To provide an obstacle avoidance device that can specify an interval from an own vehicle to an obstacle when avoiding the own vehicle from the obstacle.SOLUTION: An obstacle avoidance device 201 comprises: an obstacle movement predicting part 220 that performs prediction of movement of an obstacle; and a restriction generating part 230 that determines whether the own vehicle should avoid the obstacle to the left side or the right side and sets restriction on a state quantity of the own vehicle or on control input by setting an entry-prohibited area for preventing the own vehicle from contacting the obstacle. The restriction generating part 230, when determining that the own vehicle should avoid the obstacle to the right side, makes the entry-prohibited area include an area at the left side of the obstacle, and when determining that the own vehicle should avoid the obstacle to the left side, makes the entry-prohibited area include an area at the right side of the obstacle.SELECTED DRAWING: Figure 1
【課題】自車を障害物から回避させるときの自車から障害物までの間隔を指定可能な障害物回避装置を提供する。【解決手段】障害物回避装置201は、障害物の移動予測を行う障害物移動予測部220と、障害物を左右どちらに回避するか判断した上で、自車を障害物に接触させないための進入禁止領域を設定することにより、自車の状態量または制御入力に制約を設定する制約生成部230とを備える。制約生成部230は、障害物を右に回避すると判断した場合には、障害物の左側方の領域を進入禁止領域に含ませ、障害物を左に回避すると判断した場合には、障害物の右側方の領域を進入禁止領域に含ませる。【選択図】図1
OBSTACLE AVOIDANCE DEVICE AND OBSTACLE AVOIDANCE ROUTE GENERATION DEVICE
障害物回避装置および障害物回避経路生成装置
2020-03-12
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 |
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