (i.e., within the second angle range), and vehicle 1 is attempting to travel onto road Rd5 by turning left at intersection CP.

[0121] In this example, the entry position PA is, for example, on or near the boundary Rd1a (see FIG. 2) between road Rd1 and intersection CP, and is approximately the center in the width direction of lane Ln11, which is the current lane. The exit position PE is, for example, on or near the boundary Rd5a (see FIG. 2) between road Rd5 and intersection CP, and is approximately the center in the width direction of lane Ln51, the destination lane.

[0122] 6, in this example, the trajectory generation unit 32 generates a travel trajectory Ob4 that travels from the entry position PA to the exit position PE along the lane boundary Ln11a on the left side of the lane Ln11, which is the own lane (i.e., on the side of road Rd5, which is the exit road RdE), based on the recognition result of the recognition unit 31. This makes it possible to generate a travel trajectory Ob4 that allows the vehicle 1 to make an appropriate left turn at the intersection CP without making a small or large turn, even if information about the intersection CP is not prepared in advance.

[0123] Furthermore, when the vehicle 1 turns left at the intersection CP in this way and the vehicle 1 has already entered the intersection CP, the trajectory generating unit 32 may generate a traveling trajectory Ob4 that heads toward the exit position PE from the current position of the vehicle 1. Note that when the vehicle 1 turns left at the intersection CP in this way, the trajectory generating unit 32 may identify the first reference point Rp1 to the fourth reference point Rp4 and derive the first reference line RL1 to the third reference line RL3, or may not identify or derive these points.

[0124] [4. Example of processing procedure by the control device] Next, an example of the processing procedure performed by the control device 30 will be described. Figures 7 to 9 are flowcharts (part 1) to (part 3) showing an example of the processing procedure performed by the control device 30. For example, when the ignition power of the vehicle 1 is on, the control device 30 executes a series of processes shown in Figures 7 to 9 at a predetermined interval.

[0125] 7, the control device 30, for example, recognizes the surrounding conditions of the vehicle 1 (step Sp0). Then, based on the recognition result of the surrounding conditions of the vehicle 1, the control device 30 determines whether or not an intersection CP is present within a predetermined distance (for example, 30 m) in the traveling direction of the vehicle 1 (step Sp1).

[0126] If it is determined that a corresponding intersection CP exists (step Sp1: YES), the control device 30 identifies the intersection angle θx at the intersection CP between the entry road RdA and the exit road RdE, and determines whether the intersection angle θx is within a first angle range (step Sp2). If it is determined that the intersection angle θx is within the first angle range (step Sp2: YES), the control device 30 executes a straight-ahead process (step Sp3), which will be described later, and ends the series of processes shown in Figures 7 to 9.

[0127] On the other hand, if it is determined that the intersection angle θx is not within the first angle range (step Sp2: NO), the control device 30 determines whether the intersection angle θx is within the second angle range (step Sp4).If it is determined that the intersection angle θx is within the second angle range (step Sp4: YES), the control device 30 executes a right / left turn process (step Sp5) to end the series of processes shown in Figures 7 to 9.

[0128] Furthermore, if it is determined that the intersection angle θx is not within the second angle range (step Sp4: NO), the control device 30 ends the series of processes shown in FIGS. 7 to 9 without executing the right / left turn process of step Sp5. This makes it possible to prevent unintended problems from occurring when the right / left turn process of step Sp5 is executed even when the intersection angle θx is too small to be within the second angle range, for example, when the vehicle 1 is about to make a so-called "U-turn" at the intersection CP. Note that when the intersection angle θx is too small to be within the second angle range, the control device 30 may execute a predetermined process to generate a travel trajectory for a U-turn instead of the right / left turn process of step Sp5.

[0129] (Straight processing) 8, in the straight-ahead processing of step Sp3, the control device 30 first determines whether the vehicle 1 has entered the intersection CP (step Sp30). If it is determined that the vehicle 1 has entered the intersection CP (step Sp30: YES), the control device 30 identifies a first reference point Rp1, a second reference point Rp2, a third reference point Rp3, and a fourth reference point Rp4 (step Sp31).

[0130] Next, the control device 30 derives the first reference line RL1 based on the first reference point Rp1 and the second reference point Rp2 (step Sp32).

[0131] Next, the control device 30 determines whether or not the right / left turn method road marking Rm has been recognized (step Sp33). If it is determined that the right / left turn method road marking Rm has been recognized (step Sp33: YES), the control device 30 identifies the point where the right / left turn method road marking Rm is provided, sets the point as the straight-ahead reference point Px (step Sp34), and proceeds to the processing of step Sp38.

[0132] On the other hand, if it is determined that the right / left turn method pavement marking Rm could not be recognized (step Sp33: NO), the control device 30 derives the second reference line RL2 based on the second reference point Rp2 and the third reference point Rp3 (step Sp35).

[0133] Next, the control device 30 derives a third reference line RL3 based on the first reference point Rp1 and the fourth reference point Rp4 (step Sp36).

[0134] Next, the control device 30 derives the intersection of the second reference line RL2 and the third reference line RL3 as the straight driving reference point Px based on the second reference line RL2 and the third reference line RL3 (step Sp37), and proceeds to the processing of step Sp38.

[0135] In the processing of step Sp38, the control device 30 generates a traveling trajectory (for example, the traveling trajectory Ob1 shown in FIG. 3 or the traveling trajectory Ob3 shown in FIG. 5) that passes between the first reference line RL1 and the straight driving reference point Px (step Sp38).

[0136] Then, the control device 30 controls the steering of the vehicle 1 based on the traveling trajectory generated by the processing of step Sp38 (step Sp39), and ends the current straight running processing.

[0137] In the straight-ahead processing of step Sp3, the control device 30 may set, as the straight-ahead reference point Px, a point indicated by a node corresponding to the intersection CP in map information such as the map information database 24. In this case, the processing of steps Sp34 to Sp37 described above is not necessary.

[0138] (Right / Left turn processing) 9, in the right / left turn processing of step Sp5, the control device 30 first determines whether the vehicle 1 has entered the intersection CP (step Sp51). If it is determined that the vehicle 1 has entered the intersection CP (step Sp51: YES), the control device 30 determines whether the vehicle 1 will turn right at the intersection CP (step Sp52).

