To provide a trajectory generation device configured to reduce calculation load for generating a travel trajectory.SOLUTION: A trajectory generation device 1 configured to generate a travel trajectory X chronologically specifying motion physical quantity in a future traveling of a vehicle 3 includes: a reference calculation block 100 to calculate, as a travel trajectory X from which restriction conditions in the future traveling are excluded, a reference trajectory Xb based on reference response parameters Qb,Rb; a correction calculation block 140 to calculate, as a travel trajectory X of correction quantity for chronologically correcting the reference trajectory Xb in accordance with the restriction conditions, a correction trajectory Xm based on response parameters Qm,Rm different from those of the reference trajectory Xb; and a target calculation block 160 to calculate, as a travel trajectory X obtained by overlapping the reference trajectory Xb with the correction trajectory Xm, a target trajectory Xp followed by the vehicle 3.SELECTED DRAWING: Figure 2
【課題】走行軌道を生成するための演算負荷を軽減する軌道生成装置の提供。【解決手段】車両3の将来走行における運動物理量を時系列に規定した走行軌道Xを、生成する軌道生成装置1は、将来走行における制約条件を外した走行軌道Xとして、基準の応答パラメータQb,Rbに基づく基準軌道Xbを、演算する基準演算ブロック100と、制約条件に従って基準軌道Xbを時系列に修正する修正量の走行軌道Xとして、基準軌道Xbとは異なる応答パラメータQm,Rmに基づく修正軌道Xmを、演算する修正演算ブロック140と、基準軌道Xbに修正軌道Xmを重畳した走行軌道Xとして、車両3に追従させる目標軌道Xpを、演算する目標演算ブロック160と、を備える。【選択図】図2
TRAJECTORY GENERATION DEVICE, TRAJECTORY GENERATION METHOD, AND TRAJECTORY GENERATION PROGRAM
軌道生成装置、軌道生成方法及び軌道生成プログラム
2021-04-22
Patent
Elektronische Ressource
Japanisch
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