The invention provides a driving lane planning device, a storage medium, and a driving lane planning method. A vehicle selects a lane that is estimated to reflect the intention of a driver in a branch terrain. A travel lane planning device is provided with: a branch determination unit that determines whether or not there is a branch terrain having a first lane and a second lane adjacent to the first lane within a predetermined driving section from the current position of a vehicle, the first lane being branched into a third lane and a fourth lane at a branch start position and extending in the traveling direction of the vehicle; an information acquisition unit that acquires lane movement information between the first lane and the second lane, which has occurred in the past, when there is a branch terrain in the driving section and the vehicle is located in front of the branch start position; and a travel lane planning unit that, on the basis of the lane movement information, selects one of the third lane and the fourth lane as a lane that travels at the branch start position, and generates a travel lane plan indicating a predetermined travel lane on which the vehicle travels in the driving section.
提供行驶车道计划装置、存储介质以及行驶车道计划方法,车辆在分支地形中选择推测为反映驾驶员的意图的车道。行驶车道计划装置具有:分支判定部,判定在从车辆的当前位置起预定的驾驶区间内是否有分支地形,分支地形具有第1车道和与第1车道邻接的第2车道,第1车道在分支开始位置分支为第3车道及第4车道而朝向车辆的行进方向延伸;信息取得部,在驾驶区间内有分支地形且车辆位于分支开始位置的跟前的情况下,取得过去发生的第1车道及第2车道之间的车道移动信息;以及行驶车道计划部,根据车道移动信息,将第3车道及第4车道中的一方的车道选择为在分支开始位置行进的车道,生成表示在驾驶区间中车辆行驶的预定行驶车道的行驶车道计划。
Travel lane planning device, storage medium, and travel lane planning method
行驶车道计划装置、存储介质以及行驶车道计划方法
2023-03-21
Patent
Electronic Resource
Chinese
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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