PROBLEM TO BE SOLVED: To improve the estimating accuracy of a course shape in a course estimation device.SOLUTION: In a driving support processing to be executed by a driving support ECU, situation estimation information detected by a periphery detection part or the behavior of an own vehicle detected by an own vehicle state detection part is acquired each time driving support processing is started. Then, in the driving support processing, each time the situation estimation information or the behavior of the own vehicle is acquired, a curvature radius R of a scheduled travel route is estimated on the basis of the acquired situation estimation information or the acquired behavior of the own vehicle, and stored with the estimation time in an RAM 42 (S130). Furthermore, in the driving support processing, change information indicating the scale of a change following a time axis in the curvature radius of the scheduled travel route is derived (S140), and when the derived change information is a threshold Th or more (S150; YES), it is determined that there exists a switching point where a road shape switches on the scheduled travel route (S170 to S210).
【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ECUが実行する運転支援処理では、周辺検知部で検知した状況推定情報、または自車状態検知部で検知した自車の挙動を、運転支援処理が起動されるごとに取得する。そして、運転支援処理では、その取得した状況推定情報または自車の挙動を取得するごとに、その取得した状況推定情報または自車の挙動に基づいて走行予定路における曲率半径Rを推定し、その推定した時刻と共にRAM42に格納する(S130)。さらに、運転支援処理では、走行予定路の曲率半径の時間軸に沿った変化の大きさを表す変化情報を導出し(S140)、その導出した変化情報が閾値Th以上であれば(S150:YES)、走行予定路上に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(S170〜S210)。【選択図】図2
COURSE ESTIMATION DEVICE AND PROGRAM
進路推定装置,及びプログラム
2015-07-06
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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 |