PROBLEM TO BE SOLVED: To accurately grasp the presence/absence of a rear approaching vehicle in a lane of a lane change destination when changing a lane of an own vehicle.SOLUTION: A drive support ECU 10 being a drive support device which supports the drive of an own vehicle comprises: a trajectory creation part which acquires a traveling position of the own vehicle at a prescribed acquisition cycle, and creates a traveling trajectory of the own vehicle from the traveling position; a traveling position acquisition part which acquires a traveling position of a rear vehicle which travels behind the own vehicle; a distance calculation part which calculates an inter-vehicle distance being a distance between the traveling position of the rear vehicle and the traveling position of the own vehicle; a lateral position calculation part which calculates a lateral position being a relative position of the rear vehicle with respect to the traveling trajectory in a direction orthogonal to the traveling trajectory in the traveling position of the rear vehicle; and an approaching vehicle determination part which determines the presence/absence of the rear approaching vehicle which approaches the own vehicle in a lane of a lane change destination on the basis of the inter-vehicle distance and the lateral position when changing a lane of the own vehicle.SELECTED DRAWING: Figure 1
【課題】自車が車線変更する際に、車線変更先の車線における後方接近車の有無を適正に把握することができる。【解決手段】運転支援ECU10は、自車の運転を支援する運転支援装置であって、自車の走行位置を所定の取得周期で取得し、走行位置から自車の走行軌跡を生成する軌跡生成部と、自車の後方を走行する後方車の走行位置を取得する走行位置取得部と、後方車の走行位置と自車の走行位置との距離である車間距離を算出する距離算出部と、後方車の走行位置において、走行軌跡に直交する方向における当該走行軌跡に対する後方車の相対位置である横位置を算出する距離算出部と、自車の車線変更に際し、車間距離と横位置とに基づいて、車線変更先の車線において自車に接近する後方接近車の有無を判定する接近車判定部と、を備えることを特徴とする運転支援装置。【選択図】 図1
DRIVE SUPPORT DEVICE OF VEHICLE AND DRIVE SUPPORT METHOD
車両の運転支援装置、及び運転支援方法
2017-03-23
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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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