| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle control device that reduces possibility of stopping an own vehicle at a position where a signal cannot be picked up by an imaging part.SOLUTION: An imaging center line reference offset quantity as a shortest distance between an imaging center line and a signal is calculated on the basis of a recognition object side angel &thetas; and a stopping line distance L, and a recognition limit distance Las a distance between a position closest to a stopping line among positions where an imaging part can pick up a signal and the present position of an own vehicle is calculated on the basis of the imaging center line reference offset quantity. A smaller distance among the stopping line distance Land recognition limit distance Lis selected, and according to the selected distance and a speed detected by a vehicle speed detection part, the speed of the own vehicle is controlled in a manner to stop the travelling own vehicle. |
