| CPC B60W 30/0956 (2013.01) [B60W 2554/4041 (2020.02)] | 14 Claims |
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1. A vehicle control device comprising a vehicle path generation device which acquires the position and orientation of an own vehicle from an own vehicle position sensor mounted on the own vehicle and generates a vehicle path of the own vehicle, the vehicle path generation device being characterized by including:
a reference path acquisition circuitry which acquires the position and orientation of the own vehicle from the own vehicle position sensor and acquires, from a map, a plurality of reference paths of the own vehicle that extend in different directions from the current position of the own vehicle at a road intersection;
a reference path determination circuitry which determines a reference path that is within a predetermined distance from an actual path of the vehicle and that has a smallest deviation from the actual path of the vehicle, among the plurality of reference paths, determines whether or not the own vehicle is traveling on the reference path, and when it determines that the own vehicle is traveling on the reference path, determines the reference path to be the vehicle path of the own vehicle;
a temporary vehicle path calculation circuitry which, when it is determined by the determination of the reference path determination circuitry that the own vehicle is not traveling on the reference path and the reference path is within a predetermined distance from the position of the own vehicle, sets a curve connecting at least two points as a temporary vehicle path of the own vehicle, wherein the at least two points include the position of the own vehicle detected by the own vehicle position sensor and a point spaced apart from the position of the own vehicle by a set distance and located on the reference path;
a temporary vehicle path determination circuitry which determines whether or not the own vehicle is traveling on the temporary vehicle path, and which, when the own vehicle is traveling on the temporary vehicle path, determines the temporary vehicle path to be the vehicle path of the own vehicle, and when the own vehicle is not traveling on the temporary vehicle path, revises the temporary vehicle path; and
a vehicle path setting circuitry which sets either the vehicle path determined by the reference path determination circuitry or the vehicle path determined by the temporary vehicle path determination circuitry as the vehicle path of the own vehicle,
wherein the vehicle control device further comprises an own vehicle control circuitry that controls the own vehicle based on the vehicle path generated by the vehicle path generation device.
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