Vehicle controller, method, and computer program for vehicle control
A vehicle controller includes a processor configured to detect an inconsistent section where information on a road represented in a first map is inconsistent with information on the road represented in a second map, make a first driving plan for a first section from a current position of a vehicle to a control switching point which is a start point of the inconsistent section or is nearer the vehicle than the start point, based on one of the first and second maps, make a second driving plan for a second section beyond the control switching point including the inconsistent section, based on the other of the first and second maps, before the vehicle reaches the control switching point, and control the vehicle so as to follow the first driving plan on the first section and follow the second driving plan on the second section.
1. A vehicle controller comprising:
a memory configured to store a first map and a second map each representing information on a road; and
a processor configured to:
detect, in a travel direction of a vehicle, an inconsistent section where information on the road represented in the first map is inconsistent with information on the road represented in the second map,
make a first driving plan for a first section from a current position of the vehicle to a control switching point which is a start point of the inconsistent section, which is an end of the inconsistent section closer to the vehicle, or is nearer the vehicle than the start point, based on one of the first and second maps,
make a second driving plan for a second section beyond the control switching point including the inconsistent section, based on the other of the first and second maps, which differs from the one used for the first section, before the vehicle reaches the control switching point,
control the vehicle so that the vehicle travels on the first section according to the first driving plan, and
control the vehicle so that the vehicle travels on the second section according to the second driving plan.
2. The vehicle controller according to claim 1 , wherein the processor makes the first driving plan, based on the first map, and makes the second driving plan, based on the second map, and
the information on the road represented in the first map is more accurate than the information on the road represented in the second map, and the second map is updated more frequently than the first map.
3. The vehicle controller according to claim 1 , wherein the processor detects the inconsistent section so that the distance between the position of a predetermined feature on or around the road represented in the first map and the position of the predetermined feature represented in the second map is not less than a predetermined threshold, or so as to include a point where the first and second maps differ in the presence or absence of the predetermined feature.
4. A method for vehicle control, comprising:
detecting, in a travel direction of a vehicle, an inconsistent section where information on a road represented in a first map is inconsistent with information on the road represented in a second map;
making a first driving plan for a first section from a current position of the vehicle to a control switching point which is a start point of the inconsistent section, which is an end of the inconsistent section closer to the vehicle, or is nearer the vehicle than the start point, based on one of the first and second maps;
making a second driving plan for a second section beyond the control switching point including the inconsistent section, based on the other of the first and second maps, which differs from the one used for the first section, before the vehicle reaches the control switching point;
controlling the vehicle so that the vehicle travels on the first section according to the first driving plan; and
controlling the vehicle so that the vehicle travels on the second section according to the second driving plan.
5. A non-transitory recording medium that stores a computer program for vehicle control, the computer program causing a processor mounted on a vehicle to execute a process comprising:
detecting, in a travel direction of the vehicle, an inconsistent section where information on a road represented in a first map is inconsistent with information on the road represented in a second map;
making a first driving plan for a first section from a current position of the vehicle to a control switching point which is a start point of the inconsistent section, which is an end of the inconsistent section closer to the vehicle, or is nearer the vehicle than the start point, based on one of the first and second maps;
making a second driving plan for a second section beyond the control switching point including the inconsistent section, based on the other of the first and second maps, which differs from the one used for the first section, before the vehicle reaches the control switching point;
controlling the vehicle so that the vehicle travels on the first section according to the first driving plan; and
controlling the vehicle so that the vehicle travels on the second section according to the second driving plan.