[0139] If the control device 30 determines that the vehicle 1 will turn right (step Sp52: YES), it identifies the first reference point Rp1, the second reference point Rp2, the third reference point Rp3, and the fourth reference point Rp4 (step Sp53).

[0140] Next, the control device 30 derives a first reference line RL1 based on the first reference point Rp1 and the second reference point Rp2 (step Sp54).

[0141] Next, the control device 30 generates a traveling trajectory (for example, the traveling trajectory Ob2 shown in FIG. 4) that turns along the first reference line RL1 (step Sp55). Then, the control device 30 controls the steering of the vehicle 1 based on the traveling trajectory generated by the processing of step Sp55 (step Sp57), and ends the current right / left turn processing.

[0142] On the other hand, if it is determined in the processing of step Sp52 that the vehicle 1 will not turn right (i.e., will turn left) at the intersection CP (step Sp52: NO), the control device 30 generates a travel trajectory (for example, travel trajectory Ob4 shown in FIG. 6) that follows the left lane boundary of the approach road RdA (more specifically, the own lane) (step Sp56).The control device 30 then controls the steering of the vehicle 1 based on the travel trajectory generated in the processing of step Sp56 (step Sp57), and ends the current right / left turn processing.

[0143] As described above, according to the control device 30, when the intersection angle θx at the intersection CP between the entrance road RdA and the exit road RdE is within the first angle range and the vehicle 1 travels straight through the intersection CP, a travel trajectory that passes between the first reference line RL1 derived based on the recognition result of the recognition unit 31 and a predetermined straight-line reference point Px can be generated, and the steering of the vehicle 1 can be controlled based on the travel trajectory. This makes it possible to cause the vehicle 1 that is traveling straight through a multi-junction intersection CP where five or more roads are connected to travel based on an appropriate travel trajectory that takes into consideration other vehicles traveling through the intersection CP (for example, other vehicles traveling in the oncoming lane) without having to prepare information about the intersection CP in advance.

[0144] Furthermore, according to the control device 30, when the intersection angle θx is within the second angle range and the vehicle 1 is about to turn right at the intersection CP, a travel trajectory that turns along the first reference line RL1 derived based on the recognition result of the recognition unit 31 can be generated, and the steering of the vehicle 1 can be controlled based on the travel trajectory. This makes it possible to make the vehicle 1 that is about to turn right at a multi-junction intersection CP where five or more roads are connected travel based on an appropriate travel trajectory that does not make a tight turn or an excessively wide turn, even if information about the intersection CP is not prepared in advance.

[0145] Furthermore, according to the control device 30, when the intersection angle θx is within the second angle range and the vehicle 1 is turning left at the intersection CP, a travel trajectory toward the exit position PE along the lane boundary on the left side of the entry road RdA (i.e., on the exit road RdE side) recognized by the recognition unit 31 is generated, and the steering of the vehicle 1 can be controlled based on the travel trajectory. This makes it possible to make the vehicle 1, which is turning left at a multi-junction intersection CP where five or more roads are connected, travel based on an appropriate travel trajectory that does not make a tight turn or an excessively wide turn, even if information about the intersection CP is not prepared in advance.

[0146] [5. Modification of Vehicle Control by Control Device] Next, a description will be given of a modified example of vehicle control by the control device 30. The following description will focus on points that are different from the above-described example, and descriptions of points that are similar to the above-described example will be omitted or simplified as appropriate.

[0147] (Variations of driving trajectories generated when a vehicle goes straight through an intersection) FIG. 10 is a diagram showing a modified example (part 1) of a driving trajectory generated when the vehicle 1 travels straight through the intersection CP. In the example shown in FIG. 10, the vehicle 1 is attempting to travel from road Rd1 to road Rd3 by traveling substantially straight through the intersection CP. That is, in this example, the entrance road RdA is road Rd1, and the exit road RdE is road Rd3. Furthermore, the intersection angle θx at the intersection CP between road Rd1, which is the entrance road RdA, and road Rd3, which is the exit road RdE, is an angle within a first angle range. Furthermore, in this example, the exit position PE is offset to the left (i.e., to one side in the vehicle width direction of the vehicle 1) with respect to the entrance position PA. Note that roads Rd4, Rd5, etc. are not shown in FIG. 10.

[0148] In this way, when the intersection angle θx is within the first angle range (i.e., the vehicle 1 travels almost straight through the intersection CP) and the exit position PE is offset to the left relative to the entry position PA, the trajectory generation unit 32 may generate a driving trajectory such as the driving trajectory Ob5 shown in Figure 10 as a driving trajectory that passes between the first reference line RL1 and the straight-ahead reference point Px.

[0149] Here, the running trajectory Ob5 passes through a first point P11 that is a predetermined distance d11 away from the first reference point Rp1 (here, the tangent point P1) on the third reference line RL3, and the first point P11 is an inflection point of the running trajectory Ob5, and has, for example, a portion Sm1 that is point-symmetric with respect to the first point P11. Note that here, the predetermined distance d11 is smaller than the distance d12 from the first reference point Rp1 to the straight-ahead reference point Px.

[0150] In this way, when the vehicle 1 travels straight through the intersection CP and the exit position PE is offset to the left from the entry position PA, a driving trajectory Ob5 is generated that passes through a first point P11 on the third reference line RL3 that is a predetermined distance d11 away from the first reference point Rp1 and has the first point P11 as an inflection point. This makes it possible to generate a driving trajectory Ob5 that turns smoothly within the intersection CP and heads from the entry position PA to the exit position PE while taking into consideration other vehicles traveling through the intersection CP.

[0151] Fig. 11 is a diagram showing a modified example (part 2) of a driving trajectory that is generated when the vehicle 1 travels straight through the intersection CP. Here, the explanation will focus on the differences from the example shown in Fig. 10, and explanations of the same parts as in the example shown in Fig. 10 will be omitted or simplified as appropriate. Also in Fig. 11, roads Rd4 and Rd5 are not shown.

