With this travel trajectory generation method, a plurality of risks (71, 72, 73) inherent to different positions in front of and behind one another in front in the direction of travel of the host vehicle, and from among the left and right sides of the road along which the host vehicle (70) is travelling, whichever is closer to the host vehicle, are detected, and the amounts of lateral movement (m1, m2, m3) of the host vehicle to allow the vehicle to pass avoiding the plurality of risks with a gap between the plurality of risks are determined according to the type of the plurality of risks, anda travel trajectory (75) is generated so as to allow the vehicle to pass while avoiding the plurality of risks at a lateral position moved by at least the maximum amount of lateral movement (m2) fromamong the determined amounts of lateral movement.
在行驶轨道生成方法中,检测本车(70)行驶的本车道路的左侧及右侧中靠近本车的一侧且分别存在于本车的行进道路前方的不同前后位置的多个风险(71、72、73),根据多个风险的种类决定用于空出与多个风险的间隔并规避多个风险而通过的本车的各横向移动量(m1、m2、m3),生成在移动了所决定的横向移动量中最大横向移动量(m2)以上的横向位置规避多个风险而通过的行驶轨道(75)。
TRAVEL TRAJECTORY GENERATION METHOD AND TRAVEL TRAJECTORY GENERATION DEVICE
行驶轨道生成方法及行驶轨道生成装置
2021-03-16
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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