To provide a vehicle driving support device capable of solving a problem that it is difficult to predict the possibility of a collision and the location of a collision in a driving assistance where own vehicle is traveling on a clothoid curve.SOLUTION: The vehicle driving support device is configured to: calculate a yaw rate change rate based on a yaw rate of the own vehicle obtained at multiple times; calculate a predicted trajectory of another vehicle, which is the predicted trajectory of the other vehicle; assuming that the yaw rate change rate remains constant, calculate a predicted trajectory of the own vehicle; calculate the tentative collision point from the intersection of the predicted trajectory of the own vehicle and the predicted trajectory of the other vehicle; calculate the tentative collision point at which the own vehicle reaches the tentative collision point; and determine the possibility of a collision, assuming that the own vehicle and the other vehicle at the time of the tentative collision travel straight to cross each other.SELECTED DRAWING: Figure 4
【課題】自車両がクロソイド曲線を走行しているとした運転支援において、衝突位置の予測や衝突有無の判定は困難である。【解決手段】複数の時点で得た自車両のヨーレートからヨーレート変化率を算出し、他車両の予測軌跡である他車予測軌跡を算出すると共に、前記ヨーレート変化率が一定に維持される前提で前記自車両の予測軌跡である自車予測軌跡を算出し、前記自車予測軌跡と前記他車予測軌跡との交点から仮衝突点を算出して、前記自車両が前記仮衝突点に至る仮衝突時点を算出し、前記仮衝突時点の前記自車両と前記他車両が直進するとして、直進交差により衝突有無の判定を行う。【選択図】 図4
VEHICLE DRIVING SUPPORT DEVICE, DRIVING SUPPORT METHOD, AND RECORDING MEDIA
車両の運転支援装置、運転支援方法、および記録媒体
2024-04-24
Patent
Electronic Resource
Japanese
VEHICLE DRIVING SUPPORT DEVICE, DRIVING SUPPORT METHOD, AND RECORDING MEDIA
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