To avoid a deadlock state by securing the travel of an oncoming vehicle and shortening a stopping time of the vehicle itself, in a scene where the oncoming vehicle heads toward the vehicle itself by departing from its lane.SOLUTION: An apparatus includes a recognition-determination processor 3 (a controller) for determining a behavior of a vehicle itself V1 traveling in an own lane L1 when there is an oncoming vehicle V2 that travels in an opposite lane L2. With the apparatus, a travel support method includes the steps of: predicting a behavior of the oncoming vehicle V2; performing a stop necessity determination, that is, to determine whether it is necessary to stop traveling of the vehicle itself V1 on the basis of the behavior prediction of the oncoming vehicle V2; making a stop determination, that is, it is necessary to decelerate the vehicle itself V1 and stop in a case where the oncoming vehicle V2 is predicted to be entering the own lane L1; and determining a stop position P to stop the vehicle itself V1 on the basis of the behavior prediction of the oncoming vehicle V2 and a surroundings environment of the vehicle itself V1 in the case of the stop determination.SELECTED DRAWING: Figure 3
【課題】自車に向かって対向車が車線はみ出しにより走行してくるシーンにおいて、対向車の走行確保と自車の停車時間短縮によりデットロック状態になるのを回避すること。【解決手段】対向車線L2を走行する対向車V2が存在するときに自車線L1を走行する自車V1の挙動を決める認識判断プロセッサ3(コントローラ)を備え、以下の手順による走行支援方法としている。対向車V2の挙動を予測する。対向車V2の挙動予測に基づいて自車V1の走行を停止させる必要があるか否かの停止要否判断を行う。対向車V2が自車線L1上へ進入すると予測されると、自車V1を減速して停車させる必要がある停止判断とする。停止判断された場合、対向車V2の挙動予測と自車V1の周辺環境に基づいて自車V1を停車させる停車位置Pを決定する。【選択図】図3
TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS
走行支援方法及び走行支援装置
2019-12-12
Patent
Electronic Resource
Japanese
TRAVEL SUPPORT METHOD FOR TRAVEL SUPPORT APPARATUS, AND TRAVEL SUPPORT APPARATUS
European Patent Office | 2021
|