| CPC G05D 1/0212 (2013.01) [B60W 30/00 (2013.01); B60W 60/001 (2020.02); B60W 60/0016 (2020.02); B60W 2420/403 (2013.01); B60W 2420/52 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2552/15 (2020.02); B60W 2552/30 (2020.02); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2555/20 (2020.02)] | 17 Claims |
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1. A vehicle control device comprising:
at least one processor configured to:
generate a target trajectory of a vehicle based on a target vehicle navigation traveling route, the target vehicle navigation traveling route including a specific appropriate lane in a traveling section of a road that has a plurality of lanes;
generate a target traveling plan corresponding to driving behaviors based on the generated trajectory, the target traveling plan including configuration coordinates including target positions in a coordinate system fixed to the vehicle and at least one of: a target speed or a target time for each of the target positions, wherein the driving behaviors include lane keep driving behaviors, and lane change driving behaviors;
detect a surrounding situation of a vehicle in a road section, and a current position of the vehicle, the surrounding situation of the vehicle being determined based on information received from at least one of an external sensor or camera mounted on the vehicle;
determine whether there is at least one lane reduction, lane ending or lane obstacle present in the road section based on the detected surrounding situation of the vehicle; and
based on determining that there is at least one lane reduction, lane ending or lane obstacle present in the road section:
determine whether the target traveling plan is executable in the road section, which means that executing each of the driving behaviors of the target traveling plan in the road section having the detected surrounding situation will realize driving that avoids the at least one lane reduction, lane ending or lane obstacle by at least a threshold distance;
based on determining that the target traveling plan is executable in the road section, automatically control the vehicle based on the driving behaviors corresponding to the target traveling plan; and
based on determining that the target traveling plan is not executable in the road section:
correct the driving behaviors corresponding to the target traveling plan in the road section so that the target traveling plan is now executable in the road section, and automatically control traveling of the vehicle in the road section based on the corrected driving behaviors in the road section,
correct the driving behaviors in the road section by:
generating a plurality of alternative executable traveling plans in the road section having the detected at least one lane reduction, lane ending or lane obstacle, each of the plurality of alternative executable traveling plans corresponding to respective alternative driving behaviors in the road section that include at least one difference from each other in at least one part of the road section; and
selecting, from among the generated plurality of executable alternative traveling plans, an executable alternative traveling plan in the road section,
detect at least one of a terrain, a shape, a position or a color of a line of a traveling path ahead of the vehicle based on data received from the at least one of the external sensor or the camera;
determine whether or not an upcoming traveling scene of the vehicle is a traveling path- restricted scene based on the detected at least one of the terrain, the shape, the position or the color of the line of the traveling path ahead of the vehicle, the traveling path-restricted scene being a positional region where lane deviation is restricted based on the detected at least one of the terrain, the shape, the position or the color of the line of the traveling path ahead of the vehicle;
based on determining that the upcoming traveling scene is the traveling path-restricted scene, set a priority order of types of driving behaviors to be a traveling path-restricted priority order, which is different from a standard priority order that is set by the at least one processor when the at least one processor determines that the upcoming traveling scene is not the traveling path-restricted scene, wherein the traveling path-restricted priority order varies based on a state of a distance to the upcoming traveling scene;
generate a plurality of driving behavior execution plans, each driving behavior execution plan corresponding to a list of driving behavior types based on the set priority order;
determine executability of each of the driving behaviors in the driving behavior execution plans;
select a driving behavior execution plan, from among the plurality of driving behavior execution plans, having a highest priority in the set priority order from among the driving behaviors determined to be executable; and
control the traveling of the vehicle based on the selected driving behavior execution plan.
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