PROBLEM TO BE SOLVED: To perform collision avoidance control along a second avoidance route, along which a first obstacle and second obstacle are properly bypassed, when the second obstacle exists along a first avoidance route along which the first obstacle in front of an own vehicle is bypassed.SOLUTION: When a second obstacle is detected along a first avoidance route, if the spacing between a first obstacle and the second obstacle is decided to be larger than the sum of the width of an own vehicle and an inner race difference of the own vehicle, a collision avoidance control unit designates a second avoidance route along which the first obstacle and second obstacle are bypassed within a traveling lane. A second avoidance route designator designates the second avoidance route along which the own vehicle passes an intermediate position between the first obstacle and second obstacle by way of a position away from a white line out of two white lines on the traveling lane, which the own vehicle approaches for the purpose of avoiding the first obstacle along the first avoidance route, by half of the width of the own vehicle in a direction of the vehicle width on the traveling lane.SELECTED DRAWING: Figure 4
【課題】自車両の前方の第1障害物を回避する第1回避経路上に第2障害物が存在する場合に、第1障害物及び第2障害物を適切に回避する第2回避経路に沿った衝突回避制御を行うことができる。【解決手段】衝突回避制御装置であって、第1回避経路上に第2障害物が検出されたときに、第1障害物及び第2障害物の間隔が自車両の車幅及び自車両の内輪差の和より大きいと判定された場合には、走行車線内で第1障害物及び第2障害物を回避する第2回避経路を設定する。第2回避経路設定部は、走行車線の二本の白線のうち第1回避経路に沿って自車両が第1障害物を回避するために接近する側の白線より走行車線の車線幅方向に自車両の車幅の半分だけ離れた位置を経由してから、第1障害物及び第2障害物の中間位置を通過する第2回避経路を設定する。【選択図】図4
COLLISION AVOIDANCE CONTROL UNIT
衝突回避制御装置
2016-09-15
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 |
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