JP2004086450A - Vehicle branch road selecting device and traveling controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a branch path selecting device for vehicle and a traveling controller capable of preventing the generation of an excessive decelerating speed due to a deceleration support system when a driver moves forward to a branch destination where the radius of curvature of the curve is large at the branch path. <P>SOLUTION: This navigation device 1 is provided with its own vehicle position measuring device 4 for detecting the position of its own vehicle, a map database 5 including road information, a road information preview means 6 for reading map data connected from its own vehicle position to the traveling direction, a curvature calculating means 7 for calculating the curvature radius of the road information read by the road information preview means 6, a route selecting means 8 for selecting a route according to the curvature radius of each branch destination calculated by the curvature calculating means 7 when a branch path is included in the road information. The route selecting means 7 selects the branch destination whose curvature radius is the largest as a route. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention belongs to the technical field of a vehicular branch road selection device and a travel control device that predict a course of a vehicle on a branch road.
[0002]
[Prior art]
As this type of technology, for example, a technology described in JP-A-2001-101598 is known. According to this conventional technique, a route prediction on a branch road is performed based on a road type, a width, the number of lanes, and a speed limit, and an appropriate curve warning is issued to a driver.
[0003]
[Problems to be solved by the invention]
However, in the above-mentioned conventional technology, when there is a path of the same type of road type, width, lane number or speed limit at the branch destination, a plurality of paths are selected, and a curve with a small radius of curvature (steep) is formed. May be selected.
At this time, if an attempt is made to use the route information selected by the above-described conventional technology in a system that supports deceleration of the own vehicle before the curve and during the curve turning based on the route information (curvature radius), Even when trying to proceed to a branch point with a curve with a large (gentle) radius of curvature, deceleration control corresponding to a curve with a small (steep) radius of curvature may be performed. However, there is a problem that excessive deceleration occurs to give the driver an uncomfortable feeling.
[0004]
The present invention has been made in view of the above-described problem, and an object of the present invention is to provide an excessive speed reduction support system when a driver tries to proceed to a branch destination having a large radius of curvature on a branch road. It is an object of the present invention to provide a vehicle branch road selection device and a travel control device that can prevent occurrence of deceleration.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, in the present invention, the vehicle position detecting means for detecting the position of the vehicle, map data including road information, and map data connected in the traveling direction from the vehicle position are read. A road information preview unit, a curvature calculation unit for calculating a radius of curvature of the road information read by the road information preview unit, and a curvature radius of each branch destination determined by the curvature calculation unit when the road information includes a branch road. And a route selection means for selecting a route in accordance with the route, wherein the route selection means selects a branch destination having the largest radius of curvature as a route.
[0006]
【The invention's effect】
In the present invention, by selecting the branch destination having the largest radius of curvature in the branch road as the course, excessive deceleration by the deceleration support system when the driver tries to advance to the branch destination having a curve with a large radius of curvature is selected. Occurrence can be prevented.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment for realizing the vehicle branch road selection device of the present invention will be described with reference to a first embodiment corresponding to the invention according to claims 1, 2, 3, and 4, and claims 1, 2, 3, 5, and 5. A second embodiment corresponding to the invention according to claim 1, a third embodiment corresponding to the invention according to claims 1, 2, 3, and 6, and a fourth embodiment corresponding to the invention according to claims 1, 2, 3, and 7. Description will be made based on the embodiment, a fifth embodiment corresponding to the invention according to claims 1, 2, 8, and 6, and a sixth embodiment corresponding to the invention according to claims 1, 2, 3, 5, and 9. I do.
[0008]
(First embodiment)
First, the configuration will be described.
FIG. 1 is a system configuration diagram showing a curve deceleration support system to which the vehicle branch road selecting device of the first embodiment is applied.
[0009]
As shown in the drawing, the curve deceleration support system of the first embodiment previews road information ahead of the vehicle from the navigation device 1 on the near side of the curve, and performs a deceleration control before the curve to perform deceleration control. And a deceleration support system 3 for curve turning that autonomously performs deceleration control on the vehicle side using information such as vehicle speed, steering angle, and lateral G.
