To prevent a vehicle from stopping at a tail end of a train with a vehicle protruding from an intersection even when the own vehicle enters the intersection, a back traffic light is not allowed to enter, and even if a stop space of the own vehicle is not secured at an end of a train with the back stop line at the beginning.SOLUTION: In the case where two consecutive traffic lights 41a and 42a are detected on a target traveling path on which the own vehicle M travels (S3), and when the front traffic light 41a is a blue traffic light and the rear traffic light 42a is a red traffic light (S5, S6), an effective stopping distance L1 at which a vehicle can be stopped between a stop line 42b of the back traffic light 42a and a front intersection 41 is determined (S7); and when a difference between the effective stopping distance L1 and a stopped vehicle line length L2 starting from a stop line 42b is shorter than a required stopping space LM where the own vehicle M can be stopped (S9), the own vehicle M is stopped at the stop line 41b of the front intersection 41 (S13).SELECTED DRAWING: Figure 2

    【課題】自車両が交差点に進入するに際し、奥側信号機が進入不可となっており、奥側停止線を先頭とする車列の最後尾に自車両の停車スペースが確保されていない場合であっても、自車両が交差点にはみ出した状態で車列の最後尾に停車してしまうことを防止する。【解決手段】自車両Mが走行する目標進行路上に連続する二基の信号機41a,42aが検出され(S3)、手前信号機41aが青信号であっても奥側信号機42aが赤信号の場合(S5,S6)、奥側信号機42aの停止線42bから手前交差点41の間に車両が停車させることのできる有効停車距離L1を求め(S7)、有効停車距離L1と停止線42bを先頭とする停車車列長L2との差分が、自車両Mを停車させることのできる必要停車スペースLMよりも短い場合(S9)、自車両Mを手前交差点41の停止線41bで停車させる(S13)。【選択図】図2


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    Title :

    AUTONOMOUS DRIVING SUPPORT SYSTEM


    Additional title:

    自動運転支援システム


    Contributors:

    Publication date :

    2019-12-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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