PROBLEM TO BE SOLVED: To provide a vehicle operation support apparatus that executes road edge deviation prevention control in which to obtain a road edge using scenery image data picked up with an on-vehicle camera device and control a vehicular travel direction so as to prevent a vehicle from deviate from the road edge.SOLUTION: In a case where no road edge can be obtained, an interpolation estimation is performed, for a given period of time Tth, to estimate a road edge portion LEout_est that has not been obtained on the basis of an immediate-past road edge LEout_last that is a road edge obtained immediately before a road edge has become no longer obtainable. In the case of the immediate-past road edge extending toward an own-vehicle travel lane, with an angle θout that is formed by the immediate-past road edge extending relatively to the own-vehicle travel lane being large, a support apparatus sets the given period of time for performing the interpolation estimation at a time Tshort that is shorter than in the case of the aforementioned angle being small.SELECTED DRAWING: Figure 8
【課題】車載カメラ装置により撮影された風景画像データを用いて道路端を取得し、道路端を車両が逸脱しないように車両走行方向を制御する道路端逸脱防止制御を行う車両運転支援装置を提供する。【解決手段】道路端を取得できない場合、所定時間Tthの間、道路端を取得できなくなる直前に取得した道路端である直前道路端LEout_lastに基づいて取得できなくなっている道路端の部分LEout_estを推定する補間推定を行う。直前道路端が自車両走行車線LNに向かって延在しているとき、本支援装置は、直前道路端が自車両走行車線に対して延在する角度θoutが大きい場合、その角度が小さい場合に比べ、補間推定を行う所定時間を短い時間Tshortに設定する。【選択図】図8
VEHICLE OPERATION SUPPORT APPARATUS
車両運転支援装置
2018-05-31
Patent
Electronic Resource
Japanese
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
OPERATION SUPPORT APPARATUS, VEHICLE, AND OPERATION SUPPORT METHOD
European Patent Office | 2021
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