Vehicle control device
Provided is a vehicle control device which, when traffic participants are waiting in the vicinity of a railroad crossing for a train to pass, appropriately controls driving of a vehicle about to pass through the railroad crossing. Entry of the vehicle into the railroad crossing is restrained until a waiting time elapses since when the railroad crossing transitioned from a passage blocking state to a passage allowing state, the waiting time being set in accordance with the kind or the number of the traffic participants present in the vicinity of the railroad crossing. When the waiting time has elapsed, the vehicle is caused to enter the railroad crossing and pass (through) the railroad crossing.
1. A vehicle control device comprising one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the vehicle control device to perform a driving control for a host vehicle, the vehicle control device comprising:
an external environment recognition unit configured to recognize traffic participants and a railway crossing with a railway crossing gate existing in a vicinity of the host vehicle;
a position recognition unit configured to recognize a travel position of the host vehicle;
a vehicle situation determination unit configured to determine whether or not the host vehicle is planning to pass through the railway crossing on a basis of a recognition result of the external environment recognition and/or a result obtained by the position recognition unit;
a determining unit configured to determine whether the traffic participants are waiting for the railway crossing gate of the railway crossing to open for crossing over the railway crossing on a basis of a recognition result of the external environment recognition unit; and
a standby time period setting unit configured to set a standby time period until entry of the host vehicle into the railway crossing is started on a basis of the determination result of the determining unit,
wherein the one or more processors cause the vehicle control device to restrain entry of the host vehicle into the railway crossing until the standby time period elapses from a time at which the railway crossing has transitioned from a traffic blocking state to a traffic permissible state, and permit entry of the host vehicle into the railway crossing at a time when the standby time period has elapsed.
2. The vehicle control device according to claim 1 , wherein the one or more processors cause the vehicle control device to set the standby time period to be longer as the number of the traffic participants becomes greater.
3. The vehicle control device according to claim 1 , wherein the one or more processors cause the vehicle control device to set the standby time period to be longer as a road width inside the railway crossing becomes narrower.
4. The vehicle control device according to claim 2 , wherein the one or more processors cause the vehicle control device to set the standby time period to a sum of a predetermined standby time period obtained from a number of pedestrians and a predetermined standby time period obtained from a number of bicycles.