To provide a travel assist system and the like capable of predicting a behavior of a moving entity dependent on a situation and utilizing a result of the prediction.SOLUTION: A travel assist ECU 100 assists an own vehicle in traveling. The travel assist ECU 100 includes an interior area prediction unit 130 that predicts an against-own-vehicle interaction, which is a behavior of a moving entity dependent on the condition of an own vehicle, of a moving entity existing in an interior area around the own vehicle. The travel assist ECU 100 includes an exterior area prediction unit 110 that predicts an against-environment interaction, which is a behavior of a moving entity dependent on an ambient environment of the moving entity, of a moving entity existing in an exterior area which is an area outside the interior area. The travel assist ECU 100 includes an action planning unit 140 that plans a future action, which is scheduled for the own vehicle, on the basis of the against-environment interaction, and a trajectory planning unit 150 that plans a future trajectory of the own vehicle, which follows the future action, on the basis of the against-own-vehicle interaction.SELECTED DRAWING: Figure 2
【課題】状況に応じた移動体の挙動予測および予測結果の利用が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、自車両の走行を支援する。走行支援ECU100は、自車両の周辺の内領域に存在する移動体に関して、自車両の状態に応じた移動体の挙動である対自車インタラクションを予測する内領域予測部130を備える。走行支援ECU100は、内領域よりも外側の領域である外領域に存在する移動体に関して、移動体の周辺環境に応じた移動体の挙動である対環境インタラクションを予測する外領域予測部110を備える。走行支援ECU100は、対環境インタラクションに基づいて、自車両に予定される将来行動を計画する行動計画部140と、対自車インタラクションに基づいて、将来行動に従う自車両の将来軌道を計画する軌道計画部150とを備える。【選択図】図2
TRAVEL ASSIST SYSTEM, TRAVEL ASSIST METHOD, AND TRAVEL ASSIST PROGRAM
走行支援装置、走行支援方法、および走行支援プログラム
2021-09-13
Patent
Electronic Resource
Japanese
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