Provided are an obstacle avoidance control device, a vehicle, an obstacle avoidance control method, and an obstacle avoidance control program, which are capable of improving the ride comfort of an occupant when a vehicle avoids an obstacle. An obstacle avoidance control device (100) is a device that, if an obstacle requiring avoidance is detected to the front in the travelling direction of a vehicle (1) travelling on the basis of a preset set route, calculates an avoidance route for avoiding the obstacle and causes the vehicle (1) to travel on the basis of the avoidance route. The obstacle avoidance control device (100) includes: a detection unit (10) that detects the direction in which an obstacle is present; and a control unit (50) that, prior to calculation of the avoidance route, executes shift control for shifting the set route a prescribed distance in the travel direction of the vehicle (1) and in a direction away from the direction in which the obstacle is present, and for causing the vehicle (1) to travel on the basis of the shifted route.
提供能够提高车辆避让障碍物时的乘员的乘坐舒适性的障碍物避让控制装置、车辆、障碍物避让控制方法及障碍物避让控制程序。障碍物避让控制装置(100)是在如下情况下计算用于避让障碍物的避让路径,并使车辆(1)基于避让路径而行驶的装置,该情况为,在正在基于预先设定的设定路径而行驶的车辆(1)的行进方向的前方检测到需要避让的障碍物的情况。该障碍物避让控制装置具有:检测部(10),其检测障碍物存在的方向;以及控制部(50),其在避让路径被计算之前执行如下的偏移控制,即,使设定路径向朝向车辆(1)的行进方向且从障碍物存在的方向离开的方向偏移规定距离,并使车辆(1)基于偏移后的路径行驶的控制。
OBSTACLE AVOIDANCE CONTROL DEVICE, VEHICLE, OBSTACLE AVOIDANCE CONTROL METHOD, AND OBSTACLE AVOIDANCE CONTROL PROGRAM
障碍物避让控制装置、车辆、障碍物避让控制方法及障碍物避让控制程序
2021-11-19
Patent
Electronic Resource
Chinese
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