Vehicle traveling control device
First Claim
1. A vehicle traveling control device comprising:
- object detection means for detecting an object in a traveling environment;
obstacle recognition means for recognizing an obstacle to form a traveling obstacle of the vehicle from the object detected by the object detection means; and
control means for guiding the vehicle so as to turnably avoid the obstacle recognized by the obstacle recognition means,wherein the control means;
sets an avoidance traveling start point to start the avoidance traveling, an avoidance traveling reaching point on the obstacle side based on the position of the obstacle, and an avoidance traveling target point between the avoidance traveling start point and the avoidance traveling reaching point;
sets vehicle motion parameters based on a vehicle motion model with the avoidance traveling target point and the avoidance traveling reaching point as target passing positions; and
guides the vehicle so that the turning direction of the vehicle is switched to the opposite direction at the avoidance traveling target point with respect to the turning direction of the vehicle from the avoidance traveling start point to the avoidance traveling target point.
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Accused Products
Abstract
A control device sets avoidance traveling reaching points, avoidance traveling target points, and a final avoidance target point of an obstacle to be avoided based on the position of the obstacle to be avoided and the position of the vehicle for the target passing position based on obstacle information recognized by a stereo camera, and an environment recognition unit, inputs the target actual steering angle as a vehicle motion parameter obtained according to a vehicle motion model to an electric power steering control device with these target passing positions as a target, and guides the avoidance traveling. The increase of the number of operations is controlled thereby to a minimum, and the obstacle is smoothly, efficiently and stably avoided based on actual behavior of the vehicle.
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Citations
18 Claims
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1. A vehicle traveling control device comprising:
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object detection means for detecting an object in a traveling environment; obstacle recognition means for recognizing an obstacle to form a traveling obstacle of the vehicle from the object detected by the object detection means; and control means for guiding the vehicle so as to turnably avoid the obstacle recognized by the obstacle recognition means, wherein the control means; sets an avoidance traveling start point to start the avoidance traveling, an avoidance traveling reaching point on the obstacle side based on the position of the obstacle, and an avoidance traveling target point between the avoidance traveling start point and the avoidance traveling reaching point; sets vehicle motion parameters based on a vehicle motion model with the avoidance traveling target point and the avoidance traveling reaching point as target passing positions; and guides the vehicle so that the turning direction of the vehicle is switched to the opposite direction at the avoidance traveling target point with respect to the turning direction of the vehicle from the avoidance traveling start point to the avoidance traveling target point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification