To prevent a wheel from passing a difference in level and causing a vehicle to go beyond a target stop position.SOLUTION: A vehicle travel support apparatus includes: a vehicle travel control device for controlling the travel of a vehicle toward a target stop position; a travel state acquisition device for acquiring travel state information indicating the travel state of the vehicle; and a difference-in-level position estimation device for acquiring difference-in-level position information indicating the position of a difference in level on a travel path of the vehicle. The travel state information includes vehicle position information indicating the positions of the vehicle and each wheel. On the basis of the difference-in-level position information and the vehicle position information, the vehicle travel control device determines whether or not the vehicle goes beyond the target stop position when an object wheel of the vehicle passes the difference in level. When determining that the vehicle goes beyond the target stop position, the vehicle travel control device changes the target stop position so as to prevent the object wheel from passing the difference in level, or allows braking force to be generated and stops the vehicle before the object wheel passes the difference in level.SELECTED DRAWING: Figure 18

    【課題】車輪が段差を通過して車両が目標停止位置を超過してしまうことを防ぐこと。【解決手段】車両走行支援装置は、目標停止位置に向かって車両の走行を制御する車両走行制御装置と、車両の走行状態を示す走行状態情報を取得する走行状態取得装置と、車両の走行経路上の段差の位置を示す段差位置情報を取得する段差位置推定装置と、を備える。走行状態情報は、車両と各車輪の位置を示す車両位置情報を含む。車両走行制御装置は、段差位置情報と車両位置情報に基づいて、車両の対象車輪が段差を通過すると車両が目標停止位置を超過するか否かを判定する。車両が目標停止位置を超過すると判定した場合、車両走行制御装置は、対象車輪が段差を通過しないように目標停止位置を変更する、あるいは、対象車輪が段差を通過する前に制動力を発生させて車両を停止させる。【選択図】図18


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    Title :

    VEHICLE TRAVEL SUPPORT APPARATUS


    Additional title:

    車両走行支援装置


    Contributors:

    Publication date :

    2020-01-30


    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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