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Vehicle control device

  • US 10,261,516 B2
  • Filed: 01/12/2018
  • Issued: 04/16/2019
  • Est. Priority Date: 01/24/2017
  • Status: Active Grant
First Claim
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1. A vehicle control device comprising:

  • a map database that stores map information; and

    at least one electronic control unit configured torecognize a map position, the map position being a position of a vehicle on a map,recognize an external situation of the vehicle and a road position, the road position being a position of the vehicle on a road,recognize a traveling state of the vehicle,generate a target route based on the map information, the map position, the external situation, and the traveling state,cause the vehicle to travel based on the target route,determine a potential route based on the map information,calculate a reference arrival position based on a target time or a target distance, the road position, and the traveling state, the target time being a predetermined time required for the vehicle to arrive on the potential route, the target distance being a distance required for the vehicle to arrive on the potential route from the road position, the reference arrival position being a position where the vehicle arrives on the potential route from the road position using the target time or the target distance,determine, according to the map information or the external situation at the reference arrival position, as a target arrival position, a position where the vehicle arrives on the potential route in a time different from the target time or over a distance different from the target distance,calculate a transition route from the road position to the target arrival position, andgenerate the target route by connecting the transition route and the potential route following the target arrival position.

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