[0152] 11, vehicle 1 is about to proceed from road Rd1 to road Rd3 by going substantially straight through intersection CP. In this example, exit position PE is offset to the right (i.e., the other side in the vehicle width direction) with respect to entry position PA.

[0153] In this way, when the intersection angle θx is within the first angle range (i.e., the vehicle 1 travels almost straight through the intersection CP) and the exit position PE is offset to the right relative to the entry position PA, the trajectory generation unit 32 may generate a driving trajectory such as the driving trajectory Ob6 shown in Figure 11 as a driving trajectory that passes between the first reference line RL1 and the straight-ahead reference point Px.

[0154] Here, the traveling trajectory Ob6 passes through a second point P21 that is a predetermined distance d21 away from the third reference point Rp3 (here, the tangent point P2) on the second reference line RL2, and the second point P21 is an inflection point of the traveling trajectory Ob6, and has, for example, a portion Sm2 that is point-symmetric with respect to the second point P21. Note that here, the predetermined distance d21 is greater than the distance d22 from the third reference point Rp3 to the straight-ahead reference point Px.

[0155] In this way, when the vehicle 1 travels straight through the intersection CP and the exit position PE is offset to the right from the entry position PA, a driving trajectory Ob6 is generated that passes through a second point P21 on the second reference line RL2 that is a predetermined distance d21 away from the third reference point Rp3 and has the second point P21 as an inflection point. This makes it possible to generate a driving trajectory Ob6 that turns smoothly within the intersection CP and heads from the entry position PA to the exit position PE while taking into consideration other vehicles traveling through the intersection CP.

[0156] (Variation of driving trajectory generated when a vehicle turns right at an intersection) Fig. 12 is a diagram showing a modified example of a driving trajectory that is generated when vehicle 1 turns right at intersection CP. In the example shown in Fig. 12, vehicle 1 is attempting to proceed from road Rd1 to road Rd2 by making a right turn similar to a U-turn at intersection CP. That is, in this example, the approach road RdA is road Rd1, and the exit road RdE is road Rd2. Furthermore, the intersection angle θx (here, assumed to be intersection angle θ1) at intersection CP between road Rd1, which is the approach road RdA, and road Rd2, which is the exit road RdE, is an angle within a second angle range.

[0157] For example, as shown in Figure 12, if the distance d31 between the first reference line RL1 and the third reference point Rp3 (here, the tangent point P2) is smaller than the width dimension of the vehicle 1, a driving trajectory along the first reference line RL1 may lead to a situation where at least a part of the vehicle 1 goes off the road, which is undesirable from the perspective of proper driving of the vehicle 1.

[0158] Therefore, if the distance d31 between the first reference line RL1 and the third reference point Rp3 is equal to or greater than a threshold value, the trajectory generating unit 32 generates a traveling trajectory (for example, the traveling trajectory Ob2 shown in FIG. 4) that turns along the first reference line RL1 as described above, whereas if the distance d31 is less than the threshold value, the trajectory generating unit 32 may derive a new first reference line RL1' that passes through the first reference point Rp1 and the fifth reference point Rp5 based on a predetermined fifth reference point Rp5 and the first reference point Rp1, and generate a traveling trajectory that turns along the first reference line RL1'. Here, the threshold value is set in advance by, for example, the manufacturer of the vehicle 1, taking into consideration the vehicle width dimension of the vehicle 1, etc.

[0159] Here, the fifth reference point Rp5 is the end point on one side of the width direction of a third road, which is different from the entrance road RdA and the exit road RdE, at the boundary between the intersection CP and the third road. Here, the third road is the road that is located on the left or right side of the intersection CP, where the exit road RdE is located, with the entrance road RdA as the reference, and is the road that has the second smallest intersection angle with the entrance road RdA at the intersection CP after the exit road RdE.

[0160] In the example shown in Figure 12, the exit road RdE is road Rd2, so the third road is road Rd3, which, like road Rd2, is located to the right of the entry road RdA and has the second smallest intersection angle θ2 with the entry road RdA after intersection angle θ1.

[0161] Therefore, in this case, if the distance d31 is less than the threshold, the trajectory generation unit 32 identifies the tangent point P4 as the fifth reference point Rp5, derives a virtual line segment passing through this fifth reference point Rp5 (i.e., the tangent point P4) and the first reference point Rp1 (i.e., the tangent point P1) as a new first reference line RL1', and generates a traveling trajectory Ob6 that turns along this first reference line RL1'. As a result, if it is considered difficult to properly guide the vehicle 1 along the traveling trajectory along the first reference line RL1 based on the first reference point Rp1 and the second reference point Rp2, it becomes possible to guide the vehicle 1 along a traveling trajectory along the new first reference line RL1' based on the first reference point Rp1 and the fifth reference point Rp5. Therefore, it becomes possible to guide the vehicle 1 along an appropriate traveling trajectory that takes into account the intersection angle θx at the intersection CP between the entrance road RdA and the exit road RdE.

[0162] (Variations of driving trajectory generated when a vehicle turns left at an intersection) FIG. 13 is a diagram showing a modified example of a driving trajectory that is generated when vehicle 1 turns left at intersection CP. In the example shown in FIG. 13, vehicle 1 is about to turn left at intersection CP from road Rd1 and proceed onto road Rd2. That is, in this example, the entrance road RdA is road Rd1, and the exit road RdE is road Rd4. Furthermore, the intersection angle θx at the intersection CP between road Rd1, which is the entrance road RdA, and road Rd4, which is the exit road RdE, is an angle within the second angle range. Note that roads Rd2, Rd3, etc. are not shown in FIG. 13.

[0163] 13, if there is another road (road Rd5 in the example shown in FIG. 13) on which a left turn can be made that is closer to the entry position PA than the exit road RdE, the trajectory generation unit 32 may generate a travel trajectory Ob7 that travels along the lane boundary Ln11a on the left side of the lane Ln11 (i.e., on the side of road Rd2, which is the exit road RdE) that is the current lane, and then travels along the first reference line RL1, heading from the entry position PA to the exit position PE. In this way, even if there is another road before the exit road RdE on which a left turn can be made, it is possible to generate a travel trajectory Ob7 that allows the vehicle 1 to make an appropriate left turn and proceed to the exit road RdE.

