A route following device (200) calculates, on the basis of route data indicating a plurality of route points, a curve angle of the route at a reference route point, which is the Xth route point from the position of a moving body (110). When the bending angle is less than the angle threshold value, the route following device determines a position that is a reference distance ahead of the position of the moving body as a target position that is the next movement destination of the moving body. When the bending angle is greater than the angle threshold value, the route following device determines, as the target position, a position that is a shortened distance that is shorter than the reference distance before the position of the moving body.
路径追随装置(200)根据表示多个航路点的路径数据,计算从移动体(110)的位置起第X个航路点即基准航路点处的所述路径的弯曲角度。在所述弯曲角度小于所述角度阈值的情况下,路径追随装置将从所述移动体的所述位置往前基准距离的位置决定为成为所述移动体的下一个移动目的地的目标位置。在所述弯曲角度大于所述角度阈值的情况下,路径追随装置将从所述移动体的所述位置往前比所述基准距离短的缩短距离的位置决定为所述目标位置。
Route following device, route following method, and route following program
路径追随装置、路径追随方法和路径追随程序
22.09.2023
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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