PROBLEM TO BE SOLVED: To provide a movable body track setting device and method having the large degree of freedom of a position during curve passing in movement track setting.SOLUTION: A track setting device 200 includes: a lane information acquisition part 220 for acquiring lane information including a white line shape for sectioning a traveling lane on which a vehicle travels; a partial shape extraction part 230 for extracting an arc shape included in the white line shape and a linear shape existing before and after the arc shape on the basis of the lane information; a first track setting part 240 having the same center of a circle as the arc shape to set a first partial track; and a second track setting part 250 for setting a second partial track having a clothoid curve shape to be connected to an end part of the first partial track such that one end part has the same inclination at the end part of the first partial track and that the other end is parallel with the linear shape in the lane.SELECTED DRAWING: Figure 1
【課題】移動軌道設定においてカーブ通過時の位置の自由度が大きい移動体の軌道設定装置および方法を提供すること。【解決手段】軌道設定装置200は、車両が走行する走行レーンを区画する白線形状を含むレーン情報を取得するレーン情報取得部220と、レーン情報に基づいて白線形状に含まれる円弧形状とその前あるいは後に存在する直線形状を抽出する部分形状抽出部230と、円弧形状と同一の円心を有するとともに、第1の部分軌道を設定する第1の軌道設定部240と、一方の端部が第1の部分軌道の端部において同じ傾きとなり、他方の端部がレーン内において直線形状と平行となるように、第1の部分軌道の端部に接続されるクロソイド曲線形状を有する第2の部分軌道を設定する第2の軌道設定部250とを備えている。【選択図】図1
MOVABLE BODY TRACK SETTING DEVICE AND METHOD
移動体の軌道設定装置および方法
2018-05-24
Patent
Electronic Resource
Japanese
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