VEHICLE DRIVING ASSISTANCE SYSTEM

摘要

An object of the invention is to provide, in a vehicle driving assistance system that provides assistance to avoid a collision between a host vehicle and a three-dimensional object causing an obstruction, a technique for avoiding assistance in which the host vehicle is guided to a region where the presence of a three-dimensional object is unclear. To achieve this object, according to the invention, a grid map, by which an avoidance region in which a three-dimensional object exists, an unclear region in which the existence of a three-dimensional object is unclear, and a safe region in which no three-dimensional objects exist can he distinguished, is created. When the avoidance region exists on the advancement path of the host vehicle, a route that can avoid the avoidance region and passes through the unclear region for a distance not exceeding a threshold is specified, whereupon a steering angle is controlled to cause the host vehicle to travel along the specified route,

主权项

1. A vehicle driving assistance system comprising:
a recognizing unit configured to recognize a three-dimensional object existing on a periphery of a host vehicle and generate information relating to relative positions of the three-dimensional object and the host vehicle; a setting unit configured to set, on the basis of the information generated by the recognizing unit, a grid map indicating relative positions of a current position of the host vehicle, an avoidance region, which is a region in which the three-dimensional object exists, a safe region, which is a region in which no three-dimensional objects exist, and an unclear region, which is a region in which the presence of a three-dimensional object is unclear; and an assisting unit configured to, when an advancement path of the host vehicle passes through the avoidance region on the grid map set by the setting unit, specify an avoidance line, which is a route on which the avoidance region can be avoided, on the basis of a distance by which the route passes through the unclear region or the number of times the route passes through a cell of the unclear region, and modify a movement amount of the host vehicle such that the host vehicle travels along the specified avoidance line.