[0010]
The navigation device 1 transmits the radius of curvature of the road ahead of the host vehicle to the deceleration support system 2 before the curve. This navigation device 1 matches the own vehicle position measuring device 4 using GPS or autonomous navigation, a map database (DB) 5, and the measurement result of the own vehicle position on the road recorded in the map DB 5, Road information preview means 6 for reading road information ahead of the vehicle, curvature calculation means 7 for calculating the radius of curvature of the road read by the road information preview means 6, and a course according to the calculation result of the curvature radius of each branch destination. Path selecting means 8 for selecting.
[0011]
Next, the operation will be described.
[Branch path selection control processing]
FIG. 2 is a flowchart showing the flow of the branch road selection control process executed by the navigation device 1. Hereinafter, each step will be described.
[0012]
In step S111, it is determined whether or not the data read from the map DB 5 by the road information preview unit 6 has a branch in the order of proximity to the own vehicle position. If there is a branch, the process proceeds to step S112. If there is no branch, the process proceeds to step S121. move on.
[0013]
Here, in the example shown in FIG. 5, if the branch direction to R3 is selected by comparing the radii of curvature to the interpolation points 1, 2, 3 at the node 1, then the interpolation points 2, 4, 5 The processing after step S112 is performed in order. As shown in FIG. 6, the data recorded in the map DB 5 usually includes nodes representing coordinates of intersections and branch points, interpolation points representing point coordinates for representing road shapes between the nodes, and links connecting them. Since information on the number of branches is added to the node data, the node data is used to determine the presence or absence of a branch.
[0014]
In step S112, the road information preview unit 6 matches the measurement result of the vehicle position with the data recorded in the map DB 5, and reads the road type and link type at that position.
[0015]
In step S113, the road information preview unit 6 reads the road type from the node and interpolation point data read from the map DB 5, and reads the link type from the link data. Further, a radius of curvature at a node or an interpolation point to be processed is obtained.
[0016]
Note that the radius of curvature may be recorded in the map DB 5 together with the nodes or the interpolation points. Further, as shown in FIG. 6, the radius of an arc passing through an adjacent node or an interpolation point may be calculated.
[0017]
In step S114, it is determined whether or not the link type of the vehicle position read in step S112 is a highway main line. If the link type is a highway main line, the process proceeds to step S122. If not, the process proceeds to step S115.
[0018]
In step S115, it is determined whether or not the road type of the vehicle position read in step S112 is "narrow road". If it is a narrow road, the process proceeds to step S117. If it is not a narrow road, the process proceeds to step S116.
[0019]
In step S116, it is determined whether or not there is a “small road” among the branch destination road types read in step S113. If there is a narrow road, the process proceeds to step S117, and there is no narrow road. In this case, the process proceeds to step S118.
[0020]
In step S117, it is determined whether or not the road types of the branch destinations read in step S113 are all "narrow roads". If all the roads are narrow roads, the process proceeds to step S118. Proceed to S119.
[0021]
In step S118, among the branch destinations read in step S113, the direction with the largest radius of curvature is selected as the course.
[0022]
In step S119, among the branch destinations read in step S113, a direction having the largest radius of curvature is selected from those other than those having a road type other than “narrow road”.
[0023]
In step S120, the current processing target node or interpolation point is recorded in the RAM in the navigation device 1 based on the radius of curvature in the course direction selected in step S118 or step S119 and the own vehicle position.
[0024]
The radius of curvature and the distance from the vehicle position recorded here are transmitted to the deceleration support system 2 before the curve and used for deceleration control.
[0025]
In step S121, it is determined whether or not the current processing target node or interpolation point is at the end of the data read by the road information preview unit 6. If the end is at the end, the control is terminated, and it is not at the end. In this case, the process proceeds to step S123.
[0026]
In step S122, among the branch destinations, the one whose link type is the expressway main line is selected as the route.
