Vehicle control device
A vehicle control device mounted on a vehicle includes one or more processors to detect an object around the vehicle based on external environment information and generate three-dimensional object information and information on a plurality of split regions, and set a damage degree to each of the plurality of split regions depending on an estimated magnitude of damage at an estimated time of collision of the vehicle. The one or more processors record information on a plurality of host vehicle split regions, and a host vehicle damage degree set to each of the plurality of host vehicle split regions depending on an estimated magnitude of damage at an estimated time of collision of the object and control travel of the vehicle to minimize a collision damage degree corresponding to the damage degree and a product of the damage degree and the host vehicle damage degree.
1. A vehicle control device mounted on a vehicle, the vehicle control device comprising one or more processors configured to:
detect an object around the vehicle based on external environment information output from an external sensor mounted on the vehicle to generate three-dimensional object information;
generate information on a plurality of split regions, which are obtained by splitting a target region including the object in a longitudinal direction and a height direction based on the external environment information, and set a damage degree to each of the plurality of split regions depending on an estimated magnitude of damage at an estimated time of collision of the vehicle;
record information on a plurality of host vehicle split regions, which are obtained by splitting a host vehicle region including the vehicle, and a host vehicle damage degree set to each of the plurality of host vehicle split regions depending on an estimated magnitude of damage at an estimated time of collision of the object; and
control travel of the vehicle to minimize a collision damage degree corresponding to the damage degree and a product of the damage degree and the host vehicle damage degree.
2. The vehicle control device according to claim 1 , the one or more processors further configured to:
convert pieces of information on a front surface and a side surface of the object included in the three-dimensional object information based on the external environment information acquired by the external sensor from an oblique direction intersecting the longitudinal direction of the object into perpendicularly facing front surface information and perpendicularly facing side surface information obtained by perpendicularly facing the front surface and the side surface, respectively,
extract a feature portion of the object from the perpendicularly facing side surface information, and
split the target region into the plurality of split regions in the longitudinal direction based on the feature portion.
3. The vehicle control device according to claim 2 , wherein the one or more processors recognize a region where the object does not exist from the perpendicularly facing side surface information and defines the region as a space, and sets the split region where the object exists as a part of the vehicle based on the space and the plurality of split regions.
4. The vehicle control device according to claim 2 , wherein
the external sensor includes an imaging device,
the external environment information includes image information of the object captured by the imaging device,
the pieces of the information of the front surface and the side surface are pieces of image information of the front surface and the side surface of the object captured from the oblique direction, and
the perpendicularly facing front surface information and the perpendicularly facing side surface information are perpendicularly facing image information of the front surface and perpendicularly facing image information of the side surface, respectively.
5. The vehicle control device according to claim 1 , wherein the one or more processors further configured to:
acquire information on the object transmitted from outside of the vehicle via a communication unit mounted on the vehicle; and
detect the object around the vehicle based on the external environment information and the information on the object.
6. The vehicle control device according to claim 1 , wherein
the external sensor includes a millimeter wave radar device, and
the one or more processors recognize a split region including a windshield based on a radar reflection intensity output from the millimeter wave radar device, and sets the damage degree corresponding to a cabin of the vehicle to the split region including the windshield among the plurality of split regions.