| CPC B60W 40/06 (2013.01) [B60W 30/16 (2013.01); B60W 50/14 (2013.01); G06V 20/582 (2022.01); G06V 20/584 (2022.01); G08G 1/22 (2013.01); B60W 2420/403 (2013.01); B60W 2552/05 (2020.02); B60W 2554/80 (2020.02)] | 3 Claims |
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1. A vehicle control system comprising a peripheral information acquiring device including an imaging device configured to capture an image of an outside of a host vehicle to generate an image and a LiDAR device configured to measure an inter-vehicle distance to a preceding vehicle, and a control device, wherein
the control device is configured to:
determine a road type of a road on which the host vehicle is traveling by recognizing a specific object in the image;
take, as a determination measure for determining the road type of the road on which the host vehicle is traveling, a measure of increasing an inter-vehicle distance between a preceding vehicle traveling in the same lane as the own vehicle or a preceding vehicle traveling in an adjacent lane than a current inter-vehicle distance, when the specific object cannot be recognized,
determine whether a field of view of the imaging device is blocked by the preceding vehicle by measuring the inter-vehicle distance using the LiDAR device, wherein the field of view is determined to be blocked when the inter-vehicle distance is less than a predetermined threshold; determine whether the road type is an expressway;
start platoon driving automatically by creating a driving plan of the host vehicle on the basis of vehicle peripheral information so that the host vehicle can change a lane in accordance with a lane change of the preceding vehicle while keeping the inter-vehicle distance to the preceding vehicle constant, and perform autonomous driving in which a driving operation related to acceleration, steering, and braking is automatically performed in accordance with the driving plan; and
return the inter-vehicle distance to an original state when the specific object is subsequently recognized in the image.
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