To correct a travel track on which a vehicle should be traveling, in accordance with changes in a traveling state of the vehicle.SOLUTION: A travel track correction device 100 includes: a vehicle position detection part 10 for detecting a current position of a vehicle; a deviation amount calculation part 40 for calculating an amount of deviation of the current position of the vehicle from a travel track; a vehicle speed detection part 20 for detecting vehicle speed of the vehicle; a direction angle detection part 30 for detecting a direction angle at a point corresponding to the current position of the vehicle on the travel track; a target point setting part 50 for setting a target point at a spot ahead of the current position of the vehicle on the travel track; and a track correction part 60 for correcting the travel track, when the deviation amount exceeds a threshold during travel of the vehicle at a predetermined speed or higher, by generating a corrected track which smoothly continues from the current position of the vehicle to the target point using one or more clothoid curves, and in which a direction angle of a start point is set as a direction angle at a point corresponding to the current position of the vehicle on the travel track, and a direction angle of an end point is set as a direction angle at the target point, and then, replacing a section up to the target point on the travel track to the corrected track.SELECTED DRAWING: Figure 1

    【課題】車両が走行すべき走行軌道を車両の走行状況変化に応じて修正する。【解決手段】走行軌道修正装置100は、車両の現在位置を検知する車両位置検知部10と、走行軌道からの車両の現在位置の逸脱量を計算する逸脱量計算部40と、車両の車速を検知する車速検知部20と、走行軌道上で車両の現在位置に相当する点における方向角を検知する方向角検知部30と、走行軌道上で車両の現在位置よりも先の地点に目標点を設定する目標点設定部50と、車両が所定速度以上で走行中に逸脱量が閾値を超えたとき、始点の方向角を走行軌道上で車両の現在位置に相当する点における方向角とし、終点の方向角を目標点における方向角とし、一つ以上のクロソイド曲線で車両の現在位置から目標点に滑らかに繋がる修正軌道を生成し、走行軌道において目標点までの部分を修正軌道に置き換えて走行軌道を修正する軌道修正部60とを備えている。【選択図】図1


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    Titel :

    TRAVEL TRACK CORRECTION DEVICE AND TRAVEL TRACK CORRECTION METHOD


    Weitere Titelangaben:

    走行軌道修正装置および走行軌道修正方法


    Beteiligte:
    YAMAMOTO MAKOTO (Autor:in) / SATO MOTOHARU (Autor:in)

    Erscheinungsdatum :

    2021-05-20


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    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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