| CPC B60W 30/165 (2013.01) [B60W 30/0956 (2013.01); B60W 30/10 (2013.01); B60W 2520/06 (2013.01); B60W 2554/80 (2020.02)] | 7 Claims |
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1. A vehicle control system configured to be equipped in a vehicle, the vehicle control system comprising:
one or more processors;
one or more memories storing instructions for causing the one or more processors to:
generate, as a first prediction path, a prediction path of the vehicle based on map information and positional information of the vehicle;
generate, as a second prediction path, a prediction path of the vehicle based on external environment information, the external environment information being acquired from a camera and an image processor configured to recognize an external travel environment of the vehicle;
generate a third prediction path based on the first prediction path and the second prediction path;
acquire, as leading vehicle information, information related to a travel path of a leading vehicle;
determine whether a divergence of a predetermined amount or more has occurred between the first prediction path and the second prediction path;
wherein, in a case where the divergence of the predetermined amount or more has occurred between the first prediction path and the second prediction path,
determine a first reliability of the first prediction path and a second reliability of the second prediction path based on the leading vehicle information;
select the third prediction path as a travel path of the vehicle before determining the first reliability and the second reliability;
select one of the first prediction path and second prediction path as the travel path of the vehicle, wherein the selected one of the first prediction path and second prediction path having one of the first reliability and the second reliability higher than the other of the first reliability and the second reliability; and control the vehicle to travel along the selected travel path.
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