To provide a drive support apparatus which can maintain an automatic drive support function being executed when image recognition accuracy of an on-vehicle camera is reduced.SOLUTION: A drive support apparatus of a vehicle comprises: a camera device 10 which acquires a circumference image of an own vehicle M as first travel environment information; a radar device 37 which acquires three-dimensional object data of the circumference of the own vehicle as second travel environment information; an image recognition unit 13 which recognizes a lane division line 102 on the basis of the first travel environment information, recognizes a road end 104 on the basis of the second travel environment information and calculates a distance C between the lane division line and the road end from respective relative distances A, B of the own vehicle, the lane division line and the road end; and a travel control unit 14 which performs vehicle travel control on the basis of the lane division line and road end information. The image recognition unit sets an estimated road section line on the basis of the distance between the lane division line and the road end immediately before recognition becomes impossible and the relative distance between the road end and the own vehicle while the radar device continues recognition in such a situation that recognition of the lane division line becomes impossible on the basis of the first travel environment information. The travel control unit controls travel of the own vehicle on the basis of the estimated road section line.SELECTED DRAWING: Figure 4

    【課題】車載カメラの画像認識精度が低下した場合に実行中の自動運転支援機能を維持し得る運転支援装置を提供する。【解決手段】自車両Mの周囲画像を第1走行環境情報として取得するカメラ装置10と、自車両の周囲の立体物データを第2走行環境情報として取得するレーダ装置37と、第1走行環境情報に基づき区画線102を認識し、第2走行環境情報に基づき道路端104を認識し、かつ自車両と区画線及び道路端の各相対距離A、Bから区画線と道路端との距離Cを算出する画像認識ユニット13と、区画線及び道路端情報に基づき車両走行制御する走行制御ユニット14とを備え、画像認識ユニットは第1走行環境情報に基づく区画線の認識不可状況のとき、認識不可直前の区画線と道路端の距離と、レーダ装置が継続認識中の道路端と自車両と相対距離に基づき推定道路区画線を設定し、走行制御ユニットは推定道路区画線に基づき自車両の走行を制御する。【選択図】図4


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    Title :

    DRIVE SUPPORT APPARATUS OF VEHICLE


    Additional title:

    車両の運転支援装置


    Contributors:
    MOTEGI KEISUKE (author) / YUKAWA TERU (author) / SEKINE MASATO (author) / SATO YUTA (author) / AZUMA TATSUYA (author)

    Publication date :

    2023-04-03


    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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