To provide a technology that sets an escape location to which a vehicle can safely escape, in accordance with the condition of a road on which the vehicle travels and realizes safer evasive travel.SOLUTION: An evasive travel assistance device 10 comprises: a peripheral environment recognition unit 11 at least capable of recognizing a roadside space, a free space which is a non-passage portion of a road and the presence of vehicles around the host vehicle; a limit time setting unit 12 for setting a limit time; a roadside pull-over allowability determination unit 16 for determining whether or not the host vehicle can pull over at a roadside; an escape location setting unit 17 for setting at least one of the roadside space and the free space as an escape location to which the host vehicle can escape; a state determination unit 18 for determining, on the basis of the limit time, the roadside pull-over allowability and the escape location, which of a state for continuing evasive travel, a state for carrying out stoppage in a line, and a state for carrying out roadside pull-over the host vehicle should assume; and a control unit 19 for controlling the host vehicle on the basis of the state of the host vehicle determined by the state determination unit 18.SELECTED DRAWING: Figure 1
【課題】自車が走行する道路の状況に応じて、自車が安全に退避できる退避場所を設定し、より安全な退避走行を実現できる技術を提供する。【解決手段】退避走行支援装置10は、路肩のスペースと道路内の非通行部分であるフリースペースと自車の周辺の車両の存在とを少なくとも認識できる周辺環境認識部11と、制限時間を設定する制限時間設定部12と、自車が路肩に退避できるか否かについての路肩退避可否を判定する路肩退避可否判定部16と、路肩のスペースとフリースペースとの少なくともいずれか一方を自車の退避先である退避場所に設定する退避場所設定部17と、制限時間と路肩退避可否と退避場所とに基づいて、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うちのいずれかに判定する状態判定部18と、状態判定部18により判定された自車の状態に基づいて自車を制御する制御部19とを備える。【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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