To provide a vehicle travel support device capable of reliably detecting an obstacle.SOLUTION: A vehicle travel support device includes: a first obstacle detection part for outputting obstacle detection position information; a second obstacle detection part for outputting obstacle size information; a storage part for storing obstacle position information; an estimated obstacle position calculation part for calculating estimated obstacle position information; an own vehicle route calculation part; an obstacle determination part for determining whether or not an obstacle contacts the vehicle; a collision time calculation part for calculating a collision time until the obstacle collides with the vehicle; and a target deceleration calculation part for calculating a target deceleration on the basis of the collision time. The second obstacle detection part inputs obstacle size information to the first obstacle detection part. When a plurality of pieces of obstacle detection position information are detected, the first obstacle detection part uses the obstacle size information to determine whether or not the plurality of pieces of obstacle detection position information are about a single obstacle, and when they are about a single obstacle, the center coordinates of the plurality of pieces of obstacle detection position information are output as obstacle detection position information.SELECTED DRAWING: Figure 5
【課題】確実に障害物の検出を行うことが可能な車両用走行支援装置を提供する。【解決手段】障害物検出位置情報を出力する第1の障害物検出部、障害物大きさ情報を出力する第2の障害物検出部、障害物位置情報を記憶する記憶部、推定障害物位置情報を演算する推定障害物位置演算部、自車経路演算部、障害物が車両に接触するか否かを判定する障害物判定部、障害物が車両に衝突するまでの衝突時間を算出する衝突時間演算部および衝突時間に基づいて目標減速度を演算する目標減速度演算部を備え、第2の障害物検出部は、障害物大きさ情報を第1の障害物検出部に入力し、第1の障害物検出部は、複数の障害物検出位置情報が検出された場合に、障害物大きさ情報を用いて、複数の障害物検出位置情報が単一の障害物であるか否かを判定し、単一の障害物である場合は、複数の障害物検出位置情報の中心座標を障害物検出位置情報として出力する。【選択図】図5
VEHICLE TRAVEL SUPPORT DEVICE
車両用走行支援装置
2019-05-09
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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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