A path generation method includes: acquiring information about a position of a vehicle; acquiring information about a target position of the vehicle; acquiring information about a position of an obstacle; setting a constraint condition that the vehicle at each of predicted steps does not interfere with the obstacle, based on the position of the vehicle, a size of the vehicle and the position of the obstacle; and calculating a moving path of the vehicle by optimization calculation based on the constraint condition and an evaluation function in which a score becomes higher as a deviation between the position of the vehicle at each of the predicted steps and the target position becomes smaller.
VEHICLE PATH GENERATION METHOD, VEHICLE PATH GENERATION DEVICE, VEHICLE, AND PROGRAM
2022-09-08
Patent
Elektronische Ressource
Englisch
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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