Vehicle control device, vehicle control method, and storage medium
A vehicle control device that controls traveling of a vehicle at a roundabout in which a plurality of connected roads is connected to a circular road, acquires a traveling route of the vehicle including an exit road that is a connected road to which the vehicle is to exit from the circular road, acquires speed limits of the circular road and the exit road, calculates a target vehicle speed when the vehicle exits to the exit road from the circular road based on the speed limits, calculates an acceleration necessary period or an acceleration necessary distance necessary for accelerating the vehicle to the target vehicle speed based on current vehicle speed of the vehicle traveling on the circular road and the target vehicle speed, and starts acceleration control of accelerating the vehicle at predetermined acceleration when the calculated acceleration necessary period or acceleration necessary distance satisfies a predetermined start condition.
1 . A vehicle control device that controls traveling of a vehicle at a roundabout in which a plurality of connected roads is connected to a circular road, wherein the vehicle control device:
acquires a traveling route of the vehicle including the circular road and an exit road that is a connected road to which the vehicle is to exit from the circular road among a plurality of the connected roads;
acquires speed limits of the circular road and the exit road;
calculates a target vehicle speed when the vehicle exits from the circular road to the exit road based on the speed limits;
calculates an acceleration necessary period or an acceleration necessary distance necessary for accelerating the vehicle to the target vehicle speed based on current vehicle speed of the vehicle that is traveling on the circular road, and the target vehicle speed; and
starts acceleration control of accelerating the vehicle at predetermined acceleration when the calculated acceleration necessary period or the calculated acceleration necessary distance satisfies a predetermined start condition.
2 . The vehicle control device according to claim 1 , wherein
a predicted reaching period until the vehicle reaches an exit portion that is a connection portion of the circular road and the exit road and a predicted reaching distance until the vehicle reaches the exit portion are calculated, and
the start condition is satisfied when the acceleration necessary period becomes equal to or longer than the predicted reaching period or the acceleration necessary distance becomes equal to or less than the predicted reaching distance.
3 . The vehicle control device according to claim 1 , wherein the target vehicle speed is calculated using a minimum function that employs a smaller value between the speed limit of the circular road and the speed limit of the exit road.
4 . A vehicle control method of controlling traveling of a vehicle at a roundabout in which a plurality of connected roads is connected to a circular road, the vehicle control method comprising:
acquiring a traveling route of the vehicle including the circular road and an exit road that is a connected road to which the vehicle is to exit from the circular road among a plurality of the connected roads;
acquiring speed limits of the circular road and the exit road;
calculating target vehicle speed when the vehicle exits to the exit road from the circular road based on the speed limits;
calculating an acceleration necessary period or an acceleration necessary distance necessary for accelerating the vehicle to the target vehicle speed based on current vehicle speed of the vehicle that is traveling on the circular road and the target vehicle speed; and
starting acceleration control of accelerating the vehicle at predetermined acceleration when the calculated acceleration necessary period or the calculated acceleration necessary distance satisfies a predetermined start condition.
5 . A non-transitory storage medium storing a program that causes a computer of a vehicle control device that controls traveling of a vehicle at a roundabout in which a plurality of connected roads is connected to a circular road to execute processing of:
acquiring a traveling route of the vehicle including the circular road and an exit road that is a connected road to which the vehicle is to exit from the circular road among a plurality of the connected roads;
acquiring speed limits of the circular road and the exit road;
calculating target vehicle speed when the vehicle exits to the exit road from the circular road based on the speed limits;
calculating an acceleration necessary period or an acceleration necessary distance necessary for accelerating the vehicle to the target vehicle speed based on current vehicle speed of the vehicle that is traveling on the circular road and the target vehicle speed; and
starting acceleration control of accelerating the vehicle at predetermined acceleration when the calculated acceleration necessary period or the calculated acceleration necessary distance satisfies a predetermined start condition.