To accurately determine that a vehicle enters a road shoulder.SOLUTION: A vehicle control system comprises a map generation part which generates a map of a peripheral area of a vehicle V, and a road shoulder determination part which determines whether the vehicle V enters a road shoulder D on the map, and the road shoulder determination part is configured to: specify the position of the lane A where the vehicle V is traveling on the map; determine whether there is an adjacent lane B adjoining the lane A on the map; determine whether the vehicle V straddles a lane marking A2 sectioning off the lane A; and determine that the vehicle V enters the road shoulder D on the map when it is determined that no adjacent lane B is present on one of the right and left sides of the lane A and it is determined that the vehicle V straddles a lane marking A2 on one of the right and left sides.SELECTED DRAWING: Figure 4
【課題】車両が路肩に進入したことを正確に判定する。【解決手段】車両制御システムは、車両Vの周辺領域の地図を生成する地図生成部と、地図上で車両Vが路肩Dに進入したか否かを判定する路肩判定部と、を備え、路肩判定部は、地図上で車両Vが走行している自車線Aの位置を特定し、地図上に自車線Aと隣接する隣接車線Bが存在するか否かを判定し、地図上で車両Vが自車線Aを区画する自区画線A2を跨いだか否かを判定し、自車線Aの左右一方側に隣接車線Bが存在しないと判定し、且つ、車両Vが左右一方側の自区画線A2を跨いだと判定した場合に、地図上で車両Vが路肩Dに進入したと判定する。【選択図】 図4
VEHICLE CONTROL SYSTEM AND ROAD SHOULDER ENTRY DETERMINATION METHOD
車両制御システム及び路肩進入判定方法
2022-07-08
Patent
Electronic Resource
Japanese
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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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