To provide a driving reference line determination device capable of determining properly a driving reference line of own vehicle, even under a condition that information showing a course environment of own vehicle is hard to acquire; and to provide an automatic driving device.SOLUTION: ECU2 of an automatic driving device 1 calculates a model y coordinate value ymw_i by using a map in a figure 4 (step 12), calculates estimated y coordinate value y_i by using course environment data D_info (step 11), calculates a curvature C so that an error between the model y coordinate value ymw_i and the estimated y coordinate value y_i becomes minimum (step 18), calculates a travel track Xf by using the curvature C (step 4), and executes automatic driving control by using the travel track Xf (step 31-33).SELECTED DRAWING: Figure 12
【課題】自車両の走路環境を表す情報が取得しにくい条件下でも、自車両の走行基準ラインを適切に決定することができる走行基準ライン決定装置及び自動運転装置を提供する。【解決手段】自動運転装置1のECU2は、図4のマップを用いて、モデルy座標値ymw_iを算出し(ステップ12)、走路環境データD_infoを用いて、推定y座標値y_iを算出し(ステップ11)、モデルy座標値ymw_iと推定y座標値y_iとの誤差が最小になるように、曲率Cを算出し(ステップ18)、曲率Cを用いて、走行軌道Xfを算出し(ステップ4)、走行軌道Xfを用いて、自動運転制御を実行する(ステップ31〜33)。【選択図】図12
DRIVING REFERENCE LINE DETERMINATION DEVICE, AND AUTOMATIC DRIVING DEVICE
走行基準ライン決定装置及び自動運転装置
2019-08-01
Patent
Elektronische Ressource
Japanisch
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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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