JP2018195202A - 退避走行支援装置 - Google Patents
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Abstract
Description
Claims (9)
- 道路上の自車両に緊急車両が接近してきている場合に、前記緊急車両のために走行路を空けるように前記自車両を前記走行路から退避させるように前記自車両の走行を支援する退避走行支援装置において、
前記緊急車両が接近してきていることを検知する検知部と、
前記緊急車両および前記自車両以外の一般車両に関する情報と前記道路に関する情報とを取得する情報取得部と、
前記一般車両に関する情報と前記道路に関する情報とに基づいて、前記緊急車両のための走行路を空けるように前記自車両の目標退避位置を求めるとともに少なくとも前記一般車両に関する情報に基づいて前記目標退避位置を逐次更新する目標退避位置算出部と、
前記目標退避位置を前記自車両の運転者に告知する告知部と
を備えていることを特徴とする退避走行支援装置。 - 請求項1に記載の退避走行支援装置において、
前記情報取得部は、前記緊急車両に関する情報と前記自車両に関する情報とを更に取得し、
前記目標退避位置算出部は、前記緊急車両が前記自車両を追い越すまでの間、前記目標退避位置を更新する
ことを特徴とする退避走行支援装置。 - 請求項1または2に記載の退避走行支援装置において、
前記目標退避位置は、前記道路の路肩のうち、前記自車両の車線側の側部に空く空間幅が前記緊急車両の車幅以上でかつ前記自車両の前方側の前記一般車両との間隔が前記緊急車両の車長以上となる箇所であることを特徴とする退避走行支援装置。 - 請求項1ないし3のいずれか一項に記載の退避走行支援装置において、
前記自車両が前記告知に従って走行する際に前記自車両の駆動特性を減速力が大きくなる特性に変更する第1駆動特性制御部を更に備えていることを特徴とする退避走行支援装置。 - 請求項4に記載の退避走行支援装置において、
前記第1駆動特性制御部は、
前記自車両と前記目標退避位置との距離を求め、
求められた前記距離が予め定めた距離に達した場合に前記駆動特性の変更を実行する
ように構成されていることを特徴とする退避走行支援装置。 - 請求項5に記載の退避走行支援装置において、
前記第1駆動特性制御部は、
前記自車両の車速を求め、
求められた前記車速が高車速であるほど前記予め定めた距離を長くする
ように構成されていることを特徴とする退避走行支援装置。 - 請求項4に記載の退避走行支援装置において、
前記第1駆動特性制御部は、
前記自車両と前記目標退避位置との距離を求め、
求められた前記距離が短いほど、前記減速力が大きくなる特性に前記駆動特性を変更する
ように構成されていることを特徴とする退避走行支援装置。 - 請求項1または2に記載の退避走行支援装置において、
前記目標退避位置は、前記道路が複数車線の道路の場合、前記道路のセンターライン側の車線以外の車線上でかつ前記一般車両の位置を避けた位置であることを特徴とする退避走行支援装置。 - 請求項8に記載の退避走行支援装置において、
前記自車両が前記目標退避位置に移動した後に、前記自車両の駆動特性を減速力が大きくなる特性に変更する第2駆動特性制御部を更に備えていることを特徴とする退避走行支援装置。
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JP2017100261A JP6665831B2 (ja) | 2017-05-19 | 2017-05-19 | 退避走行支援装置 |
US15/968,208 US10766481B2 (en) | 2017-05-19 | 2018-05-01 | Yeilding action assistance system |
US16/848,600 US11027722B2 (en) | 2017-05-19 | 2020-04-14 | Yeilding action assistance system |
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JP2017100261A JP6665831B2 (ja) | 2017-05-19 | 2017-05-19 | 退避走行支援装置 |
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WO2020250725A1 (ja) * | 2019-06-14 | 2020-12-17 | ソニー株式会社 | 情報処理装置、および情報処理方法、並びにプログラム |
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US10332396B1 (en) * | 2017-11-30 | 2019-06-25 | State Farm Mutual Automobile Insurance Company | Technology for managing autonomous vehicle operation in association with emergency events |
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KR20200057505A (ko) * | 2018-11-16 | 2020-05-26 | 현대자동차주식회사 | 긴급차량 회피 제어 장치 및 방법, 그리고 차량 시스템 |
JP6898388B2 (ja) * | 2019-07-05 | 2021-07-07 | 本田技研工業株式会社 | 車両の制御システム、車両の制御方法、およびプログラム |
JP7272291B2 (ja) | 2020-01-27 | 2023-05-12 | トヨタ自動車株式会社 | 車両制御システム |
US11745733B2 (en) * | 2020-01-27 | 2023-09-05 | Mazda Motor Corporation | Travel control apparatus for vehicle, vehicle controlling method and computer program therefor |
JP7264103B2 (ja) | 2020-04-21 | 2023-04-25 | トヨタ自動車株式会社 | 車両制御システム及び車両制御方法 |
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US10766481B2 (en) | 2020-09-08 |
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