To suppress collision avoidance control more than necessary concerning a traveling support of a vehicle.SOLUTION: A traveling support method is the method for supporting traveling of an own vehicle and includes: a mobile body determination step S10 of determining whether a subsequent mobile body V20 traveling on a lane adjacent to a lane on which the own vehicle (autonomous mobile body V10) is traveling is a determination object mobile body to be a collision determination object with the own vehicle; a mobile body trajectory calculation step S20 of calculating a mobile body trajectory being the predicted trajectory of the mobile body V20; an own vehicle trajectory calculation step S30 of calculating an own vehicle trajectory being the predicted trajectory of the own vehicle; and a collision determination step S40 of performing collision determination based on the own vehicle trajectory and the mobile body trajectory of the determination object mobile body. In the mobile body determination step S10, only the mobile body V20 within a predetermined azimuth angle range among azimuth angles with the own vehicle as reference is determined as the determination object mobile body.SELECTED DRAWING: Figure 2
【課題】車両の走行支援において、必要以上に衝突回避制御を行うことを抑制する。【解決手段】走行支援方法は、自車両の走行を支援する方法であって、自車両(自律移動体V10)が走行する車線の隣の車線を走行する後続の移動体V20が、自車両との衝突判定の対象となる判定対象移動体であるか否かを判定する移動体判定ステップS10と、移動体V20の予測軌道である移動体軌道を算出する移動体軌道算出ステップS20と、自車両の予測軌道である自車両軌道を算出する自車両軌道算出ステップS30と、自車両軌道と、判定対象移動体の移動体軌道とに基づいて衝突判定を行う衝突判定ステップS40とを含み、移動体判定ステップS10において、自車両を基準とした方位角のうち、所定の方位角範囲内にある移動体V20のみを判定対象移動体と判定する。【選択図】図2
TRAVELING SUPPORT METHOD, PROGRAM, TRAVELING SUPPORT DEVICE, AND AUTONOMOUS MOBILE BODY
走行支援方法、プログラム、走行支援装置、及び自律移動体
2024-05-31
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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