A target trajectory calculation device (210) is provided with: an in-the-same-path determination unit (211) for determining the presence or absence of a preceding vehicle traveling in the same path as the vehicle on the basis of division line information and preceding vehicle information; and a target trajectory calculation unit that calculates a target trajectory on the basis of one of the divisional line information that can be acquired when the divisional line acquisition unit only acquires the divisional line information of either the left or right divisional lines, and when the same in-path determination unit determines that there is a preceding vehicle traveling in the same path, the target trajectory calculation unit calculates the target trajectory on the basis of the one of the divisional line information that can be acquired. And a target trajectory setting unit (220) that does not calculate the target trajectory when it is determined that there is no preceding vehicle traveling in the same path. Thus, even when only one of the left and right dividing lines can be acquired, generation of an erroneous target trajectory and erroneous steering control based on the generation of the erroneous target trajectory can be suppressed, and stable vehicle control along the path can be achieved.
本发明的目标轨道运算装置(210)包括:基于分割线信息和前车信息来判定有无在与车辆相同的路径内行驶中的前车的同一路径内判定部(211);以及在所述分割线获取部只能获取左右分割线中的任一方的分割线信息的情况下,在所述同一路径内判定部中判定为有在相同的路径内行驶中的前车的情况下,基于能获取到的一方的分割线信息来运算目标轨道,而在判定为没有在相同的路径内行驶中的前车的情况下不运算目标轨道的目标轨道设定部(220)。由此,在只能获取左右分割线中的一方的情况下,也能抑制错误的目标轨道的生成以及基于此的错误的转向控制等,能实现沿着路径的稳定的车辆控制。
Target trajectory calculation device, vehicle control device, and target trajectory calculation method
目标轨道运算装置、车辆控制装置及目标轨道运算方法
2023-09-12
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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