To provide an evacuation traveling support device capable of stopping a vehicle at an evacuation spot with high accuracy by causing the vehicle to perform automatic traveling even if deviation occurs between map information and an actual evacuation spot.SOLUTION: When a driver state determination part 11 determines that driving operation by a driver is not executable, a correction map information generation part 15 calculates a correction value on the basis of a distance to a side wall including a side wall of an evacuation spot from a traveling center line of an own vehicle in base map information acquired by a map information acquisition part 12 and measured map information generated by a peripheral environment information generation part 14, and generates corrected map information obtained by applying the correction value to the base map information acquired by the map information acquisition part, a route generation part 16 generates an evacuation traveling route with the evacuation spot as a target spot by using own vehicle position information acquired by an own vehicle environment recognition part 13 and the corrected map information generated by the correction map information generation part, and a vehicle control part 17 outputs a vehicle speed command to perform speed control and steering control over the own vehicle for performing evacuation traveling on the basis of the evacuation traveling route generated by the route generation part.SELECTED DRAWING: Figure 1
【課題】地図情報と実際の退避地点との間にズレが生じていたとしても、車両を自動走行させて退避地点に精度高く停止させ得る退避走行支援装置を提供する。【解決手段】運転者状態判定部11が運転者による運転操作が実施不可能であると判定すると、補正地図情報生成部15が、地図情報取得部12が得たベース地図情報における自車両の走行中心線から退避地点の側壁を含む側壁までの距離と周辺環境情報生成部14が生成した測定地図情報に基づいて補正値を算出し、地図情報取得部が得たベース地図情報に補正値を適用した補正地図情報を生成し、経路生成部16が、自車環境認識部13が取得した自車位置情報と補正地図情報生成部が生成した補正地図情報を用いて退避地点を目的地点とした退避走行経路を生成し、車両制御部17が、経路生成部が生成した退避走行経路を基に退避走行を行う自車両の速度制御及び操舵制御を行う車速指令を出力する。【選択図】図1
EVACUATION TRAVELING SUPPORT DEVICE, EVACUATION TRAVELING SUPPORT METHOD, EVACUATION TRAVELING SUPPORT PROGRAM, AND RECORDING MEDIUM
退避走行支援装置、退避走行支援方法、退避走行支援プログラム、及び記録媒体
2023-05-18
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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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