To provide a parking-space-exiting route generation device for generating a parking-space-exiting route which expands opportunity to exit a parking space, without depending on information at the time of entering the parking space.SOLUTION: An own vehicle position acquisition section 10 acquires information on the position of an own vehicle during traveling, and a peripheral environment acquisition section 20 acquires information on an environment including an obstacle around the own vehicle. On the basis of the information, a traveling-prohibited area generation section 40 generates a traveling-prohibited area where traveling is prohibited. On the other hand, a target state setting section 30 determines the end point state of a parking-space-exiting route on the basis of the state of the own vehicle including the attitude of the own vehicle and sets it as a target state. A parking-space-exiting route generation section 50 generates the parking-space-exiting route from the position of the own vehicle to the target state in such a manner as to avoid the traveling-prohibited area generated by the traveling-prohibited area generation section 40.SELECTED DRAWING: Figure 1
【課題】入庫時の情報に頼ることなく、出庫機会を拡大させる出庫経路を生成する出庫経路生成装置を得る。【解決手段】自車位置取得部10により、走行中の自車の位置情報を取得するとともに、周辺環境取得部20により、自車周辺の障害物を含む環境情報を取得し、これらの情報に基づき、走行禁止領域生成部40が、走行不可の領域である走行禁止領域を生成し、一方、目標状態設定部30により、自車の姿勢を含む自車の状態によって出庫経路の終点の在り方を定めて、目標状態として設定し、出庫経路生成部50が、走行禁止領域生成部40により生成された走行禁止領域を避けるように、自車位置から目標状態までの出庫経路を生成するようにした。【選択図】図1
PARKING-SPACE-EXITING ROUTE GENERATION DEVICE
出庫経路生成装置
2022-10-21
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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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