To effectively avoid a collision between an own vehicle and an oncoming vehicle, by causing the own vehicle to automatically brake on the basis of a virtual wall according to the oncoming vehicle, when the own vehicle crosses an opposite lane.SOLUTION: A vehicle control device 100 for supporting traveling of a vehicle includes: a camera 21 and a radar 22 which detect an oncoming vehicle 2 approaching an own vehicle 1; and a controller 10 which controls the own vehicle 1 to automatically brake so as to avoid a collision between the own vehicle 1 and an oncoming vehicle 2, when the own vehicle 1 crosses an opposite lane. The controller 10 sets a virtual wall W1 moving in accompany with advancing of the oncoming vehicle 2, and extending in an advancing direction of the oncoming vehicle 2, between the own vehicle 1 and the oncoming vehicle 2, and causes the own vehicle 1 to automatically brake so that the own vehicle 1 does not come into contact with the virtual wall W1. Further, if the own vehicle 1 is crossing the opposite lane at a curved section, the controller sets a virtual wall which is curved in conformity with curvature of this curved section.SELECTED DRAWING: Figure 8
【課題】自車両が対向車線を横断するときに、対向車両に応じた仮想壁に基づき自車両を自動で制動させることで、自車両と対向車両との衝突を効果的に回避する。【解決手段】車両の走行を支援する車両制御装置100は、自車両1に接近する対向車両2を検出するカメラ21やレーダ22と、自車両1が対向車線を横断するときに、自車両1と対向車両2との衝突を回避するように自車両1を自動で制動させる制御を行うコントローラ10と、を有する。コントローラ10は、対向車両2の進行に伴って移動し且つ対向車両2の進行方向に延びる仮想壁W1を自車両1と対向車両2との間に設定して、自車両1が仮想壁W1に接触しないように自車両1を自動で制動させ、自車両1が対向車線をカーブ区間において横断する場合には、このカーブ区間の曲率に合わせて湾曲した仮想壁を設定する。【選択図】図8
VEHICLE CONTROL DEVICE
車両制御装置
2020-10-29
Patent
Elektronische Ressource
Japanisch
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