[0164] (Other variations of the driving trajectory generated when the vehicle goes straight through the intersection) Next, another modified example of a travel trajectory generated when the vehicle 1 travels straight through the intersection CP will be described. When the vehicle 1 travels straight through the intersection CP (more specifically, for example, when the intersection angle θx is within a first angle range), the control device 30 may generate a travel trajectory as described below as the travel trajectory of the vehicle 1.

[0165] Fig. 14 is a diagram showing another modified example of a driving trajectory that is generated when the vehicle 1 goes straight through the intersection CP. In the example shown in Fig. 14, the vehicle 1 is attempting to proceed from road Rd1 to road Rd3 by going almost straight through the intersection CP. That is, in this example, the approach road RdA is road Rd1, and the exit road RdE is road Rd3.

[0166] As shown in FIG. 14 , in this example, the trajectory generation unit 32 (i.e., the control device 30) derives an entrance direction line RL10, which is a line segment that passes through the entrance position PA (e.g., the center coordinates of the entrance position PA) and extends along the entrance road RdA (here, road Rd1) that includes the entrance position PA, based on the recognition result of the recognition unit 31. As one example, the trajectory generation unit 32 derives as the entrance direction line RL10 a line segment that is parallel to the lane boundaries (here, lane boundaries Ln11a and Ln11b) of the entrance road RdA (here, road Rd1) and extends through the entrance position PA toward the intersection CP. As another example, the trajectory generation unit 32 may derive the entrance direction line RL10 using information such as the links of the entrance road RdA that are connected to nodes at the intersection CP, instead of the lane boundaries of the entrance road RdA.

[0167] Furthermore, in this example, the trajectory generation unit 32 derives an exit direction line RL11, which is a line segment that passes through the exit position PE (e.g., the center coordinates of the exit position PE) and extends along the exit road RdE (here, road Rd3) that includes the exit position PE, based on the recognition result of the recognition unit 31. As one example, the trajectory generation unit 32 derives as the exit direction line RL11 a line segment that is parallel to the lane boundaries (here, lane boundaries Ln31a and Ln31b) of the exit road RdE (here, road Rd3) and extends toward the intersection CP through the exit position PE. As another example, the trajectory generation unit 32 may derive the exit direction line RL11 using information such as links of the exit road RdE that are connected to nodes at the intersection CP, instead of the lane boundaries of the exit road RdE.

[0168] In this example, the trajectory generating unit 32 derives a reference circle RC based on the approach position PA, the exit position PE, the entrance direction line RL10, and the exit direction line RL11, with the entrance direction line RL10 and the exit direction line RL11 as tangents and the approach position PA (e.g., the central coordinates of the approach position PA) and the exit position PE (e.g., the central coordinates of the exit position PE) as tangents. The trajectory generating unit 32 can geometrically determine the reference circle RC from the approach position PA, the exit position PE, the entrance direction line RL10, and the exit direction line RL11.

[0169] In this example, the trajectory generating unit 32 generates the arc RCa between the entry position PA and the exit position PE on the derived reference circle RC as a traveling trajectory Ob8 when the vehicle 1 travels straight through the intersection CP. As a result, as shown in Fig. 14, the control device 30 can generate an appropriate traveling trajectory Ob8 that takes into consideration other vehicles traveling through the intersection CP (for example, other vehicles traveling in the oncoming lane) without having to prepare information about the intersection CP in advance.

[0170] Fig. 15 is a flowchart showing another example of the processing procedure of the straight ahead processing in step Sp3 by the control device 30. As shown in Fig. 15, in the straight ahead processing in step Sp3, the control device 30 of this example first determines whether or not the vehicle 1 has entered the intersection CP (step Sp300).

[0171] If it is determined that the vehicle 1 has already entered the intersection CP (step Sp300: YES), the control device 30 derives the entrance direction line RL10 (step Sp310) and the exit direction line RL11 (step Sp320) based on the recognition results of the recognition unit 31, etc.

[0172] Next, the control device 30 derives a reference circle RC based on the entry position PA, the exit position PE, the entrance direction line RL10, and the exit direction line RL11 (step Sp330). Then, the control device 30 generates an arc RCa between the entry position PA and the exit position PE on the derived reference circle RC as a travel trajectory of the vehicle 1 (for example, the travel trajectory Ob8 shown in FIG. 14) (step Sp340).

[0173] Next, the control device 30 controls the steering of the vehicle 1 based on the traveling trajectory generated by the processing of step Sp340 (step Sp350), and ends the current straight running processing.

[0174] As described above, when the intersection CP in the traveling direction of the vehicle 1 is a five-way intersection and the vehicle 1 travels straight through the intersection CP, the control device 30 (e.g., the trajectory generation unit 32) derives the entrance direction line RL10 and the exit direction line RL11 based on the recognition results of the recognition unit 31. The control device 30 then derives a reference circle RC based on the entry position PA, the exit position PE, the entry direction line RL10, and the exit direction line RL11, and generates the arc RCa between the entry position PA and the exit position PE on the reference circle RC as the travel trajectory of the vehicle 1. This allows the control device 30 to generate an appropriate travel trajectory for the vehicle 1 traveling straight through the intersection CP, taking into consideration other vehicles traveling through the intersection CP (e.g., other vehicles traveling in the oncoming lane), without having to prepare information about the intersection CP in advance. This therefore enables the vehicle 1 to travel appropriately within the intersection CP with a simple configuration. This, in turn, can improve traffic safety and contribute to the development of a sustainable transportation system.

[0175] As described above, the control device 30 of this embodiment has a simple configuration and allows the vehicle 1 to travel appropriately within an intersection, which in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0176] The control method described in this embodiment can be realized by executing a prepared program (control program) on a computer. The control program is, for example, stored in a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored in a non-volatile (non-transient) storage medium such as a flash memory, or may be provided via a network such as the Internet. In this embodiment, the computer that executes the control program is the control device 30 (e.g., the processor of the control device 30), but this is not limited thereto. For example, the computer that executes the control program may be included in the vehicle 1, or may be included in an external device 2 that can communicate with the vehicle 1.

