Title:
VEHICLE DRIVING SUPPORT DEVICE
Document Type and Number:
Japanese Patent JP2019059441
Kind Code:
A
Abstract:
To provide a vehicle driving support device which, in such a situation that an own vehicle enters a curved section from a straight section in a travel lane, accurately acquires a trajectory shape parameter representing the shape of the travel trajectory of a steering follow-up target vehicle, thereby improving the reliability of steering follow-up control.SOLUTION: A driving support ECU calculates a value (ε) of a ratio between a curvature change rate acquired a prescribed time before a present time point and a maximum curvature change rate, and calculates an inter-vehicle time (T) between an own vehicle (SV) and a steering follow-up target vehicle (TV) at the present time point. When there are established both a first condition that the value (ε) of the ratio is equal to or more than a prescribed threshold (εth) and a second condition that the inter-vehicle time is equal to or less than a threshold time (Tth), the driving support ECU generates a travel trajectory (L1) in such a manner that an extent to which positional information detected behind the position of the own vehicle (SV) at the present time point is reflected in the travel trajectory (L1) is less than an extent to which positional information detected ahead of the own vehicle (SV) at the present time point is reflected in the travel trajectory (L1).SELECTED DRAWING: Figure 2
Inventors:
IDE HIROHITO
Application Number:
JP2017187937A
Publication Date:
April 18, 2019
Filing Date:
September 28, 2017
Export Citation:
Assignee:
TOYOTA MOTOR CORP
International Classes:
B60W30/095; B60W30/10; B60W40/04; B60W40/072; B62D6/00; G08G1/16
Domestic Patent References:
| JP2017065473A | 2017-04-06 | |||
| JP2017047800A | 2017-03-09 | |||
| JP2013129289A | 2013-07-04 |
Foreign References:
| US20160297438A1 | 2016-10-13 |
Attorney, Agent or Firm:
Patent business corporation Prospec patent office