VEHICLE DRIVING SUPPORT DEVICE

• Main Author: IDE HIROHITO
• Format: Patent
• Language: English; Japanese
• Published: 18.04.2019
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; TRAFFIC CONTROL SYSTEMS; TRAILERS; TRANSPORTING; VEHICLES IN GENERAL

To provide a vehicle driving support device capable of reducing a possibility that the reliability of steering follow-up control is deteriorated when a target vehicle ID has changed.SOLUTION: A driving support ECU determines a target travel line on the basis of a retained existing travel trajectory Lp1 until a first time T1 elapses from a time point when it is determined at a time t2 that a present target vehicle ID (ID2) which is a latest target vehicle ID is different from a previous target vehicle ID (ID1) which has been acquired at a time t1 before the present target vehicle ID is acquired. When a first vehicle 101 continues to be specified as a steering follow-up target vehicle in the vicinity of the existing travel trajectory Lp1 over a second time T2, the driving support ECU determines the target travel line on the basis of a travel trajectory Lp2 of the first vehicle 101 generated on the basis of positional information on the first vehicle 101 and the retained existing travel trajectory Lp1 in such a manner that the travel trajectory of the first vehicle 101 is continuous with the existing travel trajectory Lp1.SELECTED DRAWING: Figure 6 【課題】目標車両ＩＤが変化した場合に、操舵追従制御の信頼性が低下する可能性を低くすることができる車両運転支援装置を提供する。【解決手段】運転支援ＥＣＵは、時刻ｔ２にて、最新の目標車両ＩＤである今回目標車両ＩＤ（ＩＤ２）と今回目標車両ＩＤが取得される前の時刻ｔ１に取得されていた前回目標車両ＩＤ（ＩＤ１）とが異なると判定した時点から第１時間Ｔ１が経過するまで、保持した既存の走行軌跡Ｌｐ１に基づいて目標走行ラインを決定する。既存の走行軌跡Ｌｐ１の近傍に、第２時間Ｔ２に渡り、操舵追従目標車両として第１車両１０１が特定され続けた場合、第１車両１０１の位置情報及び保持した既存の走行軌跡Ｌｐ１に基づいて当該第１車両１０１の走行軌跡が当該既存の走行軌跡Ｌｐ１に連続するように、生成された第１車両１０１の走行軌跡Ｌｐ２に基づいて目標走行ラインを決定する。【選択図】図６