Provided is a driving assistance device capable of performing appropriate driving assistance when a vehicle travels at a merging point where merging from an acceleration lane to a main lane is performed. When there is a merging point at which merging from an acceleration lane to a main lane is performed in a planned travel path on which a vehicle travels, a position of a first distance forward starting from a start point of the acceleration lane is determined as a merging start point using high-precision map information (16). A position of a second distance forward from the merging start point is determined as a merging completion point, and a travel trajectory and a speed plan for recommending travel of the vehicle during a merging operation are generated, and during the merging operation, the vehicle is accelerated from the start point of the acceleration lane to the merging start point and the vehicle is accelerated from the start point of the acceleration lane to the merging start point. And the lane movement from the acceleration lane to the main lane is started at the confluence starting point and is completed at the confluence completion point.
提供一种驾驶辅助装置,在车辆行驶于进行从加速车道向主车道的合流的合流地点的情况下,能够实施适当的驾驶辅助。在车辆所行驶的行驶预定路径中存在进行从加速车道向主车道的合流的合流地点的情况下,使用高精度地图信息(16),将以加速车道的开始点为起点的前方的第一距离的位置确定为合流开始点,将从合流开始点起的前方的第二距离的位置确定为合流完成点,生成在进行合流动作时推荐车辆行驶的行驶轨迹以及速度计划,在合流动作中,从加速车道的开始点加速到合流开始点,并在合流开始点开始从加速车道向主车道的车道移动并在合流完成点完成。
DRIVING ASSISTANCE DEVICE
驾驶辅助装置
2023-12-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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