Travel that does not veer toward an outside of a corner in a section of a curve where curvature changes is made possible.A navigation control unit (3) (controller) is provided that detects left and right lane boundaries and that controls travel of a host vehicle based on a result of lane boundary detection. In a device for controlling travel of an autonomous vehicle (drive-assisted vehicle), the navigation control unit (3) includes a road geometry distinguishing unit (364) and a rate limiter unit (365) (detection-result change-suppressing unit). The road geometry distinguishing unit (364) distinguishes a curve, and a direction of the curve, based on road geometry information. When traveling through the curve, the rate limiter unit (365) sets a result of lane boundary detection at an inside of a corner to a value for which change in a lateral direction approaching the host vehicle is restricted.
TRAVEL CONTROL METHOD AND TRAVEL CONTROL DEVICE FOR DRIVING-ASSIST VEHICLE
VERFAHREN UND VORRICHTUNG ZUR FAHRSTEUERUNG FÜR EIN FAHRZEUG MIT FAHRASSISTENZ
PROCÉDÉ ET DISPOSITIF DE COMMANDE DE DÉPLACEMENT POUR VÉHICULE D'AIDE À LA CONDUITE
01.06.2022
Patent
Elektronische Ressource
Englisch
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06K Erkennen von Daten , RECOGNITION OF DATA |
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