To make an own vehicle travel smoothly even when a plurality of events affecting a vehicle speed or acceleration in a lateral direction of the own vehicle exist.SOLUTION: In a travel support method of a vehicle executed by a processor, a target vehicle speed planned value indicating a target vehicle speed of an own vehicle to a time is calculated for each of a plurality of events that the own vehicle encounters when the own vehicle travels a travel route, a vehicle speed profile presented by a continuous value of the target vehicle speed is generated by using a minimum target vehicle speed to each time which is extracted from the plurality of target vehicle speed planned values, a curvature limit value of the travel route is set to the vehicle speed profile, a target travel route which the own vehicle travels along the travel route is set on the basis of the curvature limit value to make the own vehicle travel along the target travel route.SELECTED DRAWING: Figure 1
【課題】自車両の車速又は横方向の加速度に影響を与える事象が複数存在する場合であっても、自車両を滑らかに走行させる。【解決手段】プロセッサに実行させる車両の走行支援方法であって、自車両が走行経路を走行することで自車両が遭遇する複数の事象それぞれに対して、時間に対する自車両の目標車速を示す目標車速計画値を算出し、複数の目標車速計画値から抽出された、各時刻における最小の目標車速を用いて、目標車速の連続値で表される車速プロファイルを生成し、車速プロファイルに対して走行経路の曲率制限値を設定し、曲率制限値に基づいて、自車両が走行経路に沿って走行するための目標走行経路を設定し、目標走行経路に沿って自車両を走行させる。【選択図】図1
TRAVELING SUPPORT METHOD AND TRAVELING SUPPORT DEVICE
走行支援方法および走行支援装置
2020-12-03
Patent
Electronic Resource
Japanese
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 / 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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