JPWO2022186070A5 - - Google Patents

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JPWO2022186070A5
JPWO2022186070A5 JP2023503779A JP2023503779A JPWO2022186070A5 JP WO2022186070 A5 JPWO2022186070 A5 JP WO2022186070A5 JP 2023503779 A JP2023503779 A JP 2023503779A JP 2023503779 A JP2023503779 A JP 2023503779A JP WO2022186070 A5 JPWO2022186070 A5 JP WO2022186070A5
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Japan
Prior art keywords
vehicle
area
driving support
support device
control
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JP2023503779A
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Japanese (ja)
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JP7364112B2 (en
JPWO2022186070A1 (en
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Priority claimed from PCT/JP2022/007879 external-priority patent/WO2022186070A1/en
Publication of JPWO2022186070A1 publication Critical patent/JPWO2022186070A1/ja
Publication of JPWO2022186070A5 publication Critical patent/JPWO2022186070A5/ja
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Publication of JP7364112B2 publication Critical patent/JP7364112B2/en
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Claims (8)

自車(40)の後方と後側方との少なくともいずれか一方の物体を検知する物体検知部(33)と、
前記自車の後方と後側方との少なくともいずれか一方に制御領域を設定する領域設定部(35)と、
前記物体検知部により前記制御領域内に物体が検知された場合に、前記自車の運転支援制御を実行する運転支援部(37)と、
前記自車の旋回時に、前記自車の内側ほど前記制御領域は小さくなり、前記自車の外側ほど制御領域は大きくなるように前記制御領域の後端を変更する領域変更部(36)と、を備え
前記領域変更部は、前記自車の走行軌跡における前記自車の回転角に基づいて、前記制御領域を変更する基準となる前記自車の走行軌跡上の位置である基準位置を設定し、前記基準位置における前記自車の回転半径方向に延びる横方向ラインに基づいて、前記制御領域の後端を変更する運転支援装置(30)。
an object detection unit (33) for detecting an object on at least one of the rear side and the rear side of the own vehicle (40);
an area setting unit (35) for setting a control area to at least one of the rear side and the rear side of the own vehicle;
a driving support unit (37) that executes driving support control of the own vehicle when an object is detected within the control area by the object detection unit;
an area changing unit (36) for changing the rear end of the control area so that, when the vehicle turns, the control area becomes smaller toward the inside of the vehicle and becomes larger toward the outside of the vehicle; with
The area changing unit sets a reference position, which is a position on the travel locus of the own vehicle as a reference for changing the control area, based on the rotation angle of the own vehicle on the travel locus of the own vehicle, and A driving support device (30) for changing the rear end of the control area based on a lateral line extending in a turning radius direction of the own vehicle at a reference position .
前記領域変更部は、前記自車の回転角が所定の角度閾値を超える前記自車の過去の位置のうち、前記自車の現在の位置に最も近い位置である角超過位置を選択し、前記角超過位置よりも前記自車の現在の位置に近い側に前記基準位置を設定する請求項に記載の運転支援装置。 The region changing unit selects, from among past positions of the vehicle at which the rotation angle of the vehicle exceeds a predetermined angle threshold, an over-angle position that is closest to the current position of the vehicle, and 2. The driving support device according to claim 1 , wherein the reference position is set closer to the current position of the vehicle than the over-angle position. 前記領域変更部は、前記自車の走行軌跡として記録された前記自車の位置の履歴において、前記角超過位置の直後に記録された前記自車の位置を前記基準位置に設定し、前記制御領域の後端を前記基準位置における横方向ラインに設定する請求項に記載の運転支援装置。 The region changing unit sets, as the reference position, the position of the vehicle recorded immediately after the position exceeding the corner in the history of the position of the vehicle recorded as the travel locus of the vehicle, and the control 3. The driving support device according to claim 2 , wherein the rear end of the area is set to a horizontal line at the reference position. 前記角度閾値は、前記自車が走行する自車線の車線幅が広いほど大きい請求項2または3に記載の運転支援装置。 The driving support device according to claim 2 or 3 , wherein the angle threshold increases as the lane width of the own lane on which the own vehicle travels increases. 前記角度閾値は、前記自車の走行する速度が速いほど大きい請求項2~4のいずれかに記載の運転支援装置。 The driving support device according to any one of claims 2 to 4 , wherein the angle threshold increases as the vehicle travels at a higher speed. 前記領域設定部は、前記自車の走行軌跡に基づいて推定された前記自車の隣接車線の領域である隣接車線領域を、前記制御領域のうち前記自車の後側方に設定された後側方制御領域として設定する請求項1~のいずれかに記載の運転支援装置。 The area setting unit sets an adjacent lane area, which is an area of adjacent lanes of the own vehicle estimated based on the travel locus of the own vehicle, to a rear side of the own vehicle in the control area. The driving support device according to any one of claims 1 to 5 , which is set as a side control area. 前記領域設定部は、前記自車が走行する自車線の車線幅に基づいて、前記隣接車線領域の側端を設定する請求項に記載の運転支援装置。 The driving assistance device according to claim 6 , wherein the area setting unit sets the side edge of the adjacent lane area based on the lane width of the own lane in which the own vehicle travels. 前記領域設定部は、前記角超過位置が前記自車の後端に近いほど、前記制御領域の横方向ラインに沿う幅を狭くする請求項2~5のいずれかに記載の運転支援装置。 The driving support device according to any one of claims 2 to 5 , wherein the region setting unit narrows the width of the control region along the lateral line as the position of the vehicle beyond the corner is closer to the rear end of the vehicle.
JP2023503779A 2021-03-02 2022-02-25 Driving support device Active JP7364112B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021032442 2021-03-02
JP2021032442 2021-03-02
PCT/JP2022/007879 WO2022186070A1 (en) 2021-03-02 2022-02-25 Driving assistance device

Publications (3)

Publication Number Publication Date
JPWO2022186070A1 JPWO2022186070A1 (en) 2022-09-09
JPWO2022186070A5 true JPWO2022186070A5 (en) 2023-06-08
JP7364112B2 JP7364112B2 (en) 2023-10-18

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023503779A Active JP7364112B2 (en) 2021-03-02 2022-02-25 Driving support device

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JP (1) JP7364112B2 (en)
WO (1) WO2022186070A1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3729005B2 (en) * 1999-12-24 2005-12-21 三菱自動車工業株式会社 Vehicle rear monitoring device
JP2003215241A (en) * 2002-01-28 2003-07-30 Matsushita Electric Works Ltd On-vehicle radar apparatus
EP2741270B1 (en) * 2011-08-02 2020-11-25 Nissan Motor Co., Ltd. Driving assistance apparatus and driving assistance method
JP2018138405A (en) * 2017-02-24 2018-09-06 マツダ株式会社 Vehicle driving assisting system and method

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