To provide a travel route generating device and a travel control device in which a route follow-up control having less deviation quantity of a combination vehicle regarding a travel route can be achieved.SOLUTION: A travel route generating device 16 comprises: an initial position acquisition part 21 which acquires an initial position of a trailer 4 based on a current position of a combination vehicle 2; a target position setting part 22 which sets a target position of the trailer 4 based on the information including the current position of the combination vehicle 2; a target route generating part 23 which generates a target route of the trailer 4 based on the initial position acquired by the initial position acquisition part 21 and the target position set by the target position setting part 22; and a travel route calculation part 25 which calculates a travel route of a tractor 3 based on the target route of the trailer 4 generated by the target route generating part 23. The target route generating part 23 generates a geometric route having a curve portion in which curvature factor continuously changes from an initial position to a target position as a target route of the trailer 4.SELECTED DRAWING: Figure 1

    【課題】走行経路に対して連結車の逸脱量が少ない経路追従制御を実現することが可能な走行経路生成装置及び走行制御装置を提供する。【解決手段】走行経路生成装置16は、連結車2の現在位置を用いて、トレーラ4の初期位置を取得する初期位置取得部21と、連結車2の現在位置を含む情報を用いて、トレーラ4の目標位置を設定する目標位置設定部22と、初期位置取得部21により取得された初期位置と目標位置設定部22により設定された目標位置とに基づいて、トレーラ4の目標経路を生成する目標経路生成部23と、目標経路生成部23により生成されたトレーラ4の目標経路に基づいて、トラクタ3の移動経路を算出する移動経路算出部25とを備え、目標経路生成部23は、トレーラ4の目標経路として、初期位置から目標位置までの間で曲率が連続的に変化するような曲線部を有する幾何経路を生成する。【選択図】図1


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    Titel :

    TRAVEL ROUTE GENERATING DEVICE AND TRAVEL CONTROL DEVICE


    Weitere Titelangaben:

    走行経路生成装置及び走行制御装置


    Beteiligte:

    Erscheinungsdatum :

    27.04.2022


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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