To provide a travel control device capable of appropriately controlling travel of a vehicle in a section without a wall.SOLUTION: A travel control device comprises: a travel control section which automatically controls at least acceleration/deceleration and steering of a vehicle; a detection section which detects a deviation prevention object preventing a vehicle from deviating from a road at an edge of the road from surrounding data generated with a surrounding sensor mounted on the vehicle to represent a situation surrounding the vehicle; a determination section which determines a possibility that the vehicle reaches the edge of the road based on a lateral moving amount of the vehicle estimated until the vehicle stops from a current speed of the vehicle and a distance between the vehicle and the edge of the road when the deviation prevention object is not detected; and a notification section which notifies a driver of a drive turn-taking request for requesting drive turn-taking from automatic control to manual control of the acceleration/deceleration and steering of the vehicle based on driving operation of the driver of the vehicle when there is the possibility that the vehicle reaches the edge of the road, and does not notify the driver of the drive turn-taking request when there is no possibility that the vehicle reaches the edge of the road.SELECTED DRAWING: Figure 8
【課題】壁なし区間での車両の走行を適切に制御することができる走行制御装置を提供する。【解決手段】走行制御装置は、車両の加減速および操舵のうち少なくとも一つを自動制御する走行制御部と、車両に搭載された周辺センサにより生成された、車両の周辺の状況を表す周辺データから、道路の端部に車両の道路からの逸脱を防止する逸脱防止物を検出する検出部と、逸脱防止物が検出されない場合、車両の現在速度から停止するまでに想定される車両の横方向の移動量および車両から道路の端部までの距離に基づき、車両が道路の端部に到達する可能性の有無を判定する判定部と、車両が道路の端部に到達する可能性がある場合、自動制御から車両の運転者の運転操作に基づく車両の加減速および操舵の手動制御への運転交代を要求する運転交代要求を運転者に通知し、車両が道路の端部に到達する可能性がない場合、運転交代要求を運転者に通知しない通知部と、を備える。【選択図】図8
TRAVEL CONTROL DEVICE, TRAVEL CONTROL METHOD AND TRAVEL CONTROL COMPUTER PROGRAM
走行制御装置、走行制御方法、および走行制御用コンピュータプログラム
2024-03-07
Patent
Electronic Resource
Japanese
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 |
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