Vehicle control apparatus and vehicle control method
To provide a vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method capable of increasing the number of the position information of front object used for generation of the trajectory and improving the generation accuracy of the trajectory. A vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method that obtains positions of a target object, sets a trajectory generation range which is a continuous range including a position of the target object close to a position of the present own vehicle, selects positions of the target object included in the trajectory generation range among the plural positions of the target object, as target object positions for trajectory generation, and generates a trajectory of the target object based on the target object positions for trajectory generation.
1. A vehicle control apparatus comprising at least one processor configured to implement:
a target object position acquisitor that obtains positions of a target object;
a data selector for trajectory generation that sets a trajectory generation range which is a continuous range including a position of the target object closest to a position of a present own vehicle, and selects positions of the target object included in the trajectory generation range among plural positions of the target object, as target object positions for trajectory generation;
a trajectory generator that generates a trajectory of the target object based on the target object positions for trajectory generation; and
a steering controller that controls a steering angle of the present own vehicle so that the present own vehicle follows the trajectory,
wherein the data selector for trajectory generation determines front side positions of the target object, which are located on a front side of the present own vehicle, among the plural positions of the target object,
calculates the change direction of the positions of the target object in a first order, about each of the front side positions of the target object,
determines a position where the absolute value of the angle of the change direction of the positions of the target object with respect to the front direction becomes greater than or equal to the determination angle, among the front side positions of the target object, and
selects positions located on a second order side of the determined position among the front side positions of the target object, as the target object positions for trajectory generation,
wherein the first order is an order of positions in which the front side positions of the target object changes in the front side, at least at the front side position of the target object closest to the position of the present own vehicle, and
wherein the second order is an order of positions opposite to the first order.
2. The vehicle control apparatus according to claim 1 ,
wherein the data selector for trajectory generation determines back side positions of the target object, which are located on a back side of the present own vehicle, among the plural positions of the target object,
calculates the change direction of the positions of the target object in the second order, about each of the back side positions of the target object,
determines a position where the absolute value of the angle of the change direction of the positions of the target object with respect to the back direction becomes greater than or equal to the determination angle, among the back side positions of the target object, and
further selects positions located on a first order side of the determined position among the back side positions of the target object, as the target object positions for trajectory generation.
3. A vehicle control apparatus comprising at least one processor configured to implement:
a target object position acquisitor that obtains positions of a target object;
a data selector for trajectory generation that sets a trajectory generation range which is a continuous range including a position of the target object closest to a position of a present own vehicle, and selects positions of the target object included in the trajectory generation range among plural positions of the target object, as target object positions for trajectory generation;
a trajectory generator that generates a trajectory of the target object based on the target object positions for trajectory generation; and
a steering controller that controls a steering angle of the present own vehicle so that the present own vehicle follows the trajectory,
wherein the data selector for trajectory generation determines front side positions of the target object, which are located on a front side of the present own vehicle, among the plural positions of the target object,
determines a position where the positions of the target object change in a first order, among the front side positions of the target object, and
selects positions located on a second order side of the determined position among the front side positions of the target object, as the target object positions for trajectory generation,
wherein the first order is an order of positions in which the front side positions of the target object change in the front side, at least between front and back positions of the front side position of the target object closest to the position of the present own vehicle, and
wherein the second order is an order of positions opposite to the first order.
4. The vehicle control apparatus according to claim 3 ,
wherein the data selector for trajectory generation determines back side positions of the target object, which are located on a back side of the present own vehicle, among the plural positions of the target object,
determines a position where the positions of the target object change in the second order, among the back side positions of the target object, and
further selects positions located on a first order side of the determined position among the back side positions of the target object, as the target object positions for trajectory generation.
5. A vehicle control apparatus comprising at least one processor configured to implement:
a target object position acquisitor that obtains positions of a target object;
a data selector for trajectory generation that sets a trajectory generation range which is a continuous range including a position of the target object closest to a position of a present own vehicle, and selects positions of the target object included in the trajectory generation range among plural positions of the target object, as target object positions for trajectory generation;
a trajectory generator that generates a trajectory of the target object based on the target object positions for trajectory generation; and
a steering controller that controls a steering angle of the present own vehicle so that the present own vehicle follows the trajectory,
wherein the trajectory generator generates the trajectory by approximation using a polynomial, and
wherein the steering controller performs the trajectory tracking steering control, when a number of the target object positions for trajectory generation is greater than or equal to a value obtained by adding 1 to a maximum order of the polynomial, and
does not perform the trajectory tracking steering control, when the number of the target object positions for trajectory generation is smaller than the value obtained by adding 1 to the maximum order.