JP7410819B2 - 車両制御装置 - Google Patents
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Description
以下、本発明に係る車両制御装置を、車載の運転支援装置100に適用した実施形態について、図面を参照しつつ説明する。
図5に示すように、相対距離RTDは、自車両M1の進行方向における自車両M1と対向車両M2との間の距離である。
図6に示すように、横方向距離CTDは、横方向DYにおいて、自車両M1から、対向車両M2の直進進路に沿って定められる車両通行エリアER1までの距離である。車両通行エリアER1は、自車両M1側の境界部(図の左端)が、対向車両M2の自車両M1側の側方端部を基準として定められ、横方向DYに車幅相当の幅寸法を有するエリアであり、対向車両M2の直進進行方向DXに沿って延びるように設定される。
ステップS17では、ステップS16で算出された横衝突時間CTTが、所定の第2時間閾値Cthよりも短いか否かを判定する。ステップS17で肯定判定すると、ステップS18において、安全装置30を作動させ、本処理を終了する。一方、ステップS17で否定判定すると、安全装置30を作動させることなく本処理を終了する。なお、本実施形態において、ステップS16~S18の処理が「制御部」に相当する。
なお、上記各実施形態は、以下のように変更して実施してもよい。
Claims (5)
- 自車両(M1)が自車線(L1)を直進する状態から対向車線(L2)を横切る側に右左折する場合において、前記対向車線を直進する対向車両(M2)との衝突抑制を図るべく安全装置(30)を作動させる車両制御装置(22)であって、
前記自車両が前記右左折のために旋回し、かつ前記対向車線を横切る前の右左折旋回状態であることを判定する判定部と、
前記右左折旋回状態であると判定された場合に、前記対向車両の直進進行方向に直交する方向である横方向(DY)において当該対向車両の直進進路に沿って定められる車両通行エリア(ER1)までの距離である横方向距離を、前記横方向における前記自車両の速度である横方向速度で割った横衝突時間(CTT)に基づいて、前記安全装置を作動させる制御部と、を備え、
前記判定部は、
前記自車両が直進状態から前記右左折のための旋回を開始して前記右左折旋回状態になったことを判定する旋回開始判定部と、
旋回を開始したとの判定後に前記自車両が前記車両通行エリアまで前進したこと、又は前記車両通行エリア内の所定位置まで前進したことに基づいて、前記右左折旋回状態が終了したことを判定する旋回終了判定部と、を有し、
前記制御部は、前記自車両が旋回を開始したと判定されてから、その旋回が終了したと判定されるまでの期間において、前記対向車線において前記自車両から所定の距離範囲で定められる所定の直進エリア(ER2)内に前記対向車両が存在していることを条件に、前記横衝突時間に基づいて、前記安全装置を作動させる車両制御装置。 - 前記制御部は、前記自車両の旋回開始から旋回終了までの期間であり、かつ前記直進エリア内に前記対向車両が存在している場合に、前記横衝突時間が所定時間よりも短ければ、前記安全装置を作動させる請求項1に記載の車両制御装置。
- 前記直進エリアにおける前記自車両からの距離範囲を、前記対向車両の速度に基づいて設定する設定部を備える請求項1又は2に記載の車両制御装置。
- 前記旋回終了判定部は、前記自車両の旋回開始の時点からの当該自車両の移動距離、及び前記自車両の旋回開始の時点からの経過時間の少なくともいずれかを用い、前記自車両が前記車両通行エリアを横切る際に当該車両通行エリアの一端から他端までの間の所定位置まで前進したか否かを判定することにより、前記右左折旋回状態が終了したことを判定する請求項1から3のいずれか一項に記載の車両制御装置。
- 前記制御部は、
前記自車両の進行方向前方に存在する他車両との間の相対距離を、前記自車両と前記他車両との相対速度で割った相対衝突時間(TTC)に基づいて前記安全装置を作動させる衝突抑制制御である第1制御と、前記横衝突時間に基づいて前記安全装置を作動させる衝突抑制制御である第2制御とを実施するものであり、
前記右左折旋回状態でないと判定された場合に前記第1制御を実施し、前記右左折旋回状態であると判定された場合に前記第1制御から前記第2制御への切替を実施する請求項1から4のいずれか一項に記載の車両制御装置。
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Citations (4)
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JP2007128227A (ja) | 2005-11-02 | 2007-05-24 | Toyota Motor Corp | 運転者心理状態判定装置及び運転者心理状態判定システム |
JP2007334598A (ja) | 2006-06-14 | 2007-12-27 | Toyota Motor Corp | 車両用警告装置 |
JP2014178836A (ja) | 2013-03-14 | 2014-09-25 | Fuji Heavy Ind Ltd | 車両の外部環境認識装置 |
JP2019046413A (ja) | 2017-09-07 | 2019-03-22 | 株式会社デンソー | 衝突回避装置 |
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JP2007128227A (ja) | 2005-11-02 | 2007-05-24 | Toyota Motor Corp | 運転者心理状態判定装置及び運転者心理状態判定システム |
JP2007334598A (ja) | 2006-06-14 | 2007-12-27 | Toyota Motor Corp | 車両用警告装置 |
JP2014178836A (ja) | 2013-03-14 | 2014-09-25 | Fuji Heavy Ind Ltd | 車両の外部環境認識装置 |
JP2019046413A (ja) | 2017-09-07 | 2019-03-22 | 株式会社デンソー | 衝突回避装置 |
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