Control device
A control device includes a processor configured to acquire output information of a first type of a first sensor and output information of a second type of a second sensor each configured to detect an object in an around of a vehicle, the processor performing first processing of recognizing a first range including a specific object among a plurality of ranges set in a peripheral region of the vehicle based on the output information of the first sensor, and second processing of recognizing a second range including the specific object among the plurality of ranges based on the output information of the second sensor, selecting a third range from the plurality of ranges obtained by excluding the first range based on the first range, and determining reliability of a recognition result of the first range based on a recognition result of the second processing for the third range.
1. A control device that performs travel control of a vehicle, the control device comprising
a processor configured to:
acquire output information of a first type of a first sensor and output information of a second type of a second sensor each configured to detect an object in an around of the vehicle;
perform first processing of recognizing a first range including a specific object among a plurality of ranges set in a peripheral region of the vehicle based on the output information of the first sensor, and second processing of recognizing a second range including the specific object among the plurality of ranges based on the output information of the second sensor;
set, as a third range, a range at least adjacent to the first range among the plurality of ranges;
determine reliability of a recognition result of the first processing based on a recognition result of the second processing for the third range;
determine that the reliability of the recognition result of the first processing is equal to or greater than a threshold in response to the second range being included in the third range;
determine that a peripheral environment of the vehicle is a travel-restricted section in which travel is restricted based on a determination result of the reliability of the recognition result of the first processing;
perform lane change control of the vehicle; and
restrict the lane change control in response to it being determined that the peripheral environment is the travel-restricted section.
2. The control device according to claim 1 , wherein
when there are two first ranges having a same position in a left-right direction of the vehicle, the processor is configured to set a range between the two first ranges as the third range.
3. The control device according to claim 1 , wherein
the processor is configured to set, as the third range, the ranges located on both sides of the first range in a left-right direction of the vehicle.
4. The control device according to claim 1 , wherein
the processor is configured to:
select, based on the second range, a fourth range from ranges obtained by excluding the second range from the plurality of ranges; and
determine reliability of a recognition result of the second range based on the recognition result of the first processing for the fourth range.
5. The control device according to claim 4 , wherein
the processor is configured to determine that reliability of the recognition result of the second processing is equal to or greater than the threshold in response to the first range being included in the fourth range.
6. The control device according to claim 4 , wherein:
the first sensor is a radar;
the second sensor is a digital camera; and
the processor is configured to select, as the fourth range, all the ranges having a same position in a left-right direction of the vehicle as the second range among the plurality of ranges.
7. The control device according to claim 4 , wherein:
the specific object is a pylon; and
the processor is configured to recognize the first range and the second range, and determine that the peripheral environment of the vehicle is the travel-restricted section in which travel is restricted when both the reliability of the recognition result of the first processing and the reliability of the recognition result of the second processing are equal to or greater than the threshold.
8. The control device according to claim 7 , wherein
after determining that the peripheral environment is the travel-restricted section, the processor is configured to determine that the peripheral environment is not the travel-restricted section when one or both of a first state in which the first range is not recognized by the first processing and a second state in which the second range is not recognized by the second processing are continued.
9. The control device according to claim 8 , wherein:
when the first state and the second state continue for a period in which the vehicle travels a first distance, the processor determines that the peripheral environment is not the travel-restricted section,
when only one of the first state and the second state continues for a period in which the vehicle travels a second distance, the processor determines that the peripheral environment is not the travel-restricted section; and
the second distance is greater than the first distance.
10. The control device according to claim 1 , wherein:
a width of the peripheral region in a front-rear direction of the vehicle is set to be greater than a width of the peripheral region in a left-right direction of the vehicle; and
a position of the vehicle in the peripheral region is set to a position decentered to a rear side of the peripheral region in the front-rear direction.