To provide a path planning device capable of suppressing planning error of a travel path.SOLUTION: A path planning device for planning a travel path P on a future route of an own vehicle comprises: a traffic lane evaluation block for estimating a risk score obtained by evaluating travel risk for every travel lane 4, for every time series zone Δts on a future route where a plurality of travel lanes 4 are arranged in parallel; a score integration block for integrating, for every travel lane 4, the risk score estimated for every time series zone Δts; and a lane selection block for selecting a travel lane 4p where the travel path P is formed on the basis of a score integration value ΣE obtained by integrating the risk scores for every travel lane 4.SELECTED DRAWING: Figure 13
【課題】走行経路の誤計画を抑制する経路計画装置の提供。【解決手段】自車両の将来ルートにおける走行経路Pを計画する経路計画装置は、複数の走行車線4が並列した将来ルート上での時系列区間Δts毎に、各走行車線4別の走行リスクを評価したリスク評点を見積もる車線評価ブロックと、時系列区間Δts毎に見積もられたリスク評点を、各走行車線4別に積算する評点積算ブロックと、各走行車線4別にリスク評点が精算された評点積算値ΣEに基づき、走行経路Pを形成する走行車線4pを選択する車線選択ブロックと、を備える。【選択図】図13
PATH PLANNING DEVICE, PATH PLANNING METHOD, AND PATH PLANNING PROGRAM
経路計画装置、経路計画方法、経路計画プログラム
2021-08-30
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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