PROBLEM TO BE SOLVED: To increase estimation accuracy of a course shape in a course estimation device.SOLUTION: A driving support system comprises a periphery detection unit, an own vehicle state detection unit, a vehicle control unit, and a driving support ECU. In a driving support processing executed by the driving support ECU, on the basis of state estimation information acquired by the periphery detection unit or behavior of a vehicle detected by the own vehicle state detection unit, a first radius R1 is estimated (S130). Then, in the driving support processing, on the basis of the state estimation information acquired by the periphery detection unit, a second radius R2 is estimated (S140). In addition, in the driving support processing, as a result of comparison between the first radius R1 and the second radius R2 (S150), when a difference between the first radius R1 and the second radius R2 is equal to or more than a threshold value Th (S150:YES), it is determined that a switching point at which a road shape is changed exists from a first travel scheduled road to a second travel scheduled road.
【課題】進路推定装置において、進路形状の推定精度を向上させること。【解決手段】運転支援システムは、周辺検知部と、自車状態検知部と、車両制御部と、運転支援ECUとを備えている。運転支援ECUが実行する運転支援処理では、周辺検知部で取得した状況推定情報または自車状態検知部で検知した車両の挙動に基づいて、第一半径R1を推定する(S130)。そして、運転支援処理では、周辺検知部で取得した状況推定情報に基づいて、第二半径R2を推定する(S140)。さらに、運転支援処理では、第一半径R1と第二半径R2とを比較した結果(S150)、第一半径R1と第二半径R2とのズレが閾値Th以上であれば(S150:YES)、第一走行予定路から第二走行予定路に掛けて道路形状が切り替わる切替地点が存在するものと判定する。【選択図】図2
COURSE ESTIMATION DEVICE AND PROGRAM
進路推定装置,及びプログラム
2015-07-02
Patent
Electronic Resource
Japanese