To avoid collisions with a plurality of moving bodies around the own vehicle.SOLUTION: In a case where planned travel path (T10) for an own vehicle (10) and attribute information for a plurality of targets (M1 to M4) around the own vehicle are acquired and the own vehicle travels the planned travel path, collision estimation points (P1 to P4), which are the points at which the own vehicle and the obstacles may collide are specified for the plurality of targets (120, S10). Whether the collision with the corresponding object at each of the specified collision estimation points can be avoided by acceleration or deceleration of the own vehicle is determined for each collision estimation point, and a candidate of combination with acceleration or deceleration is created (130, S20). From among the candidates, a combination with acceleration or deceleration, by which the collision at each of the collision estimation points can be avoided, is selected (140, S30).SELECTED DRAWING: Figure 1
【課題】自車両の周囲の複数の移動体との衝突を回避する。【解決手段】自車両(10)の予定走行軌道(T10)と、自車両の周囲の複数の対象物(M1〜M4)についての属性情報と、を取得して、予定走行軌道を自車両が走行した場合に、自車両と対象物とが衝突する地点である衝突予測地点(P1〜P4)を、複数の対象物について特定し(120、S10)、特定された前記衝突予測地点における前記対象物との衝突を、前記自車両の加速、又は減速によって回避できるかを前記衝突予測地点ごとに判定して、加速、又は減速の組合せの候補を生成し(130、S20)、候補の中から、複数の前記衝突予測地点において衝突を回避可能な加速、又は減速の組合せを選択する(140、S30)。【選択図】図1
PATH DETERMINATION DEVICE FOR VEHICLE, PATH DETERMINATION METHOD, AND CONTROL DEVICE
車両の軌道決定装置、軌道決定方法、及び、制御装置
2019-07-25
Patent
Electronic Resource
Japanese
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