[0027]
In step S123, the processing target is shifted to the next node or interpolation point, and the process returns to step S111. In the example of FIG. 5, when the processing for the node 1 is performed and the course is selected in the direction of the interpolation point 2, the next processing target is shifted to the interpolation point 2, and the processing from step S111 is repeated again.
[0028]
[Branch selection control]
As shown in FIG. 3, the route of the branch destination is selected according to the radius of curvature of the curve at the branch destination, the position of the own vehicle, and the type of road at the branch destination.
[0029]
(A) shows the case of a main road such as a national highway or a main local road in both the position of the own vehicle and the type of the branch destination road. In this case, in the flowchart of FIG. 2, the flow proceeds to step S111 → step S112 → step S113 → step S114 → step S115 → step S116 → step S118 → step S120 → step S121.
[0030]
That is, in step S111, the road type and link type of the own vehicle position are read, and in step S112, the road type and link type of each of the curves R1, R2, and R3 as the branch destinations are read, and the curves R1, R2, and R3 are read. Is calculated. Subsequently, the own vehicle position is determined not to be on the main road of the expressway in S114, the own vehicle position is determined not to be a narrow road in step S115, and it is determined that there is no narrow road in the branch destination in step S116. Next, in step S118, a direction having the curve R3 having the largest radius of curvature is selected as the course, and the radius of curvature of the selected curve R3 and the distance from the own vehicle position are recorded in the RAM of the navigation device 1 in step S120. The recorded radius of curvature of the curve R3 and the distance from the vehicle position are transmitted to the deceleration support system 2 before the curve, and deceleration control is performed.
[0031]
(B) shows a case where the vehicle is located on a main road such as a national road or a major local road, and there is a narrow road at a branch point. In this case, an arterial road such as a national road or a main local road becomes a priority road. Therefore, in the flowchart of FIG. 2, step S111 → step S112 → step S113 → step S114 → step S115 → step S116 → step S117 → step S119 → The flow proceeds from step S120 to step S121.
[0032]
That is, in step S115, the vehicle position is determined to be a main road such as a national road or a main local road, and in step S116, it is determined that there is a narrow road at the branch destination. Subsequently, if it is determined in step S117 that all the branch destinations are not narrow roads, the direction of the curve R2 having the largest radius of curvature among the branch destinations which are arterial roads such as national roads and major local roads is determined in step S119. Selected for the course.
[0033]
(C) shows a case where both the own vehicle position and the road types of all branch destinations are narrow roads. In this case, in the flowchart of FIG. 2, the flow proceeds to step S111 → step S112 → step S113 → step S114 → step S115 → step S117 → step S118 → step S120 → step S121.
[0034]
That is, if it is determined in step S115 that the vehicle position is on a narrow road, and if it is determined in step S117 that all the branch destinations are narrow roads, the direction of the curve R3 having the largest radius of curvature is selected as the course in step S118. Is done.
[0035]
(D) shows a case where the position of the vehicle is a narrow road and a branch road includes a main road such as a national road or a main regional road. In this case, in the flowchart of FIG. 2, the flow proceeds to step S111 → step S112 → step S113 → step S114 → step S115 → step S117 → step S119 → step S120 → step S121.
[0036]
That is, it is determined in step S115 that the vehicle position is on a narrow road, and it is determined in step S117 that all of the branch destinations are not narrow roads. Subsequently, in step S119, a direction having a curve R2 having the largest radius of curvature is selected as a course from among branch destinations which are arterial roads such as a national road and a main local road.
[0037]
As shown in FIG. 4, when the highway branches to the IC exit, the main road side has a gentle curve (R1500), and the branch road to the IC exit side is almost straight (R∞) immediately after the branch, followed by a sharp curve (R５００). R100) in some cases. In this case, in the flowchart of FIG. 2, the flow proceeds to step S111 → step S112 → step S113 → step S114 → step S122 → step S121.
