To enable a vehicle 100 to perform autonomous travel.SOLUTION: A dynamic route planning device comprises: an acquisition part 201 which acquires a position where a vehicle travels and a standard route; a first specification part 202 which respectively specifies distribution of destination potential based on a distance from a position of a vehicle 100 to a destination, and distribution of traffic lane potential based on a distance from the position of the vehicle 100 to a lane center of the standard route within an area that is reachable until the lapse of a prescribed prediction time; a second specification part 203 which specifies, when the vehicle 100 moves at a constant acceleration and at the same yaw rate from the current to the lapse of the prediction time, a combination of a specified acceleration and specified yaw rate where a value of a cost function including the destination potential and the traffic lane potential until the lapse of the prediction time is relatively low; and an output part 204 which outputs the combination of the specified acceleration and the specified yaw rate that is specified by the second specification part 203.SELECTED DRAWING: Figure 3
【課題】車両100の安定的な自律走行を可能にする。【解決手段】車両が走行する位置及び規範経路を取得する取得部201と、所定の予測時間が経過するまでに到達可能なエリア内において、車両100の位置から目的地までの距離に基づく目的地ポテンシャル、及び、車両100の位置と規範経路の車線中心との距離に基づく車線ポテンシャルの分布をそれぞれ特定する第1特定部202と、現在から予測時間が経過するまで車両100が等加速度及び等ヨーレートで移動する場合に、予測時間が経過するまでの目的地ポテンシャル、車線ポテンシャルを含むコスト関数の値が相対的に低い指示加速度及び指示ヨーレートの組み合わせを特定する第2特定部203と、第2特定部203が特定した指示加速度及び指示ヨーレートの組み合わせを出力する出力部204と、を備える。【選択図】図3
DYNAMIC ROUTE PLANNING DEVICE AND DYNAMIC ROUTE PLANNING METHOD
動的経路計画装置及び動的経路計画方法
24.09.2024
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 |
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