CPC G05D 1/0214 (2013.01) [G05D 1/0276 (2013.01); G07C 5/008 (2013.01); G08G 1/0968 (2013.01); G08G 1/14 (2013.01); G07C 5/0808 (2013.01)] | 7 Claims |
1. A vehicle control device mounted on a vehicle, the device comprising:
a recognition unit that recognizes a driving environment around the vehicle;
an estimation unit that estimates a position of the vehicle based on the driving environment;
a communication unit that communicates with an external facility of the vehicle;
a determination unit that determines whether or not a failure occurs in the communication;
a trajectory generation unit that generates a target trajectory along which the vehicle autonomously drives;
a vehicle control unit that causes the vehicle to drive along the target trajectory; and
a retreated position decision unit that decides a retreated position of the vehicle based on the communication and the driving environment,
wherein the trajectory generation unit generates the target trajectory along which the vehicle drives to the retreated position when the determination unit determines that the communication is abnormal; and
wherein
the retreated position decision unit transmits the retreated position to the external facility via the communication unit, and
the trajectory generation unit generates the target trajectory along which the vehicle drives to the retreated position transmitted to the external facility immediately before the determination when the determination unit determines that the communication is abnormal.
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