[0038]
That is, in step S114, the vehicle position is determined to be the main road of the highway, and in step S122, a route is selected on the main road side regardless of the radius of curvature of the branch destination curve. Here, if the direction in which the radius of curvature is gentle is selected as the course as shown in FIG. 3, the deceleration support control is performed on the sharp curve R100 at the IC exit while traveling on the main road of the highway, giving the driver a sense of discomfort. Things can happen. Therefore, when the vehicle position is on a high-speed main line, a route is selected on the main line side regardless of the radius of curvature of the curve at the branch destination.
[0039]
Next, effects will be described.
(1) Even if the branch destination is the same type of road type and width, the occurrence of excessive deceleration can be prevented by selecting a branch destination having a curve with the largest radius of curvature as a target for deceleration support. it can.
(2) Even when trying to proceed to a branch point where a curve having a small radius of curvature is present, sufficient deceleration support can be performed when passing through a curve by performing deceleration support control from the start of curve turning.
(3) By selecting a route candidate using the own vehicle position and the road type of the branch destination, it is possible to perform deceleration support control adapted to road conditions.
(4) If the vehicle is located on the main road of the highway, selecting a route toward the main line irrespective of the radius of curvature of the curve at the branch destination will cause excessive deceleration at the branch to the IC exit of the highway. This can be prevented from occurring.
[0040]
(Second embodiment)
The second embodiment is an example in which the width of the road is used as the priority of the route selection of the branch destination. Since the configuration is the same as that of the first embodiment, illustration and description are omitted.
[0041]
Next, the operation will be described.
[Branch path selection control processing]
FIG. 7 is a flowchart showing the flow of the branch road selection control process executed by the navigation device 1. Hereinafter, each step will be described. Steps S111 to S114 and steps S120 to S123 are the same as steps S111 to S114 and steps S120 to S123 in FIG.
[0042]
In step S201, the vehicle position and the width of the branch destination are read.
[0043]
In step S202, it is determined whether or not the width of the vehicle position is equal to or greater than a preset value. If the width is equal to or greater than the preset value, the process proceeds to step S204. If the width is less than the preset value, the process proceeds to step S203.
[0044]
In step S203, it is determined whether the width of the branch destination is equal to or greater than a preset value. If the width is equal to or greater than the preset value, the process proceeds to step S204. If the width is less than the preset value, the process proceeds to step S207.
[0045]
In step S204, it is determined whether there is a plurality of branch destinations having the widest width. If there are a plurality of branch destinations, the process proceeds to step S205. If there is only one, the process proceeds to step S206.
[0046]
In step S205, the largest radius of curvature is selected from the branch destination having the widest width.
[0047]
In step S206, the radius of curvature of the branch destination having the widest width is selected.
[0048]
In step S207, the largest radius of curvature at the branch destination is selected.
[0049]
Next, effects will be described.
In the curve deceleration support system of the second embodiment, deceleration support control according to road conditions can be performed by selecting a candidate for a route using the position of the vehicle and the road width at the branch destination.
[0050]
(Third embodiment)
The third embodiment is an example in which the number of lanes is used as the priority of the route selection of the branch destination. Since the configuration is the same as that of the first embodiment, illustration and description are omitted.
[0051]
Next, the operation will be described.
[Branch path selection control processing]
FIG. 8 is a flowchart showing the flow of the branch road selection control process executed by the navigation device 1. Hereinafter, each step will be described. Steps S111 to S114 and steps S120 to S123 are the same as steps S111 to S114 and steps S120 to S123 in FIG.
[0052]
In step S301, the host vehicle position and the number of lanes at the branch destination are read.
[0053]
In step S302, it is determined whether or not the number of lanes at the own vehicle position is equal to or greater than a preset set value. If the lane number is equal to or greater than the set value, the process proceeds to step S304.
[0054]
In step S303, it is determined whether or not the number of lanes at the branch destination is equal to or greater than a preset set value. If it is equal to or greater than the set value, the process proceeds to step S304.
[0055]
In step S304, it is determined whether there is a plurality of branch destinations with the largest number of lanes. If there are a plurality of branch destinations, the process proceeds to step S305. If there is only one, the process proceeds to step S306.
