Vehicle control device
A vehicle control device comprises: a region recognition unit that recognizes a specific region present in a progression direction of a host vehicle, for example a crossing or an intersection, and identifies the type of the specific region; a space presence determination unit that determines whether or not there is a space through which the host vehicle can enter outside of exits of the specific region; and a vehicle control unit that controls the host vehicle according to the presence of the space. Furthermore, the space presence determination unit switches the method for determining the presence of the space in accordance with the type of the specific region.
1. A vehicle control device comprising one or more processors, wherein
the one or more processors:
on a basis of image information from a camera, recognize a particular area that exists in a travel direction of a host vehicle and identify a type of the particular area;
determine whether a space that the host vehicle is allowed to enter exists outside an exit of the particular area;
control the host vehicle in accordance with presence or absence of the space;
on the basis of the image information from the camera, recognize a preceding vehicle traveling ahead of the host vehicle; and
predict whether the space is formed on a basis of a recognition result from the one or more processors, and wherein:
the one or more processors change a method for determining whether the space exists, in accordance with the type of the particular area;
if the one or more processors identify the particular area as an intersection and if the one or more processors recognize the preceding vehicle outside the exit of the intersection, the one or more processors determine whether the space exists behind the preceding vehicle after a present time, on a basis of a prediction result from the one or more processors;
if the one or more processors identify the particular area as a railroad crossing and if the one or more processors recognize the preceding vehicle outside the exit of the railroad crossing, the one or more processors determine whether the space exists behind the preceding vehicle at the present time, on the basis of the recognition result from the one or more processors; and
wherein in a case of the intersection, the one or more processors determine that there is not the open space on a basis of a first lighting state of a brake lamp of the preceding vehicle, and that there is the space on a basis that a second lighting state of the brake lamp of the preceding vehicle, the first lighting state indicating that the preceding vehicle is stopped, the second lighting state indicating that the preceding vehicle is currently traveling forward.
2. The vehicle control device according to claim 1 , wherein if a distance between the preceding vehicle and the exit of the railroad crossing is more than a length of the host vehicle, the one or more processors determine that the space exists.