PROBLEM TO BE SOLVED: To provide a travel track generation device that can keep the maximum calculation amount to a predetermined calculation amount or less without depending on a travel scene and a parameter.SOLUTION: A travel track generation device 20 comprises: a normative track generation part 201 that generates a normative track based on information on a lane on which an own vehicle is travelling; a constraint information generation part 202 that calculates state quantity restraint information and operation quantity restraint information; and a track generation part 203 that generates a travel track for the own vehicle on the basis of the normative track and at least either of the state quantity restraint information and the operation quantity restraint information. The track generation part 203 generates a partially-reflected track on which is reflected the state quantity restraint information or the operation quantity restraint information with the normative track as a reference, and generates a travel track by reflecting on the track the state quantity restraint information or the operation quantity restraint information which is not reflected on the partially-reflected track, with the partially-reflected track as a reference.SELECTED DRAWING: Figure 1
【課題】最大演算量が走行シーンやパラメータに依存することなく、最大演算量を既定の演算量以下に収めることができる走行軌道生成装置を提供する。【解決手段】走行軌道生成装置20は、自車両が走行中の車線情報に基づく規範軌道を生成する規範軌道生成部201と、状態量制約情報及び操作量制約情報を算出する制約情報生成部202と、規範軌道と、状態量制約情報及び操作量制約情報の少なくとも一方と、に基づいて自車両の走行軌道を生成する軌道生成部203と、を備える。軌道生成部203は、規範軌道を基準として、状態量制約情報又は操作量制約情報を反映させた一部反映軌道を生成し、一部反映軌道を基準として、一部反映軌道に反映されていない状態量制約情報又は操作量制約情報を反映させることで走行軌道を生成する。【選択図】図1
TRAVEL TRACK GENERATION DEVICE
走行軌道生成装置
2018-09-13
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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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