To bring the error of detection of a self-position to a threshold or less when an own vehicle reaches a discretionary target point.SOLUTION: A travel support method includes: detecting a self-position that is a present position of an own vehicle 1 on a map (S1); generating plural travel track candidates T1-T3 to cause the own vehicle 1 to travel from a self-position to a target point by setting a target point to cause the own vehicle to reach (S3); estimating a detection error of the self-position, the error to be detected when reaching the target point in the future for every travel track candidate (S7); selecting, from among the plural travel track candidates T1-T3, any of the travel track candidates where the detection error falls within the threshold, as a target travel track (S9); and supporting the travel of the own vehicle 1 so as to travel on the selected target travel track (S10).SELECTED DRAWING: Figure 2A
【課題】自車両が任意の目標地点に到達した時点における自己位置の検出誤差を閾値以下に抑える。【解決手段】走行支援方法では、自車両1の地図上の現在位置である自己位置を検出し(S1)、自車両1を到達させる目標地点を設定して自己位置から目標地点まで自車両を走行させる複数の走行軌道候補T1〜T3を生成し(S3)、将来、目標地点に到達した時点において検出される自己位置の検出誤差を走行軌道候補毎に推定し(S7)、複数の走行軌道候補T1〜T3のうち検出誤差が閾値以下になる走行軌道候補のいずれかを目標走行軌道として選択し(S9)、選択された目標走行軌道を走行するよう自車両1の走行を支援する(S10)。【選択図】図2A
TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS
走行支援方法及び走行支援装置
2021-03-01
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 |