To provide a travel support method and a travel support apparatus capable of suppressing wobble of an own vehicle due to variation in a road width when the own vehicle passes through a section where the road width varies.SOLUTION: A vehicular travel support method, to be executed by a processor, includes the steps of: obtaining information on a travel-road boundary representing a boundary between a travel road of an own vehicle and a zone other than the aforementioned travel road; computing travel-road boundary roughness of a first travel-road boundary being the travel-road boundary on a left side relative to a travel direction of the own vehicle, on the basis of the information on the travel-road boundary; computing travel-road boundary roughness of a second travel-road boundary being the travel-road boundary on a right side relative to the travel direction of the own vehicle, on the basis of the information on the travel-road boundary; and generating a target travel route on the basis of a result of comparison between the travel-road boundary roughness computed on the first travel-road boundary and the travel-road boundary roughness computed on the second travel-road boundary, and controlling the own vehicle on the basis of the target travel route.SELECTED DRAWING: Figure 1
【課題】道路幅が変化する区間を自車両が通過する際に、道路幅の変化に伴う自車両のふらつきを抑制できる。【解決手段】プロセッサに実行させる車両の走行支援方法であって、自車両の走路と当該走路以外との境界を示す走路境界の情報を取得し、走路境界の情報に基づき、自車両の進行方向に対して左側の走路境界である第1走路境界について、走路境界の粗さを演算し、走路境界の情報に基づき、自車両の進行方向に対して右側の走路境界である第2走路境界について、走路境界の粗さを演算し、第1走路境界について演算した走路境界の粗さと、第2走路境界について演算した走路境界の粗さ、とを比較した結果に基づき、自車両の目標走行経路を生成し、目標走行経路に基づき自車両を制御する。【選択図】図1
TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS
走行支援方法および走行支援装置
10.12.2020
Patent
Elektronische Ressource
Japanisch
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
TRAVEL SUPPORT METHOD FOR TRAVEL SUPPORT APPARATUS, AND TRAVEL SUPPORT APPARATUS
Europäisches Patentamt | 2021
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