DRIVE SUPPORT APPARATUS

• Main Authors: MIYAMOTO YUHEI, MOROTOMI KOHEI
• Format: Patent
• Language: English; Japanese
• Published: 17.09.2020
• 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 enable a collision avoidance support by an automatic steering by estimating a road surface area with a simple configuration.SOLUTION: A drive support ECU performs: estimating a road surface area that allows a vehicle to travel, on the basis of white-line information (S12); obtaining a movement track of a solid article on the basis of solid-article information supplied from a surroundings sensor, thus setting, in a post-complement road surface area, an area produced by adding a road surface area estimated from the movement track of the solid article to the road surface area estimated on the basis of the white-line information (S13-S14); determining whether the post-complement road surface area contains an avoidance space that enables a vehicle itself to avoid a collision; and executing, if the avoidance space is contained, steering control so as to cause the vehicle itself to move to the avoidance space when a collision predicted time TTC becomes equal to or less than a working threshold TTCa.SELECTED DRAWING: Figure 5 【課題】 簡易な構成にて路面エリアを推定して、自動操舵による衝突回避支援を行えるようにする。【解決手段】 運転支援ＥＣＵは、白線情報に基づいて車両の走行できる路面エリアを推定する（Ｓ１２）。更に、運転支援ＥＣＵは、周辺センサから供給された立体物情報に基づいて、立体物の移動軌跡を取得し、白線情報に基づいて推定される路面エリアに、立体物の移動軌跡から推定される路面エリアを加えたエリアを補完後路面エリアに設定する（Ｓ１３〜１４）。運転支援ＥＣＵは、補完後路面エリアに自車両の衝突を回避できる回避スペースが存在するか否かについて判定し、回避スペースが存在する場合には、衝突予測時間ＴＴＣが作動用閾値ＴＴＣａ以下となったときに、回避スペースに自車両を移動させるように操舵制御を実施する。【選択図】 図５