Vehicle control device and vehicle control method
A vehicle control device includes a scene determination unit determining whether or not a current traveling scene is a traveling-restricted scene, an order setting unit setting priorities corresponding to a restriction with respect to driving behaviors previously classified for different purposes in a case where it is determined that the traveling scene is the traveling-restricted scene and setting priorities with respect to the plurality of driving behaviors in a case where it is not determined that the traveling scene is the traveling-restricted scene, a traveling plan generating unit generating traveling plans corresponding to the plurality of priority-set driving behaviors, an executability determination unit determining executability of each of the plurality of generated driving behaviors, a traveling plan selection unit selecting the traveling plan corresponding to the driving behavior with the highest priority, and a traveling control unit controlling the traveling of the host vehicle based on the traveling plan.
1. A vehicle control device comprising:
at least one of an external sensor or a camera; and
at least one processor configured to:
detect at least one of a terrain, a shape, a position or a color of a line of a traveling path ahead of a host vehicle based on data received from the at least one of the external sensor or the camera;
determine whether or not an upcoming traveling scene of the host vehicle is a lane-reduced scene based on the detected at least one of the terrain, the shape, the position or the color of the line of the traveling path ahead of the vehicle, the lane-reduced scene being a positional region where lane deviation is restricted based on the detected at least one of the terrain, the shape, the position or the color of the line of the traveling path ahead of the host vehicle;
based on determining that the upcoming traveling scene is the lane-reduced scene, set a priority order of types of executable driving behaviors to be a traveling path-restricted priority order, which is different from a standard priority order that is set by the at least one processor when the at least one processor determines that the upcoming traveling scene is not the lane-reduced scene, wherein the traveling-path restricted priority order varies based on a state of a distance to the upcoming traveling scene;
generate a plurality of driving behavior execution plans, each driving behavior execution plan corresponding to a list of driving behavior types based on the set priority order;
determine executability of each of the driving behaviors in the driving behavior execution plans;
select a driving behavior execution plan, from among the plurality of driving behavior execution plans, having a highest priority in the set priority order from among the driving behaviors determined to be executable; and
control the traveling of the host vehicle based on the selected driving behavior execution plan.
2. The vehicle control device according to claim 1 , wherein the driving behavior execution plan is a transition of the driving behavior of the host vehicle at a time of the traveling along a target route from a current location to a destination, based on at least a position of the host vehicle, and map information, and
a highest priority is set to a current driving behavior in the driving behavior execution plan.
3. The vehicle control device according to claim 1 , wherein the at least one processor is further configured to:
cause a state where a calculation resource used in the generation of the driving behavior execution plan is smaller during the generation of a driving behavior execution plan corresponding to a driving behavior type set to be low in priority than during the generation of a driving behavior execution corresponding to a driving behavior type set to be high in priority, wherein the calculation resource includes at least one of: an amount of calculation, a spatial resolution, a time resolution of data, a calculation time, or a memory usage.
4. The vehicle control device according to claim 2 , wherein the at least one processor is further configured to: cause a state where a calculation resource used in the generation of the driving behavior execution is smaller during the generation of a driving behavior execution corresponding to a driving behavior type set to be low in priority than during the generation of a driving behavior execution corresponding to a driving behavior type set to be high in priority, wherein the calculation resource includes at least one of: an amount of calculation, a spatial resolution, a time resolution of data, a calculation time, or a memory usage.
5. A vehicle control method comprising:
detecting at least one of a terrain, a shape, a position or a color of a line of a traveling path ahead of a host vehicle based on data received from at least one of an external sensor or a camera;
determining whether or not an upcoming traveling scene of the host vehicle is a lane-reduced scene based on the detected at least one of the terrain, the shape, the position or the color of the line of the traveling path ahead of the vehicle, the lane-reduced scene being a positional region where lane deviation is restricted based on the detected at least one of the terrain, the shape, the position or the color of the line of the traveling path ahead of the host vehicle;
based on determining that the upcoming traveling scene is the lane-reduced scene, set a priority order of types of executable driving behaviors to be a lane-reduced priority order, which is different from a standard priority order that is set by the at least one processor when the at least one processor determines that the upcoming traveling scene is not the lane-reduced scene, wherein the lane-reduced priority order varies based on a state of a distance to the upcoming traveling scene;
generating a plurality of driving behavior execution plans, each driving behavior execution plan corresponding to a list of driving behavior types based on the set priority order;
determining executability of each of the plurality driving behaviors in the driving behavior execution plans;
selecting a driving behavior execution plan, from among the plurality of driving behavior execution plans, having a highest priority in the set priority order from among the driving behaviors determined to be executable; and
controlling the traveling of the host vehicle based on the selected driving behavior execution plan.
6. The vehicle control device according to claim 1 , wherein the at least one of the external sensor or the camera includes at least one of a camera, a radar or a laser imaging detection and ranging (LiDAR).
7. The vehicle control device according to claim 1 , wherein the at least one processor is further configured to detect a situation around the host vehicle including acquiring information regarding a detected object, the detected object including at least one of a moving object around the host vehicle, or a stationary object around the vehicle.
8. The vehicle control device according to claim 1 , wherein a restriction of the lane-reduced scene includes at least one of: an in-lane position, a maximum speed, a maximum acceleration, or a minimum distance margin with respect to an obstacle that should be achieved during a certain period of time.
9. The vehicle control device according to claim 1 , wherein, in the lane-reduced scene restricted priority order, the plurality of types of executable driving behaviors include a lane change behavior and a lane keeping behavior.
10. The vehicle control device according to claim 9 , wherein, in the lane-reduced path restricted priority order, at least one of the lane change behavior or the lane keeping behavior has a higher priority than the stopping or braking behavior.