Vehicle control system, vehicle control method, and vehicle control program
First Claim
1. A vehicle control device comprising:
- a detector that detects a towing state of a subject vehicle;
a recognizing unit that recognizes surrounding situations of the subject vehicle;
a controller that performs automatic control in which at least one of acceleration-and-deceleration and steering of the subject vehicle is automatically controlled on the basis of the surrounding situations of the subject vehicle recognized by the recognizing unit; and
a changing unit that changes, if the detector defects that the subject vehicle is in a state of towing an object, details of control performed by the controller to restrict the automatic control compared to a case where the detector does not detect that the subject vehicle is in the state of towing the object.
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Accused Products
Abstract
A vehicle control device includes a detecting unit that detects a towing state of a subject vehicle, a recognizing unit that recognizes surrounding situations of the subject vehicle, a control unit that performs automatic control in which at least one of acceleration-and-deceleration and steering of the subject vehicle is automatically controlled on the basis of the surrounding situations of the subject vehicle recognized by the recognizing unit, and a changing unit that changes, if the detecting unit has detected that the subject vehicle is in a state of towing an object, details of control performed by the control unit in such a manner that it is less likely to perform the automatic control than in the case where the detecting unit has not detected that the subject vehicle is in a state of towing an object.
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Citations
13 Claims
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1. A vehicle control device comprising:
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a detector that detects a towing state of a subject vehicle; a recognizing unit that recognizes surrounding situations of the subject vehicle; a controller that performs automatic control in which at least one of acceleration-and-deceleration and steering of the subject vehicle is automatically controlled on the basis of the surrounding situations of the subject vehicle recognized by the recognizing unit; and a changing unit that changes, if the detector defects that the subject vehicle is in a state of towing an object, details of control performed by the controller to restrict the automatic control compared to a case where the detector does not detect that the subject vehicle is in the state of towing the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A vehicle control method performed by an in-vehicle computer, comprising:
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defecting, by the in-vehicle computer, a towing state of a subject vehicle in which the in-vehicle computer is installed; recognizing, by the computer, surrounding situations of the subject vehicle; performing, by the computer, automatic control for automatically controlling at least one of acceleration-and-deceleration and steering of the subject vehicle on the basis of the recognized surrounding situations of the subject vehicle; and if it is detected that the subject vehicle is in a state of towing an object, changing by the computer details of control in the automatic control to restrict the automatic control compared to a case where it is not detected that the subject vehicle is in the state of towing the object.
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13. A non-transitory computer readable medium storing a vehicle control program to cause an in-vehicle computer to:
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detect a towing state of a subject vehicle in which the in-vehicle computer is installed; recognize surrounding situations of the subject vehicle; perform automatic control for automatically controlling at least one of acceleration-and-deceleration and steering of the subject vehicle on the basis of the recognized surrounding situations of the subject vehicle; and if it is detected that the subject vehicle is in a state of towing an object, change details of control in the automatic control to restrict the automatic control compared to a case where it is not detected that the subject vehicle is in the state of towing the object.
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Specification