PROBLEM TO BE SOLVED: To avoid that an own vehicle turns and travels in a low vehicle speed area in which a vehicle speed goes below a prescribed value when the own vehicle turns on a curved road.SOLUTION: A turn traveling line creation method of a vehicle for creating a turn traveling line when an own vehicle turns on a curved road has: a candidate line creation step S2; a corner radius prediction determination step S3; and a turn traveling line creation step S6. The candidate line creation step S2 creates a candidate line CLR at a turn on the curved road with a center line with respect to a traveling lane as a reference. When it is assumed that the own vehicle turns on the curved road in the candidate line CLR, the corner radius prediction determination step S3 predicts and determines whether or not the curved road has a corner radius in which a vehicle speed goes below a prescribed value. When it is determined that the curved road has the corner radius in which the vehicle speed goes below the prescribed value, the turn traveling line creation step S6 deviates the candidate line CLR from a center of the traveling lane, and recreates a new candidate line CLRin so that the corner radius is enlarged.SELECTED DRAWING: Figure 2

    【課題】自車両がカーブ路を曲がるとき、車速が所定値を下回る低車速域での旋回走行を回避すること。【解決手段】自車両がカーブ路を曲がるときの旋回走行ラインを生成する車両の旋回走行ライン生成方法において、候補ライン生成ステップS2と、コーナ半径予測判断ステップS3と、旋回走行ライン生成ステップS6と、を有する。候補ライン生成ステップS2は、カーブ路を曲がるときの候補ラインCLRを、走行車線に対するセンタライン基準で生成する。コーナ半径予測判断ステップS3は、候補ラインCLRでカーブ路を曲がることを想定したとき、車速が所定値を下回るコーナ半径かどうかを予測判断する。旋回走行ライン生成ステップS6は、車速が所定値を下回るコーナ半径と予測された場合、候補ラインCLRを走行車線のセンタからずらし、コーナ半径が大きくなるように新たな候補ラインCLRinを再生成する。【選択図】図2


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    Title :

    TURN TRAVELING LINE CREATION METHOD OF VEHICLE AND TURN TRAVELING LINE CREATION DEVICE


    Additional title:

    車両の旋回走行ライン生成方法と旋回走行ライン生成装置


    Contributors:

    Publication date :

    2018-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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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