To provide a lane change determination device capable of reducing a user's feeling of discomfort due to the movement of a vehicle at the time of a lane change, without placing excessive limitation on a condition for determining the lane change.SOLUTION: A lane change determination device includes: a lane change determination unit 331 which determines whether to perform a lane change in a prescribed section in a planned travel route; an evaluation value calculation unit 332 which, when it is determined to perform the lane change, for each of a plurality of lane change examination positions in the prescribed section, obtains an evaluation value indicating the amount of a change in the operational state of a vehicle when performing the lane change; and a lane change position determination unit 333 which determines the lane change examination position indicating the minimum evaluation value as a candidate position for performing the lane change.SELECTED DRAWING: Figure 3
【課題】車線変更を決定する条件に対して過剰な制限を与えることなく、車線変更時の車両の運動が起因となってユーザが不快に感じることを低減できる車線変更決定装置を提供する。【解決手段】車線変更決定装置は、走行予定経路の所定の区間内において車線変更を行うか否かを決定する車線変更決定部331と、車線変更を行うことが決定された場合、所定の区間内の複数の車線変更検討位置のそれぞれに対して、車線変更を実行した場合の車両の動作状態の変化量を示す評価値を求める評価値算出部332と、最小の評価値を示す前記車線変更検討位置を、車線変更を行う候補位置として決定する車線変更位置決定部333と、を有する。【選択図】図3
LANE CHANGE DETERMINATION DEVICE
車線変更決定装置
2021-06-24
Patent
Electronic Resource
Japanese
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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