To provide an evasive travel assistance device with which it is possible to avoid the unnecessary prolonging of a travel time after becoming unable to drive.SOLUTION: The evasive travel assistance device comprises: a state determination unit for determining which of a state for continuing an evasive travel, a state for carrying out stoppage within a lane, and a state for carrying out a roadside pull-over a vehicle's state should assume, on the basis of the limit time set by a limit time setting unit and the roadside pull-over allowability which is determined by a roadside pull-over allowability determination unit on the basis of the space of the roadside recognized by a peripheral environment recognition unit; a control unit for controlling the vehicle on the basis of its state; and a roadside pull-over allowable road determination unit for determining whether or not roadside pull-over is allowed, on the basis of pull-over space information acquired from the past travel history of the vehicle. The roadside pull-over allowable road determination sets an interim time within the limit time on the basis of the pull-over space information. The state determination unit determines the state of the vehicle to be a state of stoppage within a lane when it is not determined within the interim time that the vehicle is allowed for roadside pull-over.SELECTED DRAWING: Figure 1
【課題】運転不能となった後の走行時間が不要に長くなることを回避できる退避走行支援装置を提供する。【解決手段】退避走行支援装置は、制限時間設定部が設定した制限時間と、周辺環境認識部が認識した路肩のスペースに基づいて路肩退避可否判定部が判定した路肩退避可否とに基づいて、自車の状態を、退避走行を継続する状態、車線内停車を実施する状態、または路肩退避を実施する状態のいずれかに判定する状態判定部と、自車の状態に基づいて自車を制御する制御部と、自車の過去の走行履歴から取得した退避スペース情報に基づいて路肩退避可否であるか否かを判定する路肩退避可否道路判定部とを備える。路肩退避可否道路判定部は、退避スペース情報に基づいて、制限時間の範囲内で暫定時間を設定する。状態判定部は、暫定時間内に自車の路肩退避可否が可能であると判定されなかった場合には、自車の状態を車線内停車の状態と判定する。【選択図】 図1
EVASIVE TRAVEL ASSISTANCE DEVICE
退避走行支援装置
2023-01-18
Patent
Electronic Resource
Japanese
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