PROBLEM TO BE SOLVED: To provide a travel route generation method and a travel route generation apparatus, which enable an autonomous parking with a pavement width effectively used.SOLUTION: In the case of a parking frame detection part 74 detecting a parking frame, a target recalculation part 75 recalculates a target position and a target attitude enabling a lateral movement toward the parking frame. A change part 76 changes to the target position and target attitude that are recalculated by the target recalculation part 75 from a target position and a target attitude computed by a target computation part 73. A target route generation part 77 generates a target route for parking. Further, a vehicle control part 80 controls an actuator 90 to realize an autonomous parking along the target route.SELECTED DRAWING: Figure 1
【課題】 車路幅を有効活用した自律駐車を行うことができる走行経路生成方法及び走行経路生成装置を提供する。【解決手段】 駐車枠検出部74が駐車枠を検出した場合、目標再計算部75は、駐車枠に幅寄せ可能な目標位置及び目標姿勢を再計算する。変更部76は、目標演算部73によって演算された目標位置及び目標姿勢と異なる、目標再計算部75によって再計算された目標位置及び目標姿勢に変更する。目標経路生成部77は、駐車するための目標経路を生成する。そして、車両制御部80は、アクチュエータ90を制御して目標経路に沿った自律駐車を実現する。【選択図】図1
TRAVEL ROUTE GENERATION METHOD AND TRAVEL ROUTE GENERATION APPARATUS
走行経路生成方法及び走行経路生成装置
2017-12-21
Patent
Electronic Resource
Japanese
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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