To provide a prediction steering angle calculation device capable of suppressing erroneous calculation of a prediction steering angle of a vehicle when an adjacent lane adjacent to a travel lane exists.SOLUTION: A prediction steering angle calculation device calculates a prediction steering angle of a vehicle by using a front fixation point to be set in front of the vehicle and a course point group constituted by plural course coordinate points to be set by alignment along a center of a lane on a map. The device includes: a vehicle position recognition section for recognizing a position of a vehicle on a map; an own vehicle position vicinity point identification section for identifying an own vehicle position vicinity point closest to the vehicle from a course point group based on a position of the vehicle on a map and the course point group; an own lane point group extraction section for extracting an own lane point group continuing from the own vehicle position vicinity point within the course point group; a fixation vicinity point identification section for identifying a fixation vicinity point closest to the front fixation point from the own lane point group; and a prediction steering angle calculation section for calculating a prediction steering angle of the vehicle based on the front fixation point and the fixation vicinity point.SELECTED DRAWING: Figure 3

    【課題】走行車線に隣接する隣接車線が存在する場合に、車両の予測舵角が誤って演算されることを抑制することができる予測舵角演算装置を提供する。【解決手段】車両の前方に設定される前方注視点と地図上で車線中央に沿って並んで設定される複数のコース座標点からなるコース点群とを用いて車両の予測舵角を演算する予測舵角演算装置であって、車両の地図上の位置を認識する車両位置認識部と、車両の地図上の位置とコース点群とに基づいて、コース点群の中から車両に最も近い自車位置近傍点を特定する自車位置近傍点特定部と、コース点群のうち自車位置近傍点と連なる自車線点群を抽出する自車線点群抽出部と、自車線点群の中から前方注視点に最も近い注視近傍点を特定する注視近傍点特定部と、前方注視点及び注視近傍点に基づいて、車両の予測舵角を演算する予測舵角演算部と、を備える。【選択図】図3


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    Title :

    PREDICTION STEERING ANGLE CALCULATION DEVICE


    Additional title:

    予測舵角演算装置


    Contributors:

    Publication date :

    2021-03-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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