To enable appropriate follow-up control.SOLUTION: An out-side vehicle environment recognition device includes: a traveling path derivation unit for estimating an own vehicle traveling path 210 which is a traveling path of an own vehicle 1, and for deriving an object traveling path 220 passing through an object vehicle 3 which is an object of follow-up control and forming a curve parallel with the own vehicle traveling path; a speed derivation unit for deriving an object speed vector Vs which is a speed vector of the object vehicle; and a follow-up control unit for performing follow-up control on the basis of the object speed vector itself if an angle θ formed by the object speed vector and an object tangent 222 which is a tangent at a position of the object vehicle on the object traveling path is within a prescribed angle range, and for performing the follow-up control on the basis of a speed component of the object speed vector along the object tangent (an object tangent speed component Vt) if the angle θ is outside the prescribed angle range.SELECTED DRAWING: Figure 8
【課題】適切な追従制御を実現する。【解決手段】車外環境認識装置は、自車両1の進行路である自車両進行路210を推定するとともに、追従制御の対象である対象車両3を通り、自車両進行路と平行曲線となる対象進行路220を導出する進行路導出部と、対象車両の速度ベクトルである対象速度ベクトルVsを導出する速度導出部と、対象速度ベクトルと、対象進行路の対象車両の位置における接線である対象接線222とのなす角θが所定角度範囲内であれば、対象速度ベクトル自体に基づいて追従制御を行い、所定角度範囲外であれば、対象速度ベクトルの対象接線の速度成分(対象接線速度成分Vt)に基づいて追従制御を行う追従制御部と、を備える。【選択図】図8
OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2021-04-15
Patent
Electronic Resource
Japanese
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