To enhance precision selecting a preceding vehicle if a self vehicle travels at track which does not follow road shape.SOLUTION: A road shape acquisition device 30 acquires the road shape of a surrounding road of a self vehicle 1. A travel path generating unit 51 generates a first travel path 60 for traveling the self vehicle 1 by travel support on the basis of the road shape. A desorption determination unit 53 determines whether or not the self vehicle 1 leaves from the first travel path 60 on the basis of travel behavior of the self vehicle 1 if executing the travel support of the self vehicle 1 on the basis of the first travel path. A preceding vehicle likelihood calculation unit 54 and a preceding vehicle determination unit 55 determine whether or not a surrounding vehicle 5 which travels around the first travel path 60 corresponds to the preceding vehicle of the self vehicle 1 depending on whether or not the self vehicle 1 leaves from the first travel path 60.SELECTED DRAWING: Figure 2
【課題】自車両が道路形状に沿わない軌道で走行する場合の先行車を選択する精度を向上する。【解決手段】道路形状取得装置30は、自車両1の周囲の道路の道路形状を取得する。走行パス生成部51は、走行支援により自車両1を道路形状に基づいて走行させるための第1走行パス60を生成する。離脱判定部53は、第1走行パスに基づいて自車両1の走行支援を実行している場合において、自車両1の走行挙動に基づいて自車両1が第1走行パス60から離脱するか否かを判定する。先行車尤度算出部54と先行車判定部55は、自車両1が第1走行パス60から離脱するか否かに応じて、第1走行パス60の周辺を走行している周囲車両5が自車両1の先行車であるか否かを判定する。【選択図】図2
DETERMINATION METHOD OF PRECEDING VEHICLE AND DETERMINATION DEVICE OF PRECEDING VEHICLE
先行車判定方法及び先行車判定装置
2018-12-27
Patent
Electronic Resource
Japanese
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