[0177] Although one embodiment of the present invention has been described above, it goes without saying that the present invention is not limited to the above-described embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention.

[0178] For example, in the above-described embodiment, an example was described in which the intersection CP located in the traveling direction of the vehicle 1 is a five-way intersection, but the intersection CP is not limited to a five-way intersection and may be a multi-way intersection with six or more intersections.

[0179] This specification and the like describe at least the following items. Note that the components in parentheses correspond to those in the above-described embodiments, but are not limited to these.

[0180] (1) A vehicle control device (control device 30) for controlling a vehicle (vehicle 1), a recognition unit (recognition unit 31) that recognizes the surrounding situation of the vehicle; a trajectory generation unit (trajectory generation unit 32) that generates a travel trajectory (travel trajectory Ob1 to Ob6) from an entry position (entry position PA) of the vehicle at the intersection to an exit position (exit position PE) of the vehicle at the intersection when the recognition unit recognizes an intersection (intersection CP) present in the traveling direction of the vehicle; a travel control unit (travel control unit 33) that causes the vehicle to travel based on the travel trajectory generated by the trajectory generation unit; Equipped with The trajectory generation unit When the intersection is a multi-junction where five or more roads are connected, and the intersection angle (intersection angle θx) at the intersection between the first road (entrance road RdA) including the entry position and the second road (exit road RdE) including the exit position is within a first angle range including 180 degrees, a first reference point (first reference point Rp1) that is an end point on one side in the width direction of the first road at the boundary between the first road and the intersection; a second reference point (second reference point Rp2) that is an end point on one side in the width direction of the second road at the boundary between the second road and the intersection based on the recognition result of the recognition unit; deriving a first reference line (first reference line RL1) that is a line segment passing through the first reference point and the second reference point based on the first reference point and the second reference point; generating the running trajectory based on the first reference line; Vehicle control device.

[0181] According to (1), even if information about the intersection is not prepared in advance, a vehicle that intends to go straight through a multi-way intersection where five or more roads are connected can be controlled to travel based on an appropriate travel trajectory. This makes it possible to provide a vehicle control device that allows a vehicle to travel appropriately within an intersection with a simple configuration. This in turn can improve traffic safety and contribute to the development of a sustainable transportation system.

[0182] (2) The vehicle control device according to (1), the trajectory generation unit generates the traveling trajectory that passes between the first reference line and a predetermined straight-line reference point (straight-line reference point Px) at the intersection. Vehicle control device.

[0183] According to (2), a vehicle going straight through a multi-way intersection can be made to travel along an appropriate travel path that takes into consideration other vehicles traveling through the intersection.

[0184] (3) The vehicle control device according to (2), The trajectory generation unit a third reference point (third reference point Rp3) that is an end point on the other side in the width direction of the first road at the boundary between the first road and the intersection; a fourth reference point (fourth reference point Rp4) that is an end point on the other side in the width direction of the second road at the boundary between the second road and the intersection based on the recognition result of the recognition unit; A second reference line (second reference line RL2) is derived based on the second reference point and the third reference point, and a third reference line (third reference line RL3) is derived based on the first reference point and the fourth reference point, which is a line segment passing through the first reference point and the fourth reference point; The intersection of the second reference line and the third reference line is defined as the straight driving reference point. Vehicle control device.

[0185] According to (3), it is possible to set an appropriate straight-ahead reference point based on the recognition result of the recognition unit.

[0186] (4) The vehicle control device according to (3), The trajectory generation unit When the exit position is offset to one side in the vehicle width direction of the vehicle with respect to the entry position, the travel trajectory passes through a first point (first point P11) that is a predetermined distance (predetermined distance d11) away from the first reference point on the third reference line, and the first point is an inflection point. Vehicle control device.

[0187] According to (4), it is possible to generate a driving trajectory that allows the vehicle to smoothly turn within the intersection and head toward the exit position while taking into consideration other vehicles traveling through the intersection.

[0188] (5) The vehicle control device according to (4), The running trajectory in which the first point is an inflection point has a portion (portion Sm1) that is point-symmetric with respect to the first point. Vehicle control device.

[0189] According to (5), it is possible to generate a driving trajectory that allows the vehicle to smoothly turn within the intersection and head towards the exit position while taking into consideration other vehicles traveling through the intersection.

[0190] (6) The vehicle control device according to (2), The vehicle control device includes: The map information database 24 is configured to be able to reference map information having road network information that represents each road by a combination of nodes and links connecting the nodes, the trajectory generation unit sets a point indicated by a node corresponding to the intersection in the map information as the straight-ahead reference point; Vehicle control device.

[0191] According to (6), it is possible to set an appropriate straight-ahead reference point based on map information having general road network information.

[0192] (7) The vehicle control device according to (2), The trajectory generation unit When a road marking (right / left turn road marking Rm) that specifies the section to be passed when turning right or left at the intersection is recognized by the recognition unit, the point where the road marking is provided is set as the straight-ahead reference point. Vehicle control device.

[0193] According to (7), it is possible to set an appropriate straight-ahead reference point taking into consideration the location of road markings that specify the section to be passed when turning right or left at an intersection.

[0194] (8) The vehicle control device according to (2), The trajectory generation unit When the intersection is the multi-fork and the intersection angle is within a second angle range that is smaller than the first angle range, Identifying the first reference point and the second reference point based on a recognition result of the recognition unit; deriving the first reference line based on the first reference point and the second reference point; generating the traveling trajectory that turns along the first reference line based on the first reference line; Vehicle control device.

[0195] According to (8), even if information about the intersection is not prepared in advance, a vehicle attempting to turn right or left at a multi-way intersection where five or more roads are connected can be driven based on an appropriate driving trajectory.

