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    • 17. 发明公开
    • TRAVEL CONTROL DEVICE AND TRAVEL CONTROL METHOD
    • 旅行控制装置和旅行控制方法
    • EP3181419A1
    • 2017-06-21
    • EP14899855.2
    • 2014-08-11
    • NISSAN MOTOR CO., LTD.
    • NAKAMURA, Masahide
    • B60W30/09G08G1/16
    • B60W10/20B60W10/18B60W30/09B60W30/095B60W30/18163B60W2520/10B60W2550/14B60W2550/308B60W2750/00G08G1/16G08G1/165G08G1/166
    • A travel control device is provided which comprises: an object information acquisition unit (10) that acquires object information including the position of an avoidance object that exists around a subject vehicle; a planning unit (10) that planss a target route passing a side of the avoidance object on the basis of the position of the subject vehicle and the position of the avoidance object; a control unit (10) that outputs command information for driving the subject vehicle on the target route, and a second setting unit (10) that calculates a distance between the subject vehicle and the avoidance object along the vehicle width direction when driving the subject vehicle on the target route and uses the distance as the basis to set a tolerable vehicle width distance range. When an actual distance from the subject vehicle to the position of the avoidance object along the vehicle width direction is within the tolerable vehicle width distance range, the control unit (10) drives the subject vehicle on the basis of the set target route.
    • 本发明提供一种行驶控制装置,其具备:物体信息取得部(10),其取得包含存在于本车周边的回避物的位置的物体信息; 计划单元(10),其基于所述本车辆的位置和所述回避对象的位置来计划通过所述回避对象的一侧的目标路线; 控制单元(10),其输出用于在目标路线上驱动本车辆的命令信息;以及第二设定单元(10),其在驾驶本车辆时计算沿着车辆宽度方向的本车辆和回避对象之间的距离 在目标路线上并且使用该距离作为基础来设定可容许的车辆宽度距离范围。 当从目标车辆到回避目标的沿着车辆宽度方向的位置的实际距离处于容许车辆宽度距离范围内时,控制单元(10)基于设定的目标路线驱动目标车辆。