To achieve lane deviation alarm and control in an environment where lane divisions are not present and GNSS accuracy is low or on a road or an intersection with a plurality of traffic lanes.SOLUTION: An driving assisting device comprises: a recording unit that records a plurality of past traveling positions of a vehicle and position estimation information related to each of the past traveling positions; a relative position estimation unit that estimates a relative position of the vehicle from an output of a sensor for detecting surroundings of the vehicle and adds a history of the relative position to the traveling positions and the output of the sensor used for the estimation of the relative position to the position estimation information; a position estimation unit that estimates a position of the vehicle with respect to each of the past traveling positions from the output of the sensor and the position estimation information of the recording unit, and adds a history of the position to the past traveling position; a deviation determination unit that determines a deviation from the plurality of past traveling positions using a distribution of the plurality of past traveling positions, the position of the vehicle with respect to the plurality of past traveling positions, and a preset reference value; and a control unit that controls the vehicle so as to given an alarm or resolve the deviation when the deviation is determined.SELECTED DRAWING: Figure 1

    【課題】 車線区分線が存在せず、かつ、GNSSの精度が低い環境や複数車線の道路や交差点において車線逸脱警報・制御を実現することを目的とする。【解決手段】 車両の複数の過去走行位置と、過去走行位置に関連する位置推定用情報を記録する記録部と、車両の周辺を検知するセンサの出力から車両の相対位置を推定し、相対位置の来歴を過去走行位置に、相対位置の推定に用いたセンサの出力を位置推定用情報に追加する相対位置推定部と、センサの出力と、記録部の位置推定用情報から、過去走行位置に対する車両の位置を推定し、位置の来歴を過去走行位置に追加する位置推定部と、複数の過去走行位置の分布と、複数の過去走行位置に対する車両の位置と、予め定めた基準値と、を用いて、複数の過去走行位置からの逸脱を判定する逸脱判定部と、逸脱を判定した場合に、警報もしくは逸脱を解消するように車両を制御する制御部と、を備える運転支援装置である。【選択図】 図1


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    Title :

    DRIVING ASSISTING DEVICE AND DRIVING ASSISTING SYSTEM


    Additional title:

    運転支援装置、および、運転支援システム


    Contributors:

    Publication date :

    2021-06-17


    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



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