[0196] (9) The vehicle control device according to (8), The trajectory generation unit When the intersection is the multi-fork and the intersection angle is within the second angle range, If a distance (distance d31) between a third reference point that is an end point on the other side of the width direction of the first road at the boundary between the first road and the intersection and the first reference line based on the first reference point and the second reference point is equal to or greater than a threshold, the travel trajectory that turns along the first reference line is generated; If the distance is less than the threshold value, a new first reference line (first reference line RL1′) passing through the first reference point and the fifth reference point is derived based on a fifth reference point (fifth reference point Rp5) that is an end point on one side in the width direction of a third road at a boundary between the intersection and a third road different from the first road and the second road, and the first reference point; generating the travel trajectory that turns along the new first reference line based on the new first reference line; the second road is a road located on one side of the first road at the intersection, either to the left or right, The third road is a road that is located on one of the left and right sides of the first road at the intersection, and has the second smallest intersection angle with the first road at the intersection after the second road. Vehicle control device.

[0197] According to (9), if it is considered difficult to properly drive a vehicle on a driving trajectory along the first reference line based on the first reference point and the second reference point, the vehicle can be made to drive on a new driving trajectory along the first reference line based on the first reference point and the fifth reference point. This makes it possible to drive a vehicle based on an appropriate driving trajectory that takes into account the intersection angle at the intersection of the first road and the second road.

[0198] (10) The vehicle control device according to (8), The trajectory generation unit When the intersection angle is smaller than the lower limit value of the second angle range, the running trajectory is not generated based on the first reference line. Vehicle control device.

[0199] According to (10), when the intersection angle is smaller than the lower limit value of the second angle range (for example, when the vehicle makes a U-turn at an intersection), a driving trajectory based on the first reference line is not generated, thereby making it possible to prevent unintended problems from occurring due to the vehicle being driven based on that driving trajectory.

[0200] (11) A vehicle control device according to any one of (1) to (10), the trajectory generation unit specifies the intersection angle at the intersection between the first road and the second road based on the recognition result of the recognition unit. Vehicle control device.

[0201] According to (11), even if information about the intersection is not prepared in advance, the intersection angle at the intersection between the first road and the second road can be identified based on the recognition result of the recognition unit.

[0202] (12) A vehicle control device according to any one of (1) to (10), The vehicle control device includes: The system is configured to be able to refer to map information having road network information that represents each road by a combination of nodes and links connecting the nodes, the trajectory generation unit identifies the intersection angle at the intersection between the first road and the second road based on the map information. Vehicle control device.

[0203] According to (12), the intersection angle at the intersection of the first road and the second road can be identified based on map information having general road network information.

[0204] (13) A computer (control device 30) that controls a vehicle (vehicle 1) Recognizing the surrounding situation of the vehicle (step Sp0); When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position of the vehicle at the intersection to an exit position of the vehicle is generated (step Sp3, step Sp5). The vehicle is caused to travel based on the generated travel trajectory (step Sp39, step Sp57). Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the intersection angle between a first road including the entry position and a second road including the exit position is within a first angle range including 180 degrees, a first reference point that is an end point on one side in the width direction of the first road at the boundary between the first road and the intersection; A second reference point, which is an end point on one side of the width direction of the second road at the boundary between the second road and the intersection, is identified based on the recognition result of the surrounding situation (step Sp31); A first reference line, which is a line segment passing through the first reference point and the second reference point, is derived based on the first reference point and the second reference point (step Sp32); The running trajectory is generated based on the first reference line (step Sp38). Control method.

[0205] According to (13), even if information about the intersection is not prepared in advance, vehicles going straight through a multi-way intersection where five or more roads are connected can be guided to travel based on an appropriate travel trajectory. This makes it possible to guide vehicles appropriately within the intersection with a simple configuration. This in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0206] (14) A computer (control device 30) that controls a vehicle (vehicle 1) Recognizing the surrounding situation of the vehicle (step Sp0); When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position of the vehicle at the intersection to an exit position of the vehicle is generated (step Sp3, step Sp5). The vehicle is caused to travel based on the generated travel trajectory (step Sp39, step Sp57). Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the intersection angle between a first road including the entry position and a second road including the exit position is within a first angle range including 180 degrees, a first reference point that is an end point on one side in the width direction of the first road at the boundary between the first road and the intersection; A second reference point, which is an end point on one side of the width direction of the second road at the boundary between the second road and the intersection, is identified based on the recognition result of the surrounding situation (step Sp31); A first reference line, which is a line segment passing through the first reference point and the second reference point, is derived based on the first reference point and the second reference point (step Sp32); The running trajectory is generated based on the first reference line (step Sp38). Control program.

[0207] According to (14), even if information about the intersection is not prepared in advance, vehicles going straight through a multi-way intersection where five or more roads are connected can be guided to travel based on an appropriate travel trajectory. This makes it possible to guide vehicles appropriately within the intersection with a simple configuration. This in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0208] (15) A vehicle control device (control device 30) for controlling a vehicle (vehicle 1), a recognition unit (recognition unit 31) that recognizes the surrounding situation of the vehicle; a trajectory generation unit (trajectory generation unit 32) that generates a travel trajectory (travel trajectory Ob8) from an entry position (entry position PA) of the vehicle at the intersection to an exit position (exit position PE) when an intersection (intersection CP) present in the traveling direction of the vehicle is recognized by the recognition unit; a travel control unit (travel control unit 33) that causes the vehicle to travel based on the travel trajectory generated by the trajectory generation unit; Equipped with The trajectory generation unit When the intersection is a multi-junction where five or more roads are connected, and the vehicle travels straight through the intersection from a first road (approach road RdA) including the entry position to a second road (exit road RdE) including the exit position, An entrance direction line (entrance direction line RL10) that is a line segment that passes through the entry position and extends along the first road; an exit direction line (exit direction line RL11) that is a line segment that passes through the exit position and extends along the second road based on the recognition result of the recognition unit; Based on the entry position, the exit position, the entrance direction line, and the exit direction line, a reference circle (reference circle RC) is derived, the reference circle RC being tangent to the entry direction line and the exit direction line and being a tangent point to the entry position and the exit position; An arc (arc RCa) between the entry position and the exit position on the reference circle is generated as the traveling trajectory. Vehicle control device.

[0209] According to (15), even if information about the intersection is not prepared in advance, an appropriate driving trajectory can be generated for a vehicle traveling straight through an intersection, taking into consideration other vehicles traveling at the intersection (for example, other vehicles traveling in the oncoming lane). This makes it possible to provide a vehicle control device with a simple configuration that enables a vehicle to travel appropriately within an intersection. This can ultimately improve traffic safety and contribute to the development of a sustainable transportation system.

