To provide a traveling assistance method and a traveling assistance device capable of setting a turning path in an intersection point without using a highly accurate map when a vehicle turns left or right at the intersection point.SOLUTION: The traveling assistance device calculates a first extension line extending from a direction reverse to a direction where an own vehicle turns on the other lane at an intersection point through the position of the other vehicle moving in the turning direction in the moving direction or the reverse direction of the other vehicle, and a first axle direction line extending through the position of the own vehicle in the axle direction of the own vehicle. The traveling assistance device sets an outermost boundary line which is a circular-arc curve with the minimum turning radius of the own vehicle as a radius and which comes into contact with the first extension line and the first axle direction line, and an innermost boundary line which is a circular-arc curve having a radius larger than the minimum turning radius. The traveling assistance device sets a turning path in a path setting region surrounded by the first extension line, the first axle direction line, the outermost boundary line, and the innermost boundary line.SELECTED DRAWING: Figure 3
【課題】車両が交差点を右左折する際に、高精度地図を用いることなく、交差点内の旋回経路を設定することができる走行支援方法及び走行支援装置を提供する。【解決手段】走行支援装置は、交差点において他車線を自車両が旋回する方向の逆方向から旋回する方向に向かって移動する他車両の位置を通って他車両の移動方向又はその逆方向に延びる第1延長線と、自車両の位置を通って自車両の車軸方向に延びる第1車軸方向線とを算出する。走行支援装置は、第1延長線及び第1車軸方向線に接する、自車両の最小の旋回半径を半径とする円弧状の曲線である最外側境界線と、最小の旋回半径よりも半径の大きい円弧状の曲線である最内側境界線とを設定する。走行支援装置は、第1延長線、第1車軸方向線、最外側境界線、及び最内側境界線に囲まれた経路設定領域に旋回経路を設定する。【選択図】図3
TRAVELING ASSISTANCE METHOD AND TRAVELING ASSISTANCE DEVICE
走行支援方法及び走行支援装置
2022-06-03
Patent
Electronic Resource
Japanese
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