| CPC B60W 30/12 (2013.01) [B60W 30/09 (2013.01); B60W 2420/403 (2013.01); B60W 2552/53 (2020.02); B60W 2556/40 (2020.02)] | 3 Claims |
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1. A vehicle controller comprising:
a memory configured to store map information; and
a processor configured to:
compare an image generated by a camera mounted on a vehicle or a position measured by a position measuring device with the map information to detect a lane being traveled by the vehicle, the image representing surroundings of the vehicle, the position measuring device being configured to measure the position of the vehicle,
set a planned trajectory to be traveled by the vehicle along the lane,
detect a pair of lane lines demarcating the lane and an obstacle in an area around the vehicle from the image,
identify an effective section of the planned trajectory, the effective section being a section in which the planned trajectory is between the detected pair of lane lines, and
control motion of the vehicle to avoid a collision between the obstacle and the vehicle in the case that the obstacle is located in the effective section and on the planned trajectory,
wherein the processor identifies the shorter of a first section and a second section as the effective section, the first section extending from a current position of the vehicle to a bending position where a difference between curvatures of the planned trajectory and the detected pair of lane lines exceeds a predetermined value, the second section extending from the current position of the vehicle to a crossing position where the planned trajectory and one of the detected pair of lane lines cross, and
the processor identifies, as the effective section, a third section from the current position of the vehicle to the farthest position of the detected pair of lane lines, when neither the bending position nor the crossing position is detected.
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