PROBLEM TO BE SOLVED: To provide a technology capable of improving ride comfort of a vehicle, in a travel control technology.SOLUTION: In a travel locus generation unit, road line-shape information is acquired for expressing a road line-shape of a traffic lane travel passage 53 indicating a central position of an object traffic lane 52 on which an object vehicle 51 travels among a preset travel passage. Whether or not a curve passage regulated by a radius of curvature exists, is determined in a passage range preset in the course direction from a present position of the object vehicle 51 among the traffic lane travel passage 53. When determined that the curve passage exists, when generating a travel expecting locus 54 for expecting that the object vehicle 51 travels in the object traffic lane 52 in the passage range, among the travel expecting locus 54, a locus corresponding to the respective curve passages is respectively set as a cornering line 55, and the travel expecting locus 54 is generated by correcting the traffic lane travel passage 53 so that a radius of curvature of the respective cornering lines 55 becomes larger than a radius of curvature of the respectively corresponding curve passages.SELECTED DRAWING: Figure 5

    【課題】走行制御技術において、車両の乗り心地等を改善可能な技術を提供する。【解決手段】走行軌跡生成ユニットでは、予め設定された走行経路のうち対象車両51が走行中の対象車線52の中央位置を示す車線走行経路53の道路線形を表す道路線形情報を取得する。そして、車線走行経路53のうち対象車両51の現在位置から進路方向に予め設定された経路範囲内において、曲率半径により規定される曲線経路が存在するか否かを判定する。曲線経路が存在すると判定した場合、経路範囲内の対象車線52において対象車両51が走行することを予定する走行予定軌跡54を生成する際、走行予定軌跡54のうち各曲線経路に対応する軌跡をそれぞれコーナリングライン55とし、各コーナリングライン55の曲率半径が、それぞれ対応する曲線経路の曲率半径よりも大きくなるように、車線走行経路53を補正することによって、走行予定軌跡54を生成する。【選択図】図5


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    Title :

    TRAVEL LOCUS GENERATION DEVICE AND TRAVEL LOCUS GENERATION METHOD


    Additional title:

    走行軌跡生成装置、走行軌跡生成方法


    Contributors:

    Publication date :

    2017-06-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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