To provide a travel assisting device and the others that enable an easy lane change.SOLUTION: A travel assistance ECU 100 supports a lane change of an own vehicle to squeeze between a plurality of other vehicles traveling in a lane to which the own vehicle is going to change the current lane. The travel assistance ECU 100 includes a permission/non-permission determination unit 130 that estimates a degree of increase the inter-vehicle distance between each of the other vehicles and the own vehicle in a case where the own vehicle squeezes between the other vehicles and, based on the degree of increase, determines whether the lane change is permitted or not. The travel assistance ECU 100 includes a path planning unit 140 that determines an LC path for executing a lane change when it is determined that the lane change is permitted, and determines an interruption path for interrupting the lane change when it is determined that the lane change is inhibited.SELECTED DRAWING: Figure 2

    【課題】車線変更を容易に実行可能な走行支援装置等を提供する。【解決手段】走行支援ECU100は、車線変更先の車線を走行する複数の他車両の間へ割り込む自車両の車線変更を支援する。走行支援ECU100は、自車両の割り込みに対する他車両間の車間距離の広がり度合を予測し、広がり度合に基づいて車線変更の許否を判定する許否判定部130を備える。走行支援ECU100は、車線変更の許可判定が下された場合には、車線変更を実行するLC軌道を決定し、車線変更の禁止判定が下された場合には、車線変更を中断する中断軌道を決定する軌道計画部140を備える。【選択図】図2


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    Title :

    TRAVEL ASSISTING DEVICE, TRAVEL ASSISTING METHOD, AND TRAVEL ASSISTING PROGRAM


    Additional title:

    走行支援装置、走行支援方法、および走行支援プログラム


    Contributors:

    Publication date :

    2021-09-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

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



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