To enable a merge at a position applicable to the situation of a merging-destination lane without limiting to a predetermined one path, when an own vehicle merges into the merging-destination lane from a merging lane.SOLUTION: A merging method is used for an operation support vehicle that has an automatic operation control unit for performing an automatic merging along a target merging route. The automatic operation control unit performs: generating a second target merging route candidate in the front side of an own vehicle traveling direction from a first target merging route where the own vehicle merges into a merging-destination lane from a merging lane, on the basis of a target travelling route (S8); determining whether or not there is a merging space in which the own vehicle can merge into the merging-destination lane on the second target merging route candidate after the second target merging route candidate is generated and before the own vehicle starts merging (S10); and setting, if determined that there is the merging space, the second target merging route candidate as the target merging route for the own vehicle (S20).SELECTED DRAWING: Figure 4
【課題】自車が合流車線から被合流車線へ合流するとき、予め決めた1つの経路に限定することなく、被合流車線の状況に応じた位置での合流を可能とすること。【解決手段】目標合流経路に沿って自動合流を実施する自動運転制御ユニットを有する運転支援車両の合流方法である。この運転支援車両の合流方法において、自動運転制御ユニットは以下のことを行う。目標走行経路に基づいて自車が合流車線から被合流車線に合流する第1目標合流経路よりも自車進行方向手前に第2目標合流経路候補を生成する(S8)。第2目標合流経路候補の生成後であって自車が合流を開始するよりも前に、第2目標合流経路候補上の被合流車線に自車が合流できる合流スペースが有るか否かを判断する(S10)。合流スペースが有ると判断すると、第2目標合流経路候補を自車の目標合流経路として設定する(S20)。【選択図】図4
MERGING METHOD AND MERGING APPARATUS FOR OPERATION SUPPORT VEHICLE
運転支援車両の合流方法及び合流装置
11.06.2020
Patent
Elektronische Ressource
Japanisch
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