When there is a moving obstacle (46) moving around the vehicle (40), the route confirmation unit (28) sets an attention area (45) between the moving obstacle (46) and the vehicle (40) by means of an attention area setting unit (286) in an area expanded to a position farther than the safe distance (42). Furthermore, the route selection unit (285) selects, from among the generated travel plans, a travel plan in which travel is performed so that the moving obstacle (46) does not intrude into the set region of interest (45). When the moving obstacle (46) enters the set attention area (45), the emergency control unit (282) controls the travel control ECU (31) so as to enlarge the distance from the moving obstacle (46) by performing deceleration control and/or steering control on the host vehicle (40).
路径确认部(28)在有在本车(40)的周边进行移动的移动障碍物(46)的情况下,通过注意区域设定部(286)在扩展到比安全距离(42)远的位置的区域并且在移动障碍物(46)与本车(40)之间设定注意区域(45)。而且,路径选择部(285)选择生成的行驶计划中,以移动障碍物(46)不侵入设定的注意区域(45)的方式行驶的行驶计划。当移动障碍物(46)侵入了设定的注意区域(45)时,通过紧急控制部(282)控制行驶控制ECU(31)以对本车(40)实施减速控制以及转向操纵控制的至少任意一方来扩大与移动障碍物(46)的距离。
Route confirmation device and route confirmation method
路径确认装置以及路径确认方法
2023-03-31
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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