To improve an estimation accuracy when estimating presence or absence of a factor that hinders traveling of a preceding vehicle when lane change of the preceding vehicle traveling in front of an own vehicle is detected.SOLUTION: A traveling environment estimation method includes: detecting a position of a preceding vehicle 3 traveling in front of an own vehicle 1 on a road 2 on which the own vehicle travels; estimating detectable regions (6a, 6b) that include a region where an occupant of the preceding vehicle 3 can visually recognize or a region where an object detection unit of the preceding vehicle 3 can detect an object around the preceding vehicle 3; detecting a region change amount that is a change amount in the detectable regions (6a, 6b) over a predetermined long period of time, or a change amount in the detectable regions (6a, 6b) while the preceding vehicle travels a predetermined distance; and estimating the existence of a traveling hindrance factor that is a factor that hinders traveling of a vehicle on a first lane 2a and in front of the preceding vehicle 3 when it is detected that the preceding vehicle has changed lanes from the first lane 2a to a second lane 2b on the road within a first predetermined time after detecting the region change amount equal to or more than a threshold value.SELECTED DRAWING: Figure 2

    【課題】自車両の前方を走行する先行車の車線変更を検出した場合に、先行車の走行を阻害する要因の有無の推定する際の推定精度を向上することを目的とする。【解決手段】走行環境推定方法では、自車両が走行する道路2上で自車両1の前方を走行する先行車3の位置を検出し、先行車3の乗員が視認できる領域又は先行車3が有する物体検出部が先行車3の周囲の物体を検出できる領域である検出可能領域(6a、6b)を推定し、所定長期間における検出可能領域(6a、6b)の変化量、又は先行車が所定距離走行する間の検出可能領域(6a、6b)の変化量である領域変化量を検出し、閾値以上の領域変化量を検出してから第1所定時間以内に先行車が道路上の第1車線2aから第2車線2bへ車線変更したことを検出した場合に、第1車線2a上かつ先行車3の前方において車両の走行を阻害する要因である走行阻害要因が存在することを推定する。【選択図】図2


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    Title :

    TRAVELING ENVIRONMENT ESTIMATION METHOD, TRAVELING SUPPORT METHOD AND TRAVELING ENVIRONMENT ESTIMATION DEVICE


    Additional title:

    走行環境推定方法、走行支援方法及び走行環境推定装置


    Contributors:

    Publication date :

    2021-06-24


    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



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