To provide a travel track determination device capable of speedily and suitably determining a future travel track of the vehicle thereof, and an automatic driving device comprising the same.SOLUTION: A travel track determination device 1 comprises an ECU 2. The ECU 2 calculates, according to peripheral state data D_info detected by a state detection device 5, a risk potential Prisk representing an area where a traffic participant may be present from the present to the future at a periphery of the vehicle 3 thereof, calculates a benefit potential Pbnf representing an ideal future travel area where the vehicle 3 thereof should travel, and then determines a future travel track Tr_sk of the vehicle 3 thereof using the risk potential Prisk and benefit potential Pbnf.SELECTED DRAWING: Figure 19
【課題】自車両の未来の走行軌道を迅速かつ適切に決定することができる走行軌道決定装置及びそれを備えた自動運転装置を提供する。【解決手段】走行軌道決定装置1は、ECU2を備える。ECU2は、状況検出装置5で検出された周辺状況データD_infoに応じて、自車両3の周辺における、交通参加者が現在から未来において存在する可能性のある領域を表すリスクポテンシャルPriskを算出し、自車両3が走行すべき理想的な未来の走行領域を表すベネフィットポテンシャルPbnfを算出し、リスクポテンシャルPrisk及びベネフィットポテンシャルPbnfを用いて、自車両3の未来の走行軌道Tr_skを決定する。【選択図】図19
TRAVEL TRACK DETERMINATION DEVICE AND AUTOMATIC DRIVING DEVICE
走行軌道決定装置及び自動運転装置
2018-12-27
Patent
Electronic Resource
Japanese
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