| CPC B60W 60/001 (2020.02) [B60W 30/18159 (2020.02); B60W 40/06 (2013.01); B60W 2552/10 (2020.02); B60W 2552/53 (2020.02); B60W 2556/40 (2020.02)] | 5 Claims |
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1. A vehicle control device configured to perform vehicle control of a self vehicle based on information of a position of the self vehicle, information of a map, and information of a route, the vehicle control device comprising:
a lane width determination unit configured to determine whether or not a travel lane of the self vehicle has, at a specific spot of the route, a lane width that allows a plurality of vehicles to travel parallel to each other;
a virtual lane center line generation unit configured, when the lane width determination unit has determined that the travel lane of the self vehicle has, at the specific spot, the lane width that allows the plurality of vehicles to travel parallel to each other, to generate, on the travel lane of the self vehicle at the specific spot, a plurality of virtual lanes where the plurality of vehicles are allowed to travel parallel to each other, and a virtual lane center line in each of the plurality of virtual lanes,
a position detection unit configured to detect the position of the self vehicle;
a data holding unit configured to hold a high-accuracy map and the information of the route, wherein
the lane width determination unit reads the position of the self vehicle that the position detection unit has detected, and reads information of the lane width from the high-accuracy map, and
the virtual lane center line generation unit generates information of each of the plurality of virtual lanes where the self vehicle is allowed to travel;
an intersection determination unit configured to determine a first intersection in a direction where the self vehicle at the specific spot moves, wherein
the intersection determination unit determines whether or not a distance between the intersection and the self vehicle is equal to or smaller than a threshold value, and whether or not the self vehicle is allowed to turn left or right at the intersection, and
when the distance between the intersection and the self vehicle is equal to or smaller than the threshold value and when the self vehicle is allowed to turn left or right at the intersection, the virtual lane center line generation unit reads, from the high-accuracy map, the information of the lane width between a position of a stop line of the intersection and the position of the self vehicle, so as to generate the information of each of the plurality of the virtual lanes until the specific spot where the plurality of vehicles are allowed to travel parallel to each other, and hold the information of each of the plurality of virtual lanes in the data holding unit.
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