PROBLEM TO BE SOLVED: To provide a travelable region setting device and a setting method of the travelable region which enable travel control based on the travelable region even when no section line exists in a road section.SOLUTION: A travelable region setting device comprises: an end node specification unit 13 which specifies, in a road section where no section line data exists such as intersection, an end node of the section line in an approach side of the road section and an end node of the section line in an exit side thereof; a virtual section line generation unit 14 which generates a virtual section line connecting the specified end node of the section line in the approach side with the specified end node of the section line in the exit side; and a region setting unit 15 which sets a region sandwiched between the generated virtual section lines as a travelable region of a vehicle. The virtual section lines are generated with respect to a road section, even in the road section where no section line exists and the region sandwiched between the generated virtual section lines is set as the travelable region so that travel control based on the travelable region can be performed.SELECTED DRAWING: Figure 1
【課題】区画線が存在しない道路区間であっても、走行可能領域に基づく走行制御を行うことを可能にする「走行可能領域設定装置および走行可能領域設定方法」提供する。【解決手段】区画線データが存在しない交差点等の道路区間において、当該道路区間の進入側の区画線の末端ノードと退出側の区画線の末端ノードとを特定する末端ノード特定部13と、特定した進入側の区画線の末端ノードと退出側の区画線の末端ノードとを繋ぐ仮想区画線を生成する仮想区画線生成部14と、当該生成した仮想区画線で挟まれる領域を車両の走行可能領域として設定する領域設定部15とを備え、区画線が存在しない道路区間であっても、当該道路区間に対して仮想区画線を生成し、その仮想区画線で挟まれる領域を走行可能領域として設定することにより、走行可能領域に基づく走行制御を行うことができるようにする。【選択図】図1
TRAVELABLE REGION SETTING DEVICE AND SETTING METHOD OF TRAVELABLE REGION
走行可能領域設定装置および走行可能領域設定方法
2018-06-07
Patent
Electronic Resource
Japanese
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