Travel control device and travel control method
First Claim
1. A travel control device comprising:
- a first information acquisition unit configured to acquire subject vehicle information including a position of a subject vehicle;
a second information acquisition unit configured to acquire object information including a position of a first avoidance object which the subject vehicle should avoid;
a setting unit configured to set a detection area for detecting the first avoidance object, the detection area being set in accordance with the position of the subject vehicle;
a detection unit configured to determine whether or not the first avoidance object exists within the detection area; and
a control unit configured to output command information for controlling travel of the subject vehicle when it is detected that the first avoidance object exists within the detection area,the setting unit being further configured to execute a first process to extend the detection area rearward from the subject vehicle when it is detected that the first avoidance object located behind the subject vehicle enters the detection area from behind the subject vehicle and exists within the detection area.
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Accused Products
Abstract
A travel control device executes a first information acquisition function to acquire subject vehicle information including the position of a subject vehicle, a second information acquisition function to acquire object information including the position of an avoidance object, a setting function to set a detection area for detecting the avoidance object, the detection area set in accordance with the position of the subject vehicle, and a control function for controlling travel of the subject vehicle when it is detected that the avoidance object exists within the detection area. The setting function is used to extend the detection area rearward from the subject vehicle when it is detected that the avoidance object located behind the subject vehicle exists within the detection area and extend the detection area frontward from the subject vehicle when it is detected that the avoidance object located ahead of the subject vehicle exists within the detection area.
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Citations
14 Claims
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1. A travel control device comprising:
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a first information acquisition unit configured to acquire subject vehicle information including a position of a subject vehicle; a second information acquisition unit configured to acquire object information including a position of a first avoidance object which the subject vehicle should avoid; a setting unit configured to set a detection area for detecting the first avoidance object, the detection area being set in accordance with the position of the subject vehicle; a detection unit configured to determine whether or not the first avoidance object exists within the detection area; and a control unit configured to output command information for controlling travel of the subject vehicle when it is detected that the first avoidance object exists within the detection area, the setting unit being further configured to execute a first process to extend the detection area rearward from the subject vehicle when it is detected that the first avoidance object located behind the subject vehicle enters the detection area from behind the subject vehicle and exists within the detection area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A travel control method executed by a computer, the computer outputting command information for driving a subject vehicle on a target route, the travel control method comprising:
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acquiring object information including a position of an avoidance object which the subject vehicle should avoid; setting a detection area for detecting the avoidance object, the detection area being set in accordance with the position of the subject vehicle; and executing a first process and outputting command information for controlling travel of the subject vehicle, the first process being a process to extend the detection area rearward from the subject vehicle when it is detected that the avoidance object located behind the subject vehicle enters the detection area from behind the subject vehicle and exists within the detection area.
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12. A travel control device comprising:
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a first information acquisition unit configured to acquire subject vehicle information including a position of a subject vehicle; a second information acquisition unit configured to acquire object information including a position of a first avoidance object which the subject vehicle should avoid; a setting unit configured to set a detection area for detecting the first avoidance object, the detection area being set in accordance with the position of the subject vehicle; a detection unit configured to determine whether or not the first avoidance object is located in an adjacent lane and exists within the detection area, the adjacent lane being adjacent to a lane in which the subject vehicle travels; and a control unit configured to output command information for controlling travel of the subject vehicle when it is detected that the first avoidance object exists within the detection area, the setting unit being further configured to execute at least one of a first process and a second process, the first process being a process to extend the detection area rearward from the subject vehicle when it is detected that the first avoidance object located behind the subject vehicle enters the detection area from behind the subject vehicle and exists within the detection area, the second process being a process to extend the detection area frontward from the subject vehicle when it is detected that the first avoidance object located ahead of the subject vehicle exists within the detection area, and the setting unit, when having executed the first process, contracting the extended detection area toward the subject vehicle upon a second avoidance object different from the first avoidance object existing further behind the first avoidance object located behind the subject vehicle and, when having executed the second process, contracting the extended detection area toward the subject vehicle upon a second avoidance object different from the first avoidance object existing further ahead of the first avoidance object located ahead of the subject vehicle. - View Dependent Claims (13, 14)
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Specification