To provide a travel trajectory determining device that can appropriately determine a future travel trajectory even under a condition that map data and the like do not exist, when a vehicle travels on a curved tavel road.SOLUTION: An ECU of an automatic driving device determines a future travel trajectory Xf for a vehicle 3, using a first straight line L1 extending in a travelling direction of the vehicle 3, a second straight line L2 extending along a second travel road 32 and a curved trajectory extending between a first prescribed point X1 of the first straight line L1 and a second prescribed point X2 of the second straight line L2. After determining the future travel trajectory Xf, the ECU, when the vehicle 3 actually travels on the travel trajectory Xf and when the vehicle 3 turns to the right in an intersection 30, calculates an alternate trajectory Xf' so that the vehicle 3 does not interfere with a median 32a, if the median 32a exists on the travel road for the vehicle 3 as if the median 32a interferes with the vehicle 3.SELECTED DRAWING: Figure 7
【課題】車両が折れ曲がった走路を走行するときに、地図データなどが存在しない条件下でも、未来の走行軌道を適切に決定することができる走行軌道決定装置などを提供する。【解決手段】自動運転装置のECUは、車両3の進行方向に延びる第1直線L1と、第2走路32に沿って延びる第2直線L2と、第1直線L1の第1所定点X1と第2直線L2の第2所定点X2との間に延びる曲線軌道とを用い、車両3の未来の走行軌道Xfを決定する。未来の走行軌道Xfの決定後、車両3が走行軌道Xfになるように実際に走行した際、車両3が交差点30を右折する場合において、中央分離帯32aが車両3と干渉する状態で車両3の進路に存在しているときには、車両3が中央分離帯32aと干渉しないように、変更軌道Xf’を算出する。【選択図】図7
TRAVEL TRAJECTORY DETERMINING DEVICE AND AUTOMATIC DRIVING DEVICE
走行軌道決定処理及び自動運転装置
2020-06-25
Patent
Elektronische Ressource
Japanisch
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