Vehicle control apparatus, vehicle control method, and vehicle control program
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United States of America Patent
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Mar 5, 2019
Grant Date -
May 4, 2017
app pub date -
Oct 19, 2016
filing date -
Oct 28, 2015
priority date (Note) -
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status (Latency Note)
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Abstract
A vehicle control apparatus includes a trajectory generation unit configured to generate a locus of a position of an own vehicle for each predetermined time in a future as a trajectory of the own vehicle, a target speed calculation unit configured to calculate a target speed of the own vehicle for each position on the trajectory generated by the trajectory generation unit, a traveling control unit configured to control traveling of the own vehicle on the basis of the target speed calculated by the target speed calculation unit, a derivation unit configured to derive a difference between a position on the trajectory generated by the trajectory generation unit and a current position of the own vehicle every time the predetermined time elapses, and a correction unit configured to correct the target speed calculated by the target speed calculation unit on the basis of the difference derived by the derivation unit.
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