To accurately determine collision with objects on a path after a point where a vehicle starts to turn, even when the vehicle turns in a direction different from the direction of travel of the estimated path.SOLUTION: A collision determination device 10 includes: a collision determination unit 15a that generates an estimated route for an own vehicle, which is a route along a road geometry that the own vehicle is expected to travel before reaching a predetermined destination; a collision determination unit 17 that determines the possibility that objects in the vicinity of the own vehicle may collide with the own vehicle, using the own vehicle's estimated route as a route to be determined; and a correction route generator 19 that generates a correction route, which is a route that the own vehicle travels after the turn until it reaches the temporary destination, based on the driving state of the own vehicle at the time of the turn or the temporary destination that is set as a predetermined destination that is different from the destination when the own vehicle makes the turn. When the own vehicle makes a turn, the collision determination unit 17 makes a determination after correcting the route to be determined to the route for correction.SELECTED DRAWING: Figure 1
【課題】自車両が推定経路の進行方向とは異なる向きに旋回した場合でも、旋回を開始した地点以降の経路における物体との衝突判定を正確に行う。【解決手段】衝突判定装置10は、自車両が所定の目的地に到達するまでに走行すると想定される、道路形状に沿った経路である自車推定経路を生成する自車推定経路生成部15aと、自車推定経路を判定対象の経路として、自車両の周辺の物体が自車両に衝突する可能性を判定する衝突判定部17と、自車両が、上記旋回をした場合、当該旋回した際の自車両の走行状態、又は、当該旋回した際に上記目的地とは異なる目的地として所定に設定される仮目的地に基づいて、旋回後の自車両が仮目的地に到達するまでに走行する経路である補正用経路を生成する補正用経路生成部19とを備え、衝突判定部17は、自車両が旋回をした場合、判定対象の経路を補正用経路に補正した上で判定を行う。【選択図】図1
COLLISION DETERMINATION DEVICE, VEHICLE CONTROL DEVICE, AND COLLISION DETERMINATION METHOD
衝突判定装置、車両制御装置及び衝突判定方法
29.10.2024
Patent
Elektronische Ressource
Japanisch
Europäisches Patentamt | 2024
|Collision determination device and collision determination method
Europäisches Patentamt | 2016
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