To provide a merging assitance device which can estimate a merging available region start point with high accuracy.SOLUTION: A merging assistance device 100 of the present disclosure comprises: a self-vehicle position acquisition unit 101 that acquires a self-vehicle position; a temporary merging point setting unit 102 that sets a temporary merging point 4 on a self-traffic lane 1 on the basis of coordinate information for the self-traffic lane 1 and a target traffic lane 2 contained in map information; an inter-traffic lane distance calculation unit 103 that calculates an inter-traffic lane distance from the self traffic lane 1 to the target traffic lane 2; a focus point setting unit 104 that sets a front focus point and a rear focus point on the self traffic lane 1 on the basis of a temporary merging point inter-traffic lane distance from the temporary merging point 4 to the target traffic lane 2; a first approximation formula deriving unit 105a that derives a first approximation formula that approximates the front focus point and the rear focus point; a second approximation formula deriving unit 105b that derives a second approximation formula that approximates the target traffic lane 2; and a merging available region start point estimation unit 106 that estimates a merging available region start point on the target traffic lane 2 on the basis of a self-traffic lane width, a target traffic lane width, and the first and second approximation formulae.SELECTED DRAWING: Figure 1

    【課題】合流可能領域始点を高精度に推定可能な合流支援装置を得る。【解決手段】本開示の合流支援装置100は、自車位置を取得する自車位置取得部101と、地図情報に含まれる自車線1及び目標車線2の座標情報に基づき、自車線1上に仮合流点4を設定する仮合流点設定部102と、自車線1から目標車線2までの車線間距離を算出する車線間距離算出部103と、仮合流点4から目標車線2までの仮合流点車線間距離に基づき、自車線1上に前方着目点及び後方着目点を設定する着目点設定部104と、前方着目点及び後方着目点を近似した第一近似式を導出する第一近似式導出部105aと、目標車線2を近似した第二近似式を導出する第二近似式導出部105bと、自車線幅及び目標車線幅並びに第一及び第二近似式に基づき、目標車線2上の合流可能領域始点を推定する合流可能領域始点推定部106と、を備える。【選択図】図1


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    Title :

    MERGING ASSISTANCE DEVICE AND MERGING ASSISTANCE METHOD


    Additional title:

    合流支援装置及び合流支援方法


    Contributors:

    Publication date :

    2023-05-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

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



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