Vehicle control device and vehicle control method

1 . A vehicle control device comprising:

a computer memory configured to store vehicle trajectories in association with road segments of a map;

an environmental sensor configured to detect traveling environment of a host vehicle;

a processor configured to

determine one of the vehicle trajectories along which the host vehicle is traveling,

determine whether switching from the one of the vehicle trajectories to the other one of the vehicle trajectories is needed, and

control a turn signal of the host vehicle according to a detection result of the environmental sensor in response to determining that the switching from one of the vehicle trajectories to another one of the vehicle trajectories,

the vehicle trajectories including sensor-based motion histories of the host vehicle and/or other vehicles along the road segments or corrected motion histories obtained based on the sensor-based motion histories along the road segments.

2 . The vehicle control device according to claim 1 , wherein

the environmental sensor is configured to detect at least one of a line of a lane on which the host vehicle is traveling and a vehicle behavior of a neighboring vehicle.

3 . The vehicle control device according to claim 1 , wherein

the environmental sensor includes at least one of a lidar sensor, a radar sensor and an image sensor.

4 . The vehicle control device according to claim 2 , wherein

the processor is configured to turn on the turn signal of the host vehicle upon determining that the vehicle crosses the lane line during the switching from one of the vehicle trajectories to another one of the vehicle trajectories according to a detection result of the lane line by the environmental sensor.

5 . The vehicle control device according to claim 2 , wherein

the processor is configured to turn on the turn signal of the host vehicle upon determining that the vehicle crosses a traveling path of the neighboring vehicle during the switching from one of the vehicle trajectories to another one of the vehicle trajectories according to a detection result of the vehicle behavior of the neighboring vehicle by the environmental sensor.

6 . The vehicle control device according to claim 1 , wherein

the processor is configured to determine whether the switching from one of the vehicle trajectories to another one of the vehicle trajectories is needed by determining whether the host vehicle is approaching a turn on a planned route along which the host vehicle is traveling.

7 . The vehicle control device according to claim 6 , wherein

the processor is configured to determine that the switching from one of the vehicle trajectories to another one of the vehicle trajectories is needed in response to determining that the host vehicle is approaching the turn.

8 . The vehicle control device according to claim 1 , wherein

the processor is configured to generate a transition vehicle trajectory that smoothly connects one of the vehicle trajectories to another one of the vehicle trajectories in response to determining that the switching from the one of the vehicle trajectories to the other one of the vehicle trajectories is needed.

9 . The vehicle control device according to claim 8 , wherein

the transition vehicle trajectory has a sigmoid curve.

10 . The vehicle control device according to claim 8 , wherein

the processor is configured to control the host vehicle to travel along the transition vehicle trajectory to switch from one of the vehicle trajectories to another one of the vehicle trajectories.

11 . The vehicle control device according to claim 10 , wherein

the processor is configured to turn off the turn signal of the host vehicle in response to determining that the host vehicle has reached the other one of the vehicle trajectories.

12 . The vehicle control device according to claim 1 , wherein

the processor is configured to acquire the one of the vehicle trajectories from the computer memory based on a current position of the host vehicle.

13 . The vehicle control device according to claim 6 , wherein

the processor is configured to acquire, as the other one of the vehicle trajectories, an adjacent vehicle trajectory adjacent to the one of the vehicle trajectories from the computer memory according to a direction of the turn.

14 . The vehicle control device according to claim 1 , wherein

one of the vehicle trajectories to another one of the vehicle trajectories are stored in the computer memory in association with a road segment on which the vehicle is traveling.

15 . A vehicle control method comprising:

storing vehicle trajectories in association with road segments of a map;

determining one of the vehicle trajectories along which a host vehicle is traveling;

determining whether switching from one of the vehicle trajectories to another one of the vehicle trajectories is needed; and

controlling a turn signal of the host vehicle according to a detection result of traveling environment of the host vehicle in response to determining that the switching from one of the vehicle trajectories to another one of the vehicle trajectories is needed,

the vehicle trajectories including sensor-based motion histories of the host vehicle and/or other vehicles along the road segments or corrected motion histories obtained based on the sensor-based motion histories along the road segments.