To provide a route generation device for generating a route in consideration of a risk of collision against a dynamic object.SOLUTION: A route generation device includes: a periphery monitoring section 10 for monitoring a periphery of a vehicle; a future position estimation section 21 for estimating a position where a dynamic object will be present in future when the periphery monitoring section 10 detects the dynamic object; a candidate route generation section 22 for generating multiple candidates of a progress route of the vehicle as candidate routes; a collision possibility calculation section 23 for obtaining possibilities of collision against the dynamic object when the vehicle travels on the respective multiple candidate routes; and a route determination section 25 for determining a route among the multiple candidate routes on the basis of the possibilities of collision.SELECTED DRAWING: Figure 1
【課題】動的対象物との衝突リスクを考慮した経路生成を行う経路生成装置を提供する。【解決手段】経路生成装置は、車両周辺を監視する周辺監視部10と、周辺監視部10にて動的対象物を検知した場合に、動的対象物が将来に存在する位置を推定する将来位置推定部21と、車両の進行経路の複数の候補を候補経路として生成する候補経路生成部22と、複数の候補経路のそれぞれについて、車両が候補経路を走行したときに動的対象物と衝突する確率を求める衝突確率計算部23と、衝突する確率に基づいて、複数の候補経路の中から経路を決定する経路決定部25とを備える。【選択図】図1
ROUTE GENERATION DEVICE, ROUTE GENERATION METHOD, AND PROGRAM
経路生成装置、経路生成方法、およびプログラム
2019-10-24
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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 |
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