To provide a travel support method and a travel support apparatus, which are capable of preventing a distance by which an own vehicle travels on an opposite lane from increasing in a case where the own vehicle travels on the opposite lane for avoiding an obstacle on a traveling lane.SOLUTION: A method includes: adding, for each lane, to an opposite lane a node corresponding to a position of a node of an own lane including a starting point node and an end point node of a travel prohibited area where an obstacle on the own lane is positioned by using map information described by a node and a link of a travel area sectioned by the node; selecting, as a first passing node, a node of the opposite lane corresponding to the starting point node; selecting, as a second passing node, a node of the opposite lane corresponding to the end point node; finishing a lane change of the own vehicle from the own lane to the opposite lane in the first passing node; and controlling the own vehicle to travel along a travel track for starting a lane change from the opposite lane to the own lane in the second passing node.SELECTED DRAWING: Figure 1

    【課題】進行車線の障害物を回避するために自車両が対向車線上を走行する場合に、自車両が対向車線上を走行する距離が長くなることを防止できる走行支援方法及び走行支援装置を提供する。【解決手段】車線ごとに、ノードと、ノードによって区分された走行エリアのリンクとによって記述される地図情報を用いて、自車線上の障害物が位置する走行不可エリアの始点ノード及び終点ノードを含む自車線のノードの位置に対応するノードを対向車線に追加し、始点ノードに対応する対向車線のノードを第1通過ノードとして選定し、終点ノードに対応する対向車線のノードを第2通過ノードとして選定し、自車両が第1通過ノードにおいて自車線から対向車線への車線変更を終了し、第2通過ノードにおいて対向車線から自車線への車線変更を開始する走行軌跡に沿って自車両の走行を制御する。【選択図】図1


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    Title :

    TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS


    Additional title:

    走行支援方法及び走行支援装置


    Contributors:

    Publication date :

    2024-01-24


    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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