{
  "$type": "site.standard.document",
  "description": "A vehicle control device that executes autonomous driving of a vehicle based on a detection result of a LiDAR, calculates a road surface equivalent height that is equivalent to a height of a road surface on which the vehicle is traveling, based on a reflection point detected by the LiDAR…",
  "path": "/patents/1389603",
  "publishedAt": "2026-06-11T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01S17/931",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "A vehicle control device that executes autonomous driving of a vehicle based on a detection result of a LiDAR, calculates a road surface equivalent height that is equivalent to a height of a road surface on which the vehicle is traveling, based on a reflection point detected by the LiDAR, calculates the number of road surface equivalent height reflection points that are reflection points positioned at heights within a predetermined range from the road surface equivalent height, calculates a reflection point low density section that is a section where a density of the road surface equivalent height reflection points is less than a value that is predetermined, calculates a shortest distance between the reflection point low density section and the vehicle on a target traveling track of the vehicle as a detection limit distance, and decides an upper limit vehicle speed of the vehicle based on the detection limit distance.",
  "title": "VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM"
}