To set an appropriate target route in a branched lane even when a compartment line guiding in a direction toward the branched lane is not clearly drawn in a diverging lane connecting a main lane and two branched lanes.SOLUTION: In a case where a compartment line guiding in a direction toward a branched lane is not clearly drawn in a diverging lane connecting a main lane and two branched lanes, it is firstly determined whether this target route is set to a direction toward the branched lane at the main lane side (S22). When the targe route is set to a target lane at the main lane side, a lateral position correction amount WOFFSET is set with a value obtained by adding a lateral position correction amount Xp1 at the main lane side to 1/2 of a vehicle width Wcar of a self vehicle M (S24). Also, in a case where the target route is set to a target route at the road wall side, a lateral position correction amount WOFFSET is set to be 1/4 of a lane width of the branched lane (S25). A new target route is set by correcting the target route with the lateral position correction amount WOFFSET (S3).SELECTED DRAWING: Figure 4
【課題】本線と二股に分岐されている分岐車線とを繋ぐ分流車線に、分岐車線方向へ導く区画線が明確に描画されていない場合であっても、分流車線に適切な目標経路を設定できるようにする。【解決手段】本線と二股に分岐された分岐車線とを繋ぐ分流車線に分岐車線方向へ導く区画線が明確に描画されていない場合、先ず、この目標経路が本線側の分岐車線方向に設定されているか否かを判定し(S22)、本線側の目標経路に設定されている場合は、自車両Mの車幅Wcarの1/2に本線側横位置補正量Xp1を加算した値で横位置変化量WOFFSETを設定する(S24)。又、目標経路が路壁側の目標経路に設定されている場合は、横位置変化量WOFFSETを分岐車線の車線幅の1/4に設定する(S25)。そして、この横位置変化量WOFFSETで目標経路を補正して新たな目標経路を設定する(S3)。【選択図】図4
AUTOMATIC RUNNING SUPPORT DEVICE OF VEHICLE
車両の自動運転支援装置
2021-02-18
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 / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES |
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