To provide a technology of inhibiting occurrence of abrupt steering, which is intended to avoid a dangerous situation, in autonomous driving.SOLUTION: At S190, a scheduled trajectory that is a data stream representing the position of a vehicle in a width direction of a scheduled route along which the vehicle runs is designated. At S210 to S250, if the width of a lane on which the scheduled trajectory is designated falls below a predesignated lower limit width, the scheduled trajectory is corrected in a direction of facilitating or obviating the necessity of an action of coping with a presumptive danger.SELECTED DRAWING: Figure 3
【課題】自動運転において危険な状況を回避するための急操舵が発生することを抑制する技術を提供する。【解決手段】S190では、車両が走行する予定経路における経路幅方向の前記車両の位置を表すデータの系列である予定軌跡を設定する。S210〜S250では、予定軌跡が設定された車線の車線幅が予め設定された下限幅未満である場合、予定軌跡を、予め想定される危険への対処行動が容易又は不要となる方向に補正する。【選択図】図3
TRAJECTORY DESIGNATION SYSTEM
軌跡設定装置
2019-06-24
Patent
Electronic Resource
Japanese
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