To provide a trajectory generation device etc. allowing the continuation of traveling.SOLUTION: A trajectory generation device 100 generates a future trajectory along which a vehicle travels in the future. The trajectory generation device 100 comprises: a behavior planning unit 110 for planning future behavior scheduled to be performed by the vehicle; and a candidate trajectory generation unit 121 for generating a candidate trajectory for the future trajectory in accordance with the planned future behavior. The trajectory generation device 100 also comprises: a trajectory evaluation unit 122 for evaluating whether traveling along the candidate trajectory can be permitted; and a trajectory adjustment unit 123 for determining the candidate trajectory as the future trajectory when it is evaluated that the traveling along the candidate trajectory can be permitted. The behavior planning unit 110 plans new future behavior when it is evaluated by the trajectory evaluation unit 122 that the traveling along the candidate trajectory cannot be permitted.SELECTED DRAWING: Figure 2
【課題】走行を継続可能な軌道生成装置等を提供する。【解決手段】軌道生成装置100は、車両が将来走行する将来軌道を生成する。軌道生成装置100は、車両に予定される将来行動を計画する行動計画部110と、計画された将来行動に従う将来軌道の候補軌道を生成する候補軌道生成部121とを備える。軌道生成装置100は、候補軌道に沿った走行を許可できる否かを評価する軌道評価部122と、候補軌道に沿った走行を許可できると評価された場合に、候補軌道を将来軌道として確定する軌道調整部123とを備える。行動計画部110は、軌道評価部122にて候補軌道に沿った走行を許可できないと評価された場合には、新たな将来行動を計画する。【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、および軌道生成プログラム
2021-08-05
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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