[0056]
In step S305, the largest radius of curvature is selected from the branch destinations with the largest number of lanes.
[0057]
In step S306, the radius of curvature of the branch destination having the largest number of lanes is selected.
[0058]
In step S307, the largest radius of curvature at the branch destination is selected.
[0059]
Next, effects will be described.
In the curve deceleration support system according to the third embodiment, deceleration support control according to road conditions can be performed by selecting a route candidate using the own vehicle position and the number of lanes at the branch destination.
[0060]
(Fourth embodiment)
The fourth embodiment is an example in which the speed limit is used as the priority of the route selection of the branch destination. Since the configuration is the same as that of the first embodiment, illustration and description are omitted.
[0061]
Next, the operation will be described.
[Branch path selection control processing]
FIG. 9 is a flowchart illustrating the flow of the branch road selection control process executed by the navigation device 1. Hereinafter, each step will be described. Steps S111 to S114 and steps S120 to S123 are the same as steps S111 to S114 and steps S120 to S123 in FIG.
[0062]
In step S401, the host vehicle position and the speed limit of the branch destination are read.
[0063]
In step S402, it is determined whether the speed limit of the vehicle position is equal to or greater than a preset value. If the speed limit is equal to or greater than the preset value, the process proceeds to step S404.
[0064]
In step S403, it is determined whether the speed limit of the branch destination is equal to or greater than a preset set value. If the speed limit is equal to or greater than the set value, the process proceeds to step S404.
[0065]
In step S404, it is determined whether there are a plurality of branch destinations having the widest speed limit. If there are a plurality of branch destinations, the process proceeds to step S405. If there is only one, the process proceeds to step S406.
[0066]
In step S405, the largest radius of curvature is selected from the branch destination having the widest speed limit.
[0067]
In step S406, the radius of curvature of the branch destination having the widest speed limit is selected.
[0068]
In step S407, the maximum curvature radius at the branch destination is selected.
[0069]
Next, effects will be described.
In the curve deceleration support system according to the fourth embodiment, deceleration support control according to road conditions can be performed by selecting a candidate course using the own vehicle position and the speed limit of the branch destination.
[0070]
(Fifth embodiment)
The configuration is the same as that of the first embodiment except that a deceleration start position detecting means 9 is added as shown in FIG. The accelerator opening Apo, the vehicle speed Vsp, and the brake switch signal Brk are input to the deceleration start position detecting means 9 through an in-vehicle LAN such as CAN or MOST.
[0071]
Next, the operation will be described.
[Branch path selection control processing]
FIG. 11 is a flowchart showing the flow of the branch road selection control process executed by the navigation device 1. Hereinafter, each step will be described. Steps S111 to S113, S121, and S123 are the same as steps S111 to S113, S121, and S123 in FIG.
[0072]
In step S501, the deceleration start position detecting means 9 reads the accelerator opening Apo, the vehicle speed Vsp, and the brake switch signal Brk.
[0073]
In step S502, a position where the accelerator is turned off from the ON state for the first time or the brake switch is turned ON for the first time before a certain distance (for example, 200 m on a general road, 1 km on an expressway) from the curve entrance is set as a deceleration start position, and the curve from there. Find the distance L to the entrance. When the position of the curve entrance at the branch destination is different as shown in (c) of FIG. 12, the distances (L1, L2) from the deceleration start position to each curve entrance are obtained.
[0074]
In step S503, a safe passing curvature radius Rz is obtained from the distance L from the deceleration start position obtained in step S502 to the curve entrance and the vehicle speed Vsp at that time. Here, when using the table shown in FIG. 13, if L = Ls, then Rz = Rs, and if L = L1, then Rz = R1.
[0075]
In step S504, a branch destination having the largest radius of curvature is selected from among branch destinations having a curve whose radius of curvature is smaller than the safe passage radius of curvature Rz obtained in step S503. In the example of FIG. 12, when Rz = Rs, a branch having a curve having a radius of curvature R1 is selected when Rz = R1, and a branch destination having a curve with a radius of curvature R1 is selected. When the value of the safe passage radius of curvature Rz is equal to or smaller than the minimum radius of curvature R1 of the branch destination, the branch destination having the curve of the radius of curvature R1 is selected.
