PROBLEM TO BE SOLVED: To provide a technique to maintain control suitable for shapes of intersections.SOLUTION: An automatic driving controller 40 monitors presence of an obstacle in a dangerous area. An identifying unit 62 identifies a confluent spot of a host vehicle travel path of a host vehicle scheduled to pass an intersection and a confluent vehicle travel path joining the host vehicle travel path at the intersection. A setting unit 64 sets a dangerous area combining an area with a prescribed width from the confluent spot identified by the identifying unit 62 to a spot going back by prescribed distance along the host vehicle travel path and an area with a prescribed width from the confluent spot identified by the identifying unit 62 to a spot going back by a prescribed distance along the confluent vehicle travel path.SELECTED DRAWING: Figure 1
【課題】交差点の形状に応じた制御を実行する技術を提供する。【解決手段】自動運転制御装置40は、危険領域において障害物の存在を監視する。特定部62は、交差点を通過する予定の自車両の自車両走行経路と、自車両走行経路に前記交差点で合流する合流車両走行経路との合流地点を特定する。設定部64は、特定部62において特定した合流地点から自車両走行経路に沿って所定距離戻った地点までの所定幅の領域と、特定部62において特定した合流地点から合流車両走行経路に沿って所定距離戻った地点までの所定幅の領域とを組み合わせた危険領域を設定する。【選択図】図1
AUTOMATIC DRIVING CONTROL METHOD, AUTOMATIC DRIVING CONTROLLER USING THE SAME, AND PROGRAM
自動運転制御方法およびそれを利用した自動運転制御装置、プログラム
2018-11-08
Patent
Electronic Resource
Japanese
AUTOMATIC DRIVING CONTROL METHOD, AUTOMATIC DRIVING CONTROLLER USING THE SAME, AND PROGRAM
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