To appropriately support collision avoidance by using other information in addition to a state quantity of an own vehicle.SOLUTION: At S110, a road structure in a traveling direction is recognized. Then at S120, change in a steering angle relative to time is predicted when it is assumed to travel in a way form. A degree of probability of change in a route is determined using a predicted value of the steering angle obtained at S120 and information from an internal range sensors and the like. Then at S140, the probability of change in a route is determined using a traveling situation. At S150, an operation mode of collision avoidance support is determined according to a combination of probability values determined by the above-described two types of methods.SELECTED DRAWING: Figure 3
【課題】自車の状態量に加え、他の情報を利用することによって衝突回避を適切に支援すること。【解決手段】S110として進行方向の道路構造を認識し、S120に進み、道形に走行すると仮定した場合における操舵角の時間に対する変化を予想する。そして、進路変更する確率の大きさを、S120で求めた操舵角の予想値と、内界センサ類からの情報とを用いて判定する。S140に進み、進路変更の確率を、走行状況を用いて判定する。S150に進み、上記2種類の手法によって判定された確率値の組み合わせに応じて、衝突回避支援の作動態様を決定する。【選択図】図3
COLLISION AVOIDANCE SUPPORT DEVICE, PROGRAM, AND COLLISION AVOIDANCE SUPPORT METHOD
衝突回避支援装置、プログラム、衝突回避支援方法
2019-08-22
Patent
Electronic Resource
Japanese
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