PROBLEM TO BE SOLVED: To provide a route determination device, a vehicle control device, and a route determination method and program that can evaluate a track more properly.SOLUTION: A route determination device comprises: a recognition part which recognizes a circumferential state of a local vehicle; and an evaluation part which evaluates a route where the local vehicle is to travel in future, the evaluation part being configured to evaluate the route having edges, connecting virtual nodes assumed at intervals in an ongoing direction and a road width direction respectively, connected on an on-going directional side of the local vehicle based upon the total of costs imparted to the edges based upon a peripheral state of the local vehicle recognized by the recognition part, and to select a route based upon an evaluation result.SELECTED DRAWING: Figure 1

    【課題】より適正に軌道を評価することができる軌道評価装置、軌道評価方法、および軌道評価プログラムを提供すること。【解決手段】自車両の周辺状況を認識する認識部と、前記自車両が将来走行する経路を評価する評価部であって、前記自車両の進行方向側に、前記進行方向と道路幅方向にそれぞれ間隔をもって想定される仮想的なノードを接続するエッジを連ねた前記経路を、前記認識部により認識された前記自車両の周辺状況に基づいて前記エッジに対して付与されるコストの合計に基づいて評価し、評価結果に基づいて経路を選択する評価部と、を備える経路決定装置。【選択図】図1


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    Title :

    ROUTE DETERMINATION DEVICE, VEHICLE CONTROL DEVICE, AND ROUTE DETERMINATION METHOD AND PROGRAM


    Additional title:

    経路決定装置、車両制御装置、経路決定方法、およびプログラム


    Contributors:

    Publication date :

    2018-10-04


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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