PROBLEM TO BE SOLVED: To provide a drive route generation device that generates an avoiding drive route as immediate as possible when an object to be avoided by an own vehicle and a boundary of a drive track exist.SOLUTION: A drive route generation device is configured to: acquire periphery information on an own vehicle (S400); recognize a drive track where the own vehicle drives on the basis of the periphery information, and set a recognition point on a boundary of the drive track (S402); recognize objects around the own vehicle on the basis of the periphery information, and set a recognition point expressing objects along contours of the objects (S404); set weighing in accordance with a degree of drive allowance in which the own vehicle drives to be allowed to get close to the recognition points expressing the boundary of the drive track and the object (S406 and S408), in which the recognition point expressing the object is set lower in the degree of drive allowance than the recognition point expressing the boundary of the drive track; and generate a drive route classifying the recognition point to left/right different sides heading for an advancement direction of the own vehicle on the basis of the weighing set at the recognition point (S410).

    【課題】自車両が回避して走行する物体および走行路の境界が存在する場合、回避する走行経路を極力短時間で生成する走行経路生成装置を提供する。【解決手段】走行経路生成装置は、自車両の周囲情報を取得する(S400)。走行経路生成装置は、周囲情報に基づいて自車両が走行する走行路を認識し、走行路の境界上に認識点を設定する(S402)。走行経路生成装置は、周囲情報に基づいて自車両の周囲の物体を認識し、物体の輪郭に沿って物体を表わす認識点を設定する(S404)。走行経路生成装置は、自車両が走行して走行路の境界および物体を表わす認識点に接近できる走行許容度に応じた重みを設定する(S406、S408)。走行路の境界よりも物体を表わす認識点の方が走行許容度は低く設定される。走行経路生成装置は、認識点に設定された重みに基づいて、自車両の進行方向に向かって左右両側に認識点を分類する走行経路を生成する(S410)。【選択図】図3


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    Title :

    DRIVING ROUTE GENERATION DEVICE


    Additional title:

    走行経路生成装置


    Contributors:
    HAYASHI RINA (author) / KUWABARA KEN (author)

    Publication date :

    2015-11-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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