Vehicle control device
A vehicle control device includes: a distance-acquisition section acquiring a path end distance between a vehicle and an end of a turn-travel path, on which the vehicle travels with turning; a path-width-acquisition section acquiring a path width of the turn-travel path; a velocity-acquisition section acquiring a velocity of the vehicle; an anticipated-curvature-radius-acquisition section acquiring a curvature radius of an anticipated turn-travel path obtained by assuming that the turn-travel path starts from a pre-turn position, based on the path width and the path end distance obtained at the pre-turn position; a target-velocity-setting section setting a target velocity at which the vehicle should travel on the turn-travel path, based on the anticipated curvature radius; a target-acceleration/deceleration-calculation section calculating a target acceleration/deceleration for accelerating/decelerating the vehicle to the target velocity, based on the velocity of the vehicle and the target velocity, and a vehicle-control section performing acceleration/deceleration control based on the target acceleration/deceleration.
1. A vehicle control device, comprising:
a distance acquisition section that acquires a path end distance, which is a distance between an own vehicle and an end of a turn travel path, which is located in a traveling direction of the own vehicle and on which the own vehicle travels with turning;
a path width acquisition section that acquires a path width of the turn travel path;
a velocity acquisition section that acquires a velocity of the own vehicle;
an anticipated curvature radius acquisition section that acquires, as an anticipated curvature radius, a curvature radius of an anticipated turn travel path based on the path width and the path end distance of a pre-turn position, the pre-turn position comprising a position of the own vehicle prior to a position at which the own vehicle starts to turn for the anticipated turn travel path;
a target velocity setting section that sets a target velocity at which the own vehicle should travel on the turn travel path, based on the anticipated curvature radius;
a target acceleration/deceleration calculation section that calculates a target acceleration/deceleration for accelerating or decelerating the own vehicle to the target velocity, based on the velocity of the own vehicle and the target velocity; and
a vehicle control section that performs acceleration/deceleration control of the own vehicle based on the target acceleration/deceleration.
2. The vehicle control device according to claim 1 , wherein
the end of the turn travel path is an edge of a road on which the own vehicle plans to travel or an end of an object which the own vehicle plans to avoid.
3. The vehicle control device according to claim 1 , wherein
the end of the turn travel path is located along the traveling direction of the own vehicle and on an extended line of a central axis of the own vehicle in a lateral width direction.
4. The vehicle control device according to claim 1 , wherein
the end of the turn travel path is located at a position whose distance to the own vehicle is the shortest in a belt-shaped area that has a predetermined size in a lateral direction of the own vehicle and extends along the traveling direction of the own vehicle.
5. The vehicle control device according to claim 1 , wherein
the distance acquisition section sets a plurality of ends of the turn travel path to acquire respective path end distances for the plurality of ends.
6. The vehicle control device according to claim 1 , wherein
the target acceleration/deceleration calculation section sets a lateral direction component of the target acceleration/deceleration orthogonal to the traveling direction of the own vehicle, based on the velocity of the own vehicle velocity.
7. The vehicle control device according to claim 1 , wherein
the vehicle control section performs the acceleration/deceleration control of the own vehicle if a lateral direction component of the target acceleration/deceleration is more than a predetermined threshold value.