Honda Motor Co., Ltd.
Vehicle control device

Abstract:

A vehicle control device includes a mid-term trajectory generation unit and a short-term trajectory generation unit, one of which generates a travel trajectory on which a vehicle can travel without interfering with an obstacle. The mid-term trajectory generation unit or the short-term trajectory generation unit: generates a travel route that passes through a second potential-travelling region which is obtained by subtracting obstacle regions, indicating obstacles, from a vehicle first potential-travelling region that is defined by the road environment; and generates the travel trajectory on the basis of the generated travel route.