In a driving support system, a target speed profile computing unit determines a target speed on the basis of a safe-condition confirmation end point that is set to a predetermined position in a travel direction of a host vehicle. The safe-condition confirmation end point is a point at which the host
In a driving support system, a target speed profile computing unit determines a target speed on the basis of a safe-condition confirmation end point that is set to a predetermined position in a travel direction of a host vehicle. The safe-condition confirmation end point is a point at which the host vehicle passes through a section following the safe-condition confirmation end point in advance of a moving object that appears from blind areas. In this way, by determining the target speed based on the safe-condition confirmation end point, the drive support control unit is able to support driving in consideration of driving action at the time when the driver actually causes the host vehicle to pass through near the blind areas. Thus, it is possible to appropriately support driving along a feeling of the driver such that inconvenience and a feeling of strangeness are reduced.
대표청구항▼
1. A driving support system comprising a control unit, which further includes: an electronic control unit (ECU) including a CPU, a ROM, a RAM, and circuitry, the ECU configured to:recognize a blind area for a driver in a travel direction of a host vehicle;determine a target speed of the host vehicle
1. A driving support system comprising a control unit, which further includes: an electronic control unit (ECU) including a CPU, a ROM, a RAM, and circuitry, the ECU configured to:recognize a blind area for a driver in a travel direction of a host vehicle;determine a target speed of the host vehicle on the basis of the blind area recognized by the ECU; andcontrol driving of the host vehicle on the basis of the target speed determined by the ECU, wherein the ECU is configured to determine the target speed on the basis of a safe-condition confirmation end point that is set to a first predetermined position in the travel direction of the host vehicle and that is outside of a possible collision zone,the safe-condition confirmation end point is a point subsequent to which the host vehicle passes through the possible collision zone, wherein in the possible collision zone the vehicle avoids collision by advancing past a moving object that appears from the blind area,the ECU is configured to determine the target speed further on the basis of a safe-condition confirmation start point that is set to a second predetermined position before the safe-condition confirmation end point in the travel direction of the host vehicle, anda line-of-sight angle is preset between the host vehicle and the blind area and the safe-condition confirmation start point is a point at which the host vehicle achieves the preset line-of-sight angle with respect to the blind area. 2. The driving support system according to claim 1, wherein the ECU is further configured to compute the safe-condition confirmation end point on the basis of a relative position between the blind area and the host vehicle, a speed of the host vehicle and a preset constant speed of the moving object that appears from the blind area. 3. The driving support system according to claim 1, wherein the ECU is further configured to control driving on the basis of the safe-condition confirmation end point and an actual safe-condition confirmation end point, whichis a point at which the driver of the host vehicle has started an accelerating operation. 4. The driving support system according to claim 1, the ECU further configured to acquire information about the driver of the host vehicle, wherein the ECU is configured to control driving on the basis of the acquired information about the driver. 5. A driving support system comprising a control unit, which further includes: an electronic control unit (ECU) including a CPU, a ROM, a RAM, and circuitry, the ECU configured to:recognize a blind area for a driver in a travel direction of a host vehicle;determine a target speed of the host vehicle on the basis of the blind area recognized by the ECU; andcontrol driving of the host vehicle on the basis of the target speed determined by the ECU, wherein the ECU is configured to determine the target speed on the basis of a safe-condition confirmation end point that is set to a first predetermined position in the travel direction of the host vehicle and that is outside of a possible collision zone,the safe-condition confirmation end point is a point subsequent to which the host vehicle passes through the possible collision zone, wherein in the possible collision zone the vehicle avoids collision by advancing past a moving object that appears from the blind area,the ECU is configured to determine the target speed further on the basis of a safe-condition confirmation start point that is set to a second predetermined position before the safe-condition confirmation end point in the travel direction of the host vehicle, anda line-of-sight angle is preset between the host vehicle and the blind area and the safe-condition confirmation start point is a point at which the host vehicle achieves the preset line-of-sight angle with respect to the blind area,wherein the ECU is configured to determine the target speed further on the basis of a deceleration start point that is set to a third predetermined position before the safe-condition confirmation start point in the travel direction of the host vehicle, and the deceleration start point is a point at which, by starting deceleration from the deceleration start point, the host vehicle is able to decelerate to a preset reference speed by the time when the host vehicle reaches the safe-condition confirmation start point.
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