Provided are a travel lane planning device, a storage medium, and a travel lane planning method that evaluate a space on an adjacent lane in which a vehicle can move. A travel lane planning device is provided with: a space selection unit that selects a plurality of spaces on an adjacent lane that is within a predetermined distance from the current position of a vehicle and that can move from a travel lane; an evaluation value calculation unit; on the basis of the distance from the current position to the movement completion position, the length of the space, and the positional relationship between the current position and the space, the magnitude of acceleration or deceleration generated in the vehicle when the vehicle travels from the current position to a position parallel to the space is estimated. An evaluation value of each space is obtained according to a first speed difference between the speed of the space and a target speed as a target during the traveling of the vehicle, and a movement completion position is a position at which the movement to an adjacent lane is completed and determined on the basis of the topographic limitation of the traveling lane, and a first speed difference between the speed of the space and the target speed as a target during the traveling of the vehicle; and a space determination unit that determines, on the basis of the evaluation value, one space to be a movement destination of the vehicle from among the plurality of spaces.

    提供评价能供车辆移动的相邻车道上的空间的行驶车道计划装置、存储介质和行驶车道计划方法。行驶车道计划装置具有:空间选择部,对从车辆的当前位置起位于预定距离以内且能够从行驶车道移动的相邻车道上的多个空间进行选择;评价值算出部,基于从当前位置到移动完成位置的距离、空间的长度、当前位置与空间的位置关系、推定为在车辆从当前位置行驶到与空间并排的位置时产生于车辆的加速度或减速度的大小、和空间的速度与在车辆的行驶中作为目标的目标速度的第1速度差,求出各空间的评价值,移动完成位置是基于行驶车道的地形限制而决定的完成向相邻车道的移动的位置;和空间决定部,基于评价值从多个空间中决定成为车辆的移动目的地的一个空间。


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    Title :

    Travel lane planning device, storage medium, and travel lane planning method


    Additional title:

    行驶车道计划装置、存储介质和行驶车道计划方法


    Contributors:

    Publication date :

    2022-10-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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