To provide a route candidate setting system and a route candidate setting method capable of setting various route candidates and reducing an arithmetic load thereof.SOLUTION: An ECU 10 of a drive assist system 100, which is a route candidate setting system, regulates a first curve represented by a first function with which a y coordinate uses an x coordinate as a variable and a second curve represented by a second function having a lower order than the first function, with which the y coordinate uses the x coordinate as a variable, and sets the first curve and the second curve as route candidates RC. In addition, in the case where a camera 21 and a radar 22 have detected an obstacle, the ECU 10 does not regulate the first curve with an end point at a grid point Gset at a position further away from a vehicle