To provide an automatic driving controller and an automatic driving route calculation method capable of executing calculation without extremely changing the movement of a steering wheel during automatic driving.SOLUTION: A parking control unit (1) is a device for calculating a parking route of automatic parking and includes: an acceleration zone relaxation curve calculation unit for calculating an acceleration zone relaxation curve based on a preset target steering velocity and an acceleration zone target vehicle speed; a deceleration zone relaxation curve calculation unit for calculating a deceleration zone relaxation curve based on the target steering velocity and a target vehicle speed during deceleration; and a parking route calculation unit for calculating a parking route by using the acceleration zone relaxation curve and the deceleration zone relaxation curve. The parking route is calculated by setting the deceleration zone target vehicle speed to be higher than the acceleration zone target vehicle speed.SELECTED DRAWING: Figure 1
【課題】自動運転中にハンドルの動きを極端に変化させることなく、演算することができる自動運転制御装置および自動運転経路演算方法を得ること。【解決手段】駐車制御装置(1)は、自動駐車の駐車経路を演算する装置であり、予め設定された目標転舵速度と加速区間目標車両速度とに基づいて加速区間緩和曲線を演算する加速区間緩和曲線演算部と、目標転舵速度と減速時目標車両速度とに基づいて減速区間緩和曲線を演算する減速区間緩和曲線演算部と、加速区間緩和曲線と減速区間緩和曲線を用いて駐車経路を演算する駐車経路演算部とを有し、加速区間目標車両速度よりも減速区間目標車両速度の方を速い速度に設定して駐車経路を演算することを特徴とする。【選択図】図1
AUTOMATIC DRIVING CONTROLLER AND AUTOMATIC DRIVING ROUTE CALCULATION METHOD
自動運転制御装置、および自動運転経路演算方法
2020-04-23
Patent
Electronic Resource
Japanese
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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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