JP7425420B2 - 運転支援方法及び運転支援装置 - Google Patents
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Description
以上説明したように、本実施形態に係る運転支援装置1によれば、以下の作用効果が得られる。
次に割込判断部25による判断方法の他の例を説明する。
割込判断部25は、他車両42がカメラ10の検出範囲へ進入した度合いに応じて他車両42の割り込みを判断してもよい。検出範囲へ進入した度合いとは、検出範囲において他車両42がオーバーラップする面積と定義される。検出範囲において他車両42がオーバーラップする面積とは、他車両42を上空から鉛直方向に見た場合にオーバーラップする面積と定義される。
図2のシーンにおいて、領域R1の進行方向の長さは自車両40の先端から先行車両41の後端までである、と説明した。しかし、領域R1の進行方向の長さはこれに限定されない。図9に示すように領域R1の進行方向の長さは先行車両41の後端に達しない長さでもよい。ただし、領域R1の進行方向の長さは自動運転機能による緊急ブレーキが実施される距離よりも長いことが好ましい。これにより緊急ブレーキが実施される前に割り込みを検出することが可能になる。
10 カメラ
11 レーダ
12 ソナー
13 車速センサ
14 GPS受信機
15 スイッチ
20 コントローラ
21 車線検出部
22 先行車両検出部
23 追従走行部
24 停止判断部
25 割込判断部
30 ステアリングアクチュエータ
31 アクセルペダルアクチュエータ
32 ブレーキアクチュエータ
Claims (6)
- 自車両が走行する車線において前記自車両の前方に割り込む他車両をセンサで検出するコントローラを用いて行う運転支援方法であって、
前記コントローラは、
前記自車両の前方において前記センサを用いて前記自車両の前方に割り込む前記他車両を検出するための検出範囲を設定し、
前記自車両が走行しているとき、前記他車両が前記自車両の車幅方向において前記検出範囲へ進入した度合いが第1所定値以上である場合、前記他車両が前記自車両の前方に割り込んだと判断し、
前記自車両が停止しているとき、前記度合いが前記第1所定値より小さい第2所定値以上である場合、前記他車両が前記自車両の前方に割り込んだと判断することを特徴とする運転支援方法。 - 前記コントローラは、
前記自車両の前方に存在する先行車両に追従して走行するように前記自車両を制御し、
前記自車両と前記先行車両との間において前記検出範囲を設定し、
前記第1所定値を、前記自車両が走行しているときに前記検出範囲で検出された前記他車両の背面の面積との比較に用いられる第3所定値として設定し、
前記第2所定値を、前記自車両が停止しているときに前記検出範囲で検出された前記他車両の側面の面積との比較に用いられる第4所定値として設定することを特徴とする請求項1に記載の運転支援方法。 - 前記自車両の進行方向における前記検出範囲の長さは、自動運転機能による緊急ブレーキが実施される距離よりも長いことを特徴とする請求項1に記載の運転支援方法。
- 前記自車両の位置情報を取得し、
前記位置情報に基づいて前記自車両が自動車専用道路上にいるかどうかを判断し、
前記自車両が前記自動車専用道路上にいると判断した場合のみ、前記自車両の前方に割り込む前記他車両を検出することを特徴とする請求項1~3のいずれか1項に記載の運転支援方法。 - 前記自車両が停止しているときに前記割り込みを検出した場合、前記自車両が先行車両に追従して発進することを禁止することを特徴とする請求項1~4のいずれか1項に記載の運転支援方法。
- 自車両が走行する車線において前記自車両の前方に割り込む他車両を検出する運転支援装置であって、
前記自車両の前方において前記他車両を検出するセンサと、
前記センサを用いて前記自車両の前方に割り込む前記他車両を検出するための検出範囲を設定するコントローラと、を備え、
前記コントローラは、
前記自車両が走行しているとき、前記他車両が前記自車両の車幅方向において前記検出範囲へ進入した度合いが第1所定値以上である場合、前記他車両が前記自車両の前方に割り込んだと判断し、
前記自車両が停止しているとき、前記自車両の車幅方向における前記度合いが前記第1所定値より小さい第2所定値以上である場合、前記他車両が前記自車両の前方に割り込んだと判断することを特徴とする運転支援装置。
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JP2008117073A (ja) | 2006-11-01 | 2008-05-22 | Fuji Heavy Ind Ltd | 割り込み車両検出装置 |
JP2010038731A (ja) | 2008-08-05 | 2010-02-18 | Fujitsu Ten Ltd | レーダ装置 |
JP2016045709A (ja) | 2014-08-22 | 2016-04-04 | 株式会社アドヴィックス | 車両制御装置 |
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JP3602337B2 (ja) * | 1998-05-15 | 2004-12-15 | 株式会社日立製作所 | 車両走行制御装置 |
JP5969220B2 (ja) * | 2012-02-28 | 2016-08-17 | 株式会社日本自動車部品総合研究所 | 車間距離制御装置 |
US9746550B2 (en) * | 2014-10-08 | 2017-08-29 | Ford Global Technologies, Llc | Detecting low-speed close-range vehicle cut-in |
JP6520177B2 (ja) * | 2015-02-10 | 2019-05-29 | 株式会社デンソー | 運転制御装置、運転制御方法 |
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