[0076]
[Branch selection control]
As shown in FIG. 12, the course is estimated according to the distance from the deceleration start position to the curve entrance and the radius of curvature of the branch destination curve. As a method of estimating the course, for example, as shown in FIG. 13, the radius of curvature of a curve that can safely pass (for example, lateral G is set within 0.3 G.).
[0077]
FIG. 12A shows a case where deceleration is started near a curve. When the distance from the branch point obtained in step S502 to the deceleration start position is Ls (m), the safe passage rate Rz is obtained as Rs from the table in FIG. 13 in step S503. At this time, among the branch destinations shown in FIG. 12A, since R3 is closest to Rs, the course is estimated in step S504 to the direction in which the radius of curvature of the curve is R3, and the target of deceleration support is the radius of curvature. Let it be the curve of R3.
[0078]
FIG. 12B shows a case where deceleration is started far from the curve. When the distance from the branch point obtained in step S502 to the deceleration start position is L1 (m), the safe passage rate Rz is obtained in step S503 from the table in FIG. At this time, among the branch destinations shown in FIG. 12B, since R1 is closest to R1, the course is estimated in step S504 to the direction in which the radius of curvature of the curve is R1, and the target of deceleration support is the radius of curvature. Let it be the curve of R1.
[0079]
Next, effects will be described.
In the curve deceleration support system of the fifth embodiment, a branch destination curve to be subjected to deceleration support control can be selected according to the distance L from the position where the driver has decelerated to the curve entrance, Deceleration support control that reflects the driver's intention becomes possible.
[0080]
(Sixth embodiment)
The configuration is the same as that of the first embodiment except that the blinker signal Wsw is input to the route selection means 8 in the navigation device 1 as shown in FIG.
[0081]
Next, the operation will be described.
[Branch path selection control processing]
FIG. 15 is a flowchart showing the flow of the branch road selection control process executed by the navigation device 1. Hereinafter, each step will be described. Steps S111 to S113, S121, and S123 are the same as steps S111 to S113, S121, and S123 in FIG.
[0082]
In step S601, it is determined whether the node to be processed is the first node following the own vehicle position. If the node is the first node, the process proceeds to step S602. If not, the process proceeds to step S114 in FIG. Proceed to.
[0083]
In step 602, the flow proceeds to step S603 if the turn signal 8 has been input from the turn signal in the course selecting means 8, and to step S114 in FIG. 2 if no signal has been input.
[0084]
In step S603, a node or an interpolation point in the direction indicated by the turn signal is selected as the next processing target of the node currently being processed. For example, when a blinker is output to the right when the node 1 shown in FIG. 5 is a processing target, the interpolation point 3 is selected as the next processing target.
[0085]
Next, effects will be described.
In the curve deceleration support system according to the sixth embodiment, the curve in the direction in which the driver has turned the turn signal can be subjected to the deceleration support control, and the deceleration support control that reflects the driver's intention can be performed. It becomes possible.
[0086]
(Other embodiments)
As described above, the vehicle branch road selection device according to the present invention has been described based on the first to sixth embodiments. However, the specific configuration is not limited to these embodiments, and the claims are not limited thereto. Changes and additions of the design are permitted without departing from the gist of the invention according to each of the claims.
[0087]
For example, a configuration in which the fourth embodiment and the fifth embodiment are combined with the first to third embodiments may be adopted.
[Brief description of the drawings]
FIG. 1 is a system configuration diagram showing a curve deceleration support system according to a first embodiment.
FIG. 2 is a flowchart illustrating a flow of a branch road selection control process executed by the navigation device of the first embodiment.
FIG. 3 is an explanatory diagram showing an example of route selection on a branch road.
FIG. 4 is an explanatory diagram showing a branch to an IC exit on an expressway.
FIG. 5 is an explanatory diagram showing an example of selecting a route.
FIG. 6 is an explanatory diagram showing a method of calculating a radius of curvature.
FIG. 7 is a flowchart illustrating a flow of a branch road selection control process executed by the navigation device of the second embodiment.
FIG. 8 is a flowchart illustrating a flow of a branch road selection control process executed by the navigation device of the third embodiment.
FIG. 9 is a flowchart illustrating a flow of a branch road selection control process executed by the navigation device of the fourth embodiment.
FIG. 10 is a system configuration diagram showing a curve deceleration support system according to a fifth embodiment.
FIG. 11 is a flowchart illustrating a flow of a branch road selection control process executed by the navigation device of the fifth embodiment.
FIG. 12 is an explanatory diagram showing an example of a course selection according to a deceleration start position.
FIG. 13 is an example of a calculation table of a safe passage radius of curvature Rz.
FIG. 14 is a system configuration diagram showing a curve deceleration support system according to a sixth embodiment.
FIG. 15 is a flowchart showing the flow of a branch road selection control process executed by the navigation device of the sixth embodiment.
[Explanation of symbols]
1 Navigation device
2 Curve front deceleration support system
3 Curve turning deceleration support system
4 own vehicle position measuring device
5 map database
6 Road information preview means
7 Curvature calculation means
8 Track selection means

Claims (10)

Own vehicle position detecting means for detecting the position of the own vehicle,
Map data containing road information,
Road information preview means for reading map data connected from the vehicle position in the traveling direction;
A curvature calculating means for calculating a radius of curvature of the road information read by the road information preview means;
Path selection means for selecting a path according to a radius of curvature of each branch destination obtained by the curvature calculation means when there is a branch in the road information;
In the vehicle branch road selection device provided with
The path selection device for a vehicle, wherein the path selection means selects a branch destination having the largest radius of curvature as a path. The vehicular branch road selection device according to claim 1,
The route selection device for a vehicle, wherein the route selection means selects a route candidate in accordance with a position of the vehicle and a road type of a branch destination. In the vehicle branch road selection device according to claim 1 or 2,
The route selection device for a vehicle, wherein the route selection unit sets a priority for selecting a route candidate in the road type information used in the map data. The vehicular branch road selecting device according to claim 1, wherein
When the road type corresponding to the own vehicle position is a highway main line, the route selection means sets a branch destination of the highway main line as a road selection candidate as a road selection candidate. The vehicular branch road selecting device according to claim 1, wherein
A route selection device for a vehicle, wherein the route selection means selects a route candidate in accordance with a position of the vehicle and a road width at a branch destination. The vehicular branch road selecting device according to claim 1, wherein
The route selection device for a vehicle, wherein the route selection means selects a route candidate in accordance with the position of the vehicle and the number of lanes at a branch destination. The vehicular branch road selecting device according to claim 1, wherein
A route selection device for a vehicle, wherein the route selection means selects a route candidate in accordance with a position of the vehicle and a speed limit of a branch destination. The vehicle branch road selection device according to claim 2, wherein
Deceleration start detection means for detecting a deceleration start position from the accelerator opening, a brake switch signal and the vehicle speed,
The path selection device for a vehicle, wherein the path selection means selects a path according to a distance from a deceleration start position detected by the deceleration start detection means to a curve, a vehicle speed, and a radius of curvature of a branch destination. The vehicle branch road selection device according to claim 2, wherein
The route selection device for a vehicle, wherein the route selection means selects a route according to a direction indicated by a turn signal. Own vehicle position detecting means for detecting the position of the own vehicle,
Map data containing road information,
Road information preview means for reading map data connected from the vehicle position in the traveling direction;
A curvature calculating means for calculating a radius of curvature of the road information read by the road information preview means;
Path selection means for selecting a path according to a radius of curvature of each branch destination obtained by the curvature calculation means when there is a branch in the road information;
Deceleration control means for controlling deceleration of the vehicle according to the radius of curvature of the path selected by the path selection means,
In a travel control device provided with
A travel control device, wherein the course selection means selects a branch destination having the largest radius of curvature as a course.

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