[0210] (16) A computer (control device 30) that controls a vehicle (vehicle 1) Recognizing the surrounding situation of the vehicle (step Sp0); When an intersection (intersection CP) existing in the traveling direction of the vehicle is recognized, a travel trajectory (travel trajectory Ob8) from the entry position (entrance position PA) of the vehicle at the intersection to the exit position (exit position PE) is generated (step Sp340). The vehicle is caused to travel based on the generated travel trajectory (step Sp350). Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the vehicle travels straight through the intersection from a first road (approach road RdA) including the entry position to a second road (exit road RdE) including the exit position, An entrance direction line (entrance direction line RL10) that is a line segment that passes through the entry position and extends along the first road; An exit direction line (exit direction line RL11) that passes through the exit position and is extended along the second road is derived based on the recognition result of the surrounding situation (step Sp310, step Sp320). Based on the entry position, the exit position, the entrance direction line, and the exit direction line, a reference circle (reference circle RC) is derived, which has the entry direction line and the exit direction line as tangents and has the entry position and the exit position as tangent points (step Sp330); An arc (arc RCa) between the entry position and the exit position on the reference circle is generated as the travel trajectory (step Sp340). Control method.

[0211] According to (16), even if information about the intersection is not prepared in advance, it is possible to generate an appropriate driving trajectory that takes into consideration other vehicles traveling at the intersection (for example, other vehicles traveling in the oncoming lane) as the driving trajectory for a vehicle traveling straight through the intersection. This makes it possible to drive vehicles appropriately within the intersection with a simple configuration. This in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0212] (17) A computer (control device 30) that controls a vehicle (vehicle 1) Recognizing the surrounding situation of the vehicle (step Sp0); When an intersection (intersection CP) existing in the traveling direction of the vehicle is recognized, a travel trajectory (travel trajectory Ob8) from the entry position (entrance position PA) of the vehicle at the intersection to the exit position (exit position PE) is generated (step Sp340). The vehicle is caused to travel based on the generated travel trajectory (step Sp350). Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the vehicle travels straight through the intersection from a first road (approach road RdA) including the entry position to a second road (exit road RdE) including the exit position, An entrance direction line (entrance direction line RL10) that is a line segment that passes through the entry position and extends along the first road; An exit direction line (exit direction line RL11) that passes through the exit position and is extended along the second road is derived based on the recognition result of the surrounding situation (step Sp310, step Sp320). Based on the entry position, the exit position, the entrance direction line, and the exit direction line, a reference circle (reference circle RC) is derived, which has the entry direction line and the exit direction line as tangents and has the entry position and the exit position as tangent points (step Sp330); An arc (arc RCa) between the entry position and the exit position on the reference circle is generated as the traveling trajectory. Control program.

[0213] According to (17), even if information about the intersection is not prepared in advance, it is possible to generate an appropriate driving trajectory that takes into consideration other vehicles traveling at the intersection (for example, other vehicles traveling in the oncoming lane) as the driving trajectory for a vehicle traveling straight through the intersection. This makes it possible to drive vehicles appropriately within the intersection with a simple configuration. This in turn improves traffic safety and contributes to the development of a sustainable transportation system. [Explanation of symbols]

[0214] 1 vehicle 30 Control device (vehicle control device) 31 Recognition part 32 Trajectory generation part 33 Travel control unit CP intersection Ob1 running trajectory Ob2 running trajectory Ob3 running track Ob4 running track Ob5 running track Travel path of Ob6 Travel path of Ob7 P11 First location PA Entry position PE Exit position RdA Entry road (First road) RdE Exit road (Second road) Px Straight - ahead reference point RL1 First reference line RL1´ New first reference line RL2 Second reference line RL3 Third reference line Rm Right - and - left turn method road marking (road marking) Rp1 First reference point Rp2 Second reference point Rp3 Third reference point Rp4 Fourth reference point Rp5 Fifth reference point Sm1 Portion θx Crossing angle

Claims

1. A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; a trajectory generation unit that generates a travel trajectory of the vehicle from an entry position to an exit position at the intersection when an intersection present in a traveling direction of the vehicle is recognized by the recognition unit; a travel control unit that causes the vehicle to travel based on the travel trajectory generated by the trajectory generation unit; Equipped with The trajectory generation unit When the intersection is a multi-junction where five or more roads are connected, and the intersection angle between a first road including the entry position and a second road including the exit position is within a first angle range including 180 degrees, a first reference point that is an end point on one side in a width direction of the first road at a boundary between the first road and the intersection; a second reference point that is an end point on one side in a width direction of the second road at a boundary between the second road and the intersection based on the recognition result of the recognition unit; deriving a first reference line, which is a line segment passing through the first reference point and the second reference point, based on the first reference point and the second reference point; generating the running trajectory based on the first reference line; Vehicle control device.

2. The vehicle control device according to claim 1, the trajectory generation unit generates the traveling trajectory that passes between the first reference line and a predetermined straight-line reference point at the intersection. Vehicle control device.

3. The vehicle control device according to claim 2, The trajectory generation unit a third reference point that is an end point on the other side in the width direction of the first road at the boundary between the first road and the intersection; a fourth reference point that is an end point on the other side in the width direction of the second road at the boundary between the second road and the intersection based on the recognition result of the recognition unit; deriving a second reference line, which is a line segment passing through the second reference point and the third reference point, based on the second reference point and the third reference point, and deriving a third reference line, which is a line segment passing through the first reference point and the fourth reference point, based on the first reference point and the fourth reference point; The intersection of the second reference line and the third reference line is defined as the straight driving reference point. Vehicle control device.

4. The vehicle control device according to claim 3, The trajectory generation unit When the exit position is offset to one side in a vehicle width direction of the vehicle with respect to the entry position, the travel trajectory is generated so as to pass through a first point on the third reference line that is a predetermined distance away from the first reference point, and the first point is an inflection point. Vehicle control device.

5. The vehicle control device according to claim 4, The running trajectory in which the first point is an inflection point has a portion that is point-symmetric with respect to the first point. Vehicle control device.

6. The vehicle control device according to claim 2, The vehicle control device includes: The map information includes road network information that represents each road by a combination of nodes and links that connect the nodes, and the map information is configured to be able to reference the map information. the trajectory generation unit sets a point indicated by a node corresponding to the intersection in the map information as the straight-ahead reference point; Vehicle control device.

7. The vehicle control device according to claim 2, The trajectory generation unit When the recognition unit recognizes a road marking that specifies a section to be passed when turning right or left at the intersection, the point where the road marking is provided is set as the straight-ahead reference point. Vehicle control device.

8. The vehicle control device according to claim 2, The trajectory generation unit When the intersection is the multi-fork and the intersection angle is within a second angle range that is smaller than the first angle range, Identifying the first reference point and the second reference point based on a recognition result of the recognition unit; deriving the first reference line based on the first reference point and the second reference point; generating the traveling trajectory that turns along the first reference line based on the first reference line; Vehicle control device.

9. The vehicle control device according to claim 8, The trajectory generation unit When the intersection is the multi-fork and the intersection angle is within the second angle range, if a distance between a third reference point, which is an end point on the other side in the width direction of the first road at the boundary between the first road and the intersection, and the first reference line based on the first reference point and the second reference point, is equal to or greater than a threshold, the travel trajectory is generated to turn along the first reference line; If the distance is less than the threshold value, a new first reference line passing through the first reference point and the fifth reference point is derived based on a fifth reference point that is an end point on one side in the width direction of a third road at a boundary between the intersection and a third road different from the first road and the second road, and the first reference point; generating the travel trajectory that turns along the new first reference line based on the new first reference line; the second road is a road located on one side of the first road at the intersection, either to the left or right, the third road is a road located on one of the left and right sides of the first road at the intersection, and has an intersection angle with the first road at the intersection that is the second smallest after the second road; Vehicle control device.

10. The vehicle control device according to claim 8, The trajectory generation unit When the intersection angle is smaller than the lower limit value of the second angle range, the running trajectory is not generated based on the first reference line. Vehicle control device.

11. The vehicle control device according to any one of claims 1 to 10, the trajectory generation unit specifies the intersection angle at the intersection between the first road and the second road based on the recognition result of the recognition unit. Vehicle control device.

12. The vehicle control device according to any one of claims 1 to 10, The vehicle control device includes: The map information includes road network information that represents each road by a combination of nodes and links that connect the nodes, and the map information is configured to be able to reference the map information. the trajectory generation unit specifies the intersection angle at the intersection between the first road and the second road based on the map information; Vehicle control device.

13. The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position to an exit position of the vehicle at the intersection is generated; causing the vehicle to travel based on the generated travel trajectory; Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the intersection angle between a first road including the entry position and a second road including the exit position is within a first angle range including 180 degrees, a first reference point that is an end point on one side in a width direction of the first road at a boundary between the first road and the intersection; a second reference point that is an end point on one side in a width direction of the second road at a boundary between the second road and the intersection based on the recognition result of the surrounding situation; deriving a first reference line, which is a line segment passing through the first reference point and the second reference point, based on the first reference point and the second reference point; generating the running trajectory based on the first reference line; Control method.

14. The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position to an exit position of the vehicle at the intersection is generated; causing the vehicle to travel based on the generated travel trajectory; Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the intersection angle between a first road including the entry position and a second road including the exit position is within a first angle range including 180 degrees, a first reference point that is an end point on one side in a width direction of the first road at a boundary between the first road and the intersection; a second reference point that is an end point on one side in a width direction of the second road at a boundary between the second road and the intersection based on the recognition result of the surrounding situation; deriving a first reference line, which is a line segment passing through the first reference point and the second reference point, based on the first reference point and the second reference point; generating the running trajectory based on the first reference line; Control program.

15. A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; a trajectory generation unit that generates a travel trajectory of the vehicle from an entry position to an exit position at the intersection when an intersection present in a traveling direction of the vehicle is recognized by the recognition unit; a travel control unit that causes the vehicle to travel based on the travel trajectory generated by the trajectory generation unit; Equipped with The trajectory generation unit When the intersection is a multi-junction where five or more roads are connected, and the vehicle travels straight through the intersection from a first road including the entry position to a second road including the exit position, an entrance direction line that is a line segment that passes through the entry position and extends along the first road; an exit direction line that is a line segment that passes through the exit position and extends along the second road based on the recognition result of the recognition unit; deriving a reference circle that has the entrance direction line and the exit direction line as tangents and the entry position and the exit position as tangents based on the entry position, the exit position, the entrance direction line, and the exit direction line; An arc between the entry position and the exit position on the reference circle is generated as the traveling trajectory. Vehicle control device.

16. The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position to an exit position of the vehicle at the intersection is generated; causing the vehicle to travel based on the generated travel trajectory; Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the vehicle travels straight through the intersection from a first road including the entry position to a second road including the exit position, an entrance direction line that is a line segment that passes through the entry position and extends along the first road; an exit direction line that is a line segment that passes through the exit position and extends along the second road based on the recognition result of the surrounding situation; deriving a reference circle that has the entrance direction line and the exit direction line as tangents and the entry position and the exit position as tangents based on the entry position, the exit position, the entrance direction line, and the exit direction line; An arc between the entry position and the exit position on the reference circle is generated as the traveling trajectory. Control method.

17. The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position to an exit position of the vehicle at the intersection is generated; causing the vehicle to travel based on the generated travel trajectory; Execute the process, In the process of generating the running trajectory, When the intersection is a multi-junction where five or more roads are connected, and the vehicle travels straight through the intersection from a first road including the entry position to a second road including the exit position, an entrance direction line that is a line segment that passes through the entry position and extends along the first road; an exit direction line that is a line segment that passes through the exit position and extends along the second road based on the recognition result of the surrounding situation; deriving a reference circle that has the entrance direction line and the exit direction line as tangents and the entry position and the exit position as tangents based on the entry position, the exit position, the entrance direction line, and the exit direction line; An arc between the entry position and the exit position on the reference circle is generated as the traveling trajectory. Control program.

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