To provide a driving assisting device which can achieve more suitable parking operation.SOLUTION: The driving assisting device for assisting driving of a vehicle 1 includes a teacher data generation part 130 for storing a movement path when the vehicle 1 travels by user driving operation, and generating teacher data related to a target route based on the movement path in a teacher travel mode, and a vehicle control part 160 for travelling the vehicle along the target route when receiving an execution command of an automatic travel mode. When a difference in azimuth when the vehicle 1 travels between a first point and a second point in the movement path is less than a first threshold, and a difference in distance therebetween is less than a second threshold, the teacher data generation part 130 generates a target route connecting the first point or a point adjacent to the first point in the movement path, and the second point or a point adjacent to the second point in the movement path.SELECTED DRAWING: Figure 5
【課題】より好適な駐車動作の実現が可能な運転支援装置を提供すること。【解決手段】車両1の運転を支援する運転支援装置であって、教師走行モードにおいて、ユーザの運転操作により車両1が走行した際の移動経路を記憶し、当該移動経路に基づいて、目標経路に係る教師データを生成する教師データ生成部130と、自動走行モードの実行指令を受け付けた場合、車両を目標経路に沿って走行させる車両制御部160と、を備え、教師データ生成部130は、上記移動経路内の第1地点と、第2地点とにおいて、車両1が走行した際の方位の差が第1閾値未満であり、且つ、距離の差が第2閾値未満である場合、上記第1地点又は上記第1地点に上記移動経路内で隣接する地点と、上記第2地点又は上記第2地点に上記移動経路内で隣接する地点とを連結した目標経路を生成する。【選択図】図5
DRIVING ASSISTING DEVICE, DRIVE ASSISTING METHOD, AND DRIVE ASSISTING PROGRAM
運転支援装置、運転支援方法、及び、運転支援プログラム
2021-12-16
Patent
Electronic Resource
Japanese
VEHICLE DRIVE ASSISTING DEVICE, VEHICLE DRIVE ASSISTING METHOD, AND VEHICLE DRIVE ASSISTING PROGRAM
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