To make it possible to accurately predict whether or not an own vehicle interferes with a moving target crossing a road in the vicinity of an intersection at a right or left turning destination when the own vehicle turns right or left at the intersection.SOLUTION: A drive support control unit 22 is configured to: check whether or not an own vehicle M turns right or left at a front intersection; set a predicted travel path of the own vehicle M to a right or left turning destination when the vehicle is determined to turn right or left at the intersection; calculate a movement vector from change in a position of a moving target OB moving in the right or left turning destination of the own vehicle M based on travel environment information; calculate an intersection position where the moving target OB crosses the predicted travel path based on a direction of the movement vector; and cause the own vehicle M to stop before the intersection position when arrival time of the own vehicle M and the moving target OB arriving at the intersection position is within a predetermined error range.SELECTED DRAWING: Figure 1
【課題】自車両が交差点を右左折するに際し、右左折先の交差点付近の道路を横断する移動物標と自車両とが干渉するか否かを的確に予測できるようにする。【解決手段】運転支援制御ユニット22は、自車両Mが前方の交差点を右左折するか否かを調べ、交差点を右左折すると判定した場合、右左折先への自車両Mの予測進行路を設定し、又走行環境情報に基づいて自車両Mの右左折先を移動する移動物標OBの位置の変化から移動ベクトルを算出し、移動ベクトルの方向に基づいて移動物標OBが、予測進行路を横切る交差位置を算出し、当該交差位置に到達する自車両Mと移動物標OBとの到達時刻が所定誤差範囲内の場合は自車両Mを交差位置手前で停車させる。【選択図】図1
DRIVE SUPPORT DEVICE WHEN TURNING RIGHT OR LEFT
右左折時運転支援装置
2023-08-01
Patent
Electronic Resource
Japanese