To reduce giving discomfort to a driver by collision avoidance control.SOLUTION: A first collision determination section of an outside-vehicle environment recognition device determines whether an own vehicle can avoid an object on the basis of a relative position and a relative speed of an object with respect to an own vehicle when it is assumed that the turning own vehicle is shifted from turning to direct advance (S208). A second collision determination section determines whether the own vehicle can avoid an object on the basis of a relative position and a relative speed of an object with respect to the own vehicle when it is assumed that the turning own vehicle continues turning (S210). When both of a result by the first collision determination section and a result by the second collision determination section indicate a high possibility of collision of the own vehicle against an object, a collision avoidance control section allows a vehicle control device to perform emergent braking (S212).SELECTED DRAWING: Figure 4

    【課題】衝突回避制御によって運転者に違和感を与えることを低減する。【解決手段】車外環境認識装置の第1衝突判定部は、旋回中の自車両が旋回から直進に移行すると仮定した場合の自車両に対する対象物の相対位置および相対速度に基づいて、自車両が対象物を避けることができるか否かを判定する(S208)。第2衝突判定部は、旋回中の自車両が旋回を継続すると仮定した場合の自車両に対する対象物の相対位置および相対速度に基づいて、自車両が対象物を避けることができるか否かを判定する(S210)。第1衝突判定部による結果と第2衝突判定部による結果との両方が、自車両が対象物に衝突する可能性が高い旨を示すものである場合、衝突回避制御部は、車両制御装置に緊急にブレーキをかけさせる(S212)。【選択図】図4


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    Title :

    OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD


    Additional title:

    車外環境認識装置および車外環境認識方法


    Contributors:

    Publication date :

    2019-01-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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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