JP2020006707A5

JP2020006707A5 -

Info

Publication number: JP2020006707A5
Application number: JP2018126343A
Authority: JP
Filing date: 2018-07-02
Publication date: 2020-08-20
Anticipated expiration: 2038-07-02

Claims

A collision determination device (20) for determining a collision of the object with respect to the own vehicle based on the estimated route of the own vehicle and the estimated route of the object,
An estimated route calculation unit (41) that estimates a curve radius of a route on which the vehicle travels in the future, and calculates the estimated route of the vehicle based on the estimated curve radius;
A left/right turn determination unit (42) for determining whether or not the vehicle starts right/left turn;
In the estimated route of the own vehicle calculated when the right/left turn determination unit determines that the own vehicle starts a right/left turn, an end point for detecting a point at which the own vehicle will turn in the future as a turning end point. A detection unit (43),
A straight line correction unit (44) that corrects a section after the detected turning end point on the calculated estimated route of the own vehicle into a straight road ;
A shape acquisition unit that acquires shape information indicating the shape of the vehicle lane in which the vehicle is traveling,
In the estimated route of the calculated own vehicle, a deviation point detection unit for detecting a deviation point where a deviation starts to occur between the shape of the own lane based on the acquired shape information,
In the estimated route of the calculated own vehicle, a section after the detected deviation point, a road shape correction unit that corrects the shape of the own lane based on the shape information,
When the deviation point is detected by the deviation point detection unit, a lane determination unit that determines whether or not a lane exists in a section after the deviation point in the estimated route of the vehicle,
The road shape correction unit, after the detected deviation point in the estimated route of the vehicle on condition that the lane determination unit determines that there is no lane in the section after the deviation point. Collision determination device that corrects the section .

The end point detection unit is a turning end point that is a point at which the own vehicle turns by a predetermined turning angle from a point at which the right/left turn determination unit determines that the own vehicle starts turning right/left in the estimated route of the vehicle. The collision determination device according to claim 1, wherein the collision determination device detects.

When the vehicle is determined to start a right or left turn by the right-left turn determination unit, on the road on which the vehicle travels, an information acquisition unit that acquires information indicating the position of the exit of the intersection in front of the vehicle,
The collision determination device according to claim 1, wherein the end point detection unit detects the turning end point in the estimated route of the vehicle based on the acquired information indicating the position of the exit.

A collision determination device that determines a collision of the object with respect to the own vehicle, based on the estimated route of the own vehicle and the estimated route of the object,
An estimated route calculation unit that estimates a curve radius of a route on which the vehicle travels in the future, and calculates the estimated route of the vehicle based on the estimated curve radius,
A shape acquisition unit that acquires shape information indicating the shape of the vehicle lane in which the vehicle is traveling,
In the estimated route of the calculated own vehicle, a deviation point detection unit for detecting a deviation point where a deviation starts to occur between the shape of the own lane based on the acquired shape information,
In the estimated route of the calculated own vehicle, a section after the detected deviation point, a road shape correction unit that corrects the shape of the own lane based on the shape information ,
When the deviation point is detected by the deviation point detection unit, a lane determination unit that determines whether or not a lane exists in a section after the deviation point in the estimated route of the vehicle,
The road shape correction unit, after the detected deviation point in the estimated route of the vehicle on condition that the lane determination unit determines that there is no lane in the section after the deviation point. Collision determination device that corrects the section .