Vehicle control device
A problem to be addressed by the present invention is to obtain a vehicle control device which, while alleviating an excessive computation load, is capable of appropriately ascertaining an external environment. This vehicle control device 01 comprises an other vehicle information acquisition unit 02 which acquires information of another vehicle by communication, and an exterior recognition unit 03 which carries out recognition of the exterior of a host vehicle by sensing. The exterior recognition unit 03 senses an other vehicle vicinity space in the vicinity of the other vehicle on the basis of the information of the other vehicle which is acquired by the other vehicle information acquisition unit 02.
1. A vehicle control system comprising:
a vehicle control device configured to acquire other vehicle information of a vehicle other than a host vehicle by cooperative awareness messaging; and
at least one sensor, including at least one of a camera or a radar, coupled to the vehicle control device and configured to:
perform recognition of an exterior vicinity of the host vehicle by sensing,
perform sensing of an other vehicle on the basis of the other vehicle information acquired by the vehicle control device, and
perform sensing of an other vehicle vicinity space surrounding the other vehicle on the basis of the other vehicle information acquired by the vehicle control device,
wherein the vehicle control device is further configured to, when the other vehicle information is acquired both by vehicle-to-vehicle communication and road-to-vehicle communication, perform sensing of the other vehicle at a lower degree of sensing intensity as compared to when the other vehicle information is acquired by the road-to-vehicle communication, and
wherein the vehicle control device is further configured to, when the other vehicle information is acquired by both vehicle-to-vehicle communication and road-to-vehicle communication, perform sensing of the other vehicle vicinity space at a higher degree of sensing intensity as compared to when the other vehicle information is acquired by the road-to-vehicle communication.
2. The vehicle control system according to claim 1 , wherein the at least one sensor is further configured to detect an entry space into which the host vehicle enters on the basis of a result of sensing the exterior vicinity of the host vehicle.
3. The vehicle control system according to claim 1 , wherein the at least one sensor is further configured to detect whether there is an obstacle to hinder entry of the host vehicle into the other vehicle vicinity space.
4. The vehicle control system according to claim 1 ,
wherein the at least one sensor is configured to preferentially sense the other vehicle vicinity space rather than the other vehicle.
5. The vehicle control system according to claim 1 ,
wherein in a case where the communication device has acquired information of a plurality of other vehicles traveling lengthwise, that is, in the front-rear direction, the at least one sensor is configured to sense an inter-other vehicle space between the plurality of other vehicles.
6. The vehicle control system according to claim 1 , wherein the other vehicle is a vehicle traveling on a road to merge with a road on which the host vehicle travels.
7. The vehicle control system according to claim 1 , wherein the other vehicle is a vehicle traveling on a lane adjacent to a lane on which the host vehicle travels.
8. The vehicle control system according to claim 1 , wherein the communication device is configured to acquire the other vehicle information transmitted from the other vehicle by the vehicle-to-vehicle communication via the cooperative awareness messaging.
9. The vehicle control system according to claim 1 , wherein the communication device is configured to acquire the other vehicle information transmitted from on-road equipment by the road-to-vehicle communication via the cooperative awareness messaging.
10. The vehicle control system according to claim 1 , wherein the at least one sensor is further configured to determine a candidate entry space into which the host vehicle enters on the basis of the other vehicle information in accordance with a result of the sensing.
11. The vehicle control system according to claim 1 , wherein the degree of sensing intensity includes an imaging speed, an imaging processing accuracy, or a frequency of detection.