To provide a track generation device, etc. that can effectively utilize a plurality of prediction results.SOLUTION: A track generation device 100 comprises a behavior prediction unit 110 that acquires prediction results from a plurality of prediction models as to the behavior of moving objects around a self vehicle. The track generation device 100 comprises a prediction result arbitration unit 120 that arbitrates each prediction result based on at least one of a safety, comfort, and fitness of each prediction model to a driving environment when driving based on each prediction result. The track generation device 100 comprises a track planning unit 130 that executes a travel track plan based on the arbitrated prediction result.SELECTED DRAWING: Figure 2
【課題】複数の予測結果を有効に活用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、自車両周辺の移動体の挙動について、複数の予測モデルからそれぞれ予測結果を取得する挙動予測部110を備える。軌道生成装置100は、各予測結果に基づいて走行した場合の安全度、快適度、および各予測モデルの走行環境に対する適合度のうち少なくとも1つに基づいて、各予測結果を調停する予測結果調停部120を備える。軌道生成装置100は、調停された予測結果に基づいて、走行軌道の計画を実行する軌道計画部130を備える。【選択図】図2
TRACK GENERATION DEVICE, TRACK GENERATION METHOD, AND TRACK 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
2022-02-10
Patent
Elektronische Ressource
Japanisch
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