To provide a vehicle travelling support control device that enables a vehicle which is travelling on a merging lane to smoothly move into a main lane.SOLUTION: A merging determination part 102 extracts a plurality of candidate positions which respectively are candidates for merging positions, using a first distance ds1 as a set distance ds, to calculate a plurality of merging acceleration amrg. The merging determination part 102 selects, as the merging position, the candidate position corresponding to first acceleration am1 which is merging acceleration whose absolute value is smallest, of the plurality of merging acceleration amrg. The merging determination part 102 compares the absolute value of the first acceleration am1 with an acceleration threshold ath. When the first acceleration am1 is below the acceleration threshold ath, the merging determination part 102 outputs the merging position to a merging plan generation part 103. When the absolute value of the first acceleration am1 is larger than the acceleration threshold ath, the merging determination part 102 calculates second acceleration am2 as merging acceleration corresponding to the selected merging position, using, as the set distance ds, second distance ds2 shorter than the first distance ds1.SELECTED DRAWING: Figure 2

    【課題】合流車線を走行している車両をよりスムーズに本線車線に移動させることができる車両走行支援制御装置を得る。【解決手段】合流判断部102は、設定距離dsとして第1距離ds1を用いて、それぞれ合流位置の候補である複数の候補位置を抽出し、複数の合流加速度amrgを演算する。合流判断部102は、複数の合流加速度amrgのうち、絶対値が最も小さい合流加速度である第1加速度am1に対応する候補位置を合流位置として選択する。合流判断部102は、第1加速度am1の絶対値を加速度閾値athと比較する。第1加速度am1が加速度閾値ath以下である場合、合流判断部102は、合流位置を合流計画生成部103に出力する。第1加速度am1の絶対値が加速度閾値athよりも大きい場合、合流判断部102は、設定距離dsとして、第1距離ds1よりも短い第2距離ds2を用いて、選択した合流位置に対応する合流加速度として、第2加速度am2を演算する。【選択図】図2


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    Title :

    VEHICLE TRAVELLING SUPPORT CONTROL DEVICE


    Additional title:

    車両走行支援制御装置


    Contributors:

    Publication date :

    2023-02-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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