Vehicle control device

摘要

Disclosed is a vehicle control device capable of reducing calculation time while securing precision of a traveling plan in an arbitrary section. The vehicle control device controls a vehicle along a traveling plan calculated in accordance with a traveling path to a destination of the vehicle. The vehicle control device includes a traveling path setting unit which sets the traveling path from the current position of the vehicle to the destination, a traveling path division unit which divides the traveling path into a first section and a second section, and a traveling plan calculation unit which calculates a first traveling plan according to the first section and a second traveling plan according to the second section. The traveling plan calculation unit coarsens calculation granularity in the second traveling plan compared to calculation granularity in the first traveling plan.

主权项

1. A vehicle control device which controls a vehicle along a traveling plan calculated in accordance with a traveling path to a destination of the vehicle, the vehicle control device comprising:
a traveling path setting unit which sets the traveling path to the destination; a traveling path division unit which divides the traveling path into a first section and a second section; a traveling plan calculation unit which calculates a first traveling plan according to the first section and a second traveling plan according to the second section; and a recalculation condition determination unit which determines whether a difference between an actual measurement value of a traveling state of the vehicle and a vehicle control target value of the first traveling plan is within an allowable range, wherein the traveling plan calculation unit sets a recalculation start point, which is a point along the traveling path at a predetermined distance from a location of the vehicle, the vehicle reaches so as to start re-division of the traveling path by the traveling path division unit and recalculation of the traveling plan by the traveling plan calculation unit to the first section, and coarsens calculation granularity in the second traveling plan compared to calculation granularity in the first traveling plan, and wherein, when the recalculation condition determination unit determines that the difference is not within the allowable range, a recalculation condition is satisfied and the traveling plan division unit again divides the traveling path and the traveling plan calculation unit again calculates the first traveling plan and the second traveling plan.