A surrounding environment information generating unit acquires surrounding position information indicating a measured position of a side wall including a side wall of an evacuation spot, and generates measured map information for the side wall using the surrounding position information. When driving operation by a driver cannot be performed, a corrected map information generating unit calculates a correction value obtained by multiplying a difference between a distance from a traveling center line of a host vehicle to the side wall in base map information and that in the measured map information by a reliability, and generates corrected map information obtained by applying the correction value to the base map information. A route generating unit generates an evacuation travel route with the evacuation spot as a destination using the corrected map information. A vehicle control unit outputs a vehicle speed command for the host vehicle using the evacuation travel route.
EVACUATION TRAVEL ASSISTANCE DEVICE, EVACUATION TRAVEL ASSISTANCE METHOD, AND NON-TRANSITORY COMPUTER READABLE RECORDING MEDIUM
2023-05-11
Patent
Electronic Resource
English
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