PROBLEM TO BE SOLVED: To provide a movement route generating apparatus and a movement route generating method, which can set a movement route which causes crew members to feel comfortable by reducing burden given to the crew members.SOLUTION: The movement route generating apparatus includes: an angle calculating unit 5 that calculates an angle formed by a vehicle travel direction at a target position compared with that at a current position; a graph generating unit 6 that generates a graph that has most gentle inclinations by plotting a curvature of a travel trajectory matching a steering angle of the vehicle and a distance traveled by the vehicle on two axes, under conditions that an area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the calculated angle and other conditions; and a route setting unit 7 that sets, as a movement route of the vehicle, a travel trajectory represented by the graph. By generating the graph plotting the curvature of a travel trajectory and the distance traveled on two axes, a travel trajectory with the smallest degree of change in curvature per unit distance traveled, that is, a low horizontal angular velocity caused by vehicle steering is calculated and can be set as a movement route.SELECTED DRAWING: Figure 1

    【課題】乗員に与える負荷が少なくなるような快適な移動経路を設定できる「移動経路生成装置および移動経路生成方法」を提供する。【解決手段】現在位置における車両の進行方向に対して目標位置における車両の進行方向が成す角度を算出する角度算出部5と、車両の操舵角に応じた走行軌跡の曲率および走行距離を2軸として、現在位置から目標位置までの走行軌跡に対応して生成されるグラフの面積が上記角度に等しくなること等を条件として、傾斜が最も緩くなるグラフを生成するグラフ生成部6と、そのグラフにより表される走行軌跡を車両の移動経路として設定する経路設定部7とを備え、走行軌跡の曲率および走行距離を2軸とするグラフの生成を通じて、走行距離当たりの曲率の変化度合が最も緩やかな走行軌跡、つまり、車両の操舵に伴う横方向の角速度が小さい走行軌跡を算出して移動経路として設定できるようにする。【選択図】図1


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    Title :

    MOVEMENT ROUTE GENERATING APPARATUS AND MOVEMENT ROUTE GENERATING METHOD


    Additional title:

    移動経路生成装置および移動経路生成方法


    Contributors:
    OBA HIROKI (author) / MUNAKATA KOSUKE (author) / YABE TETSURO (author)

    Publication date :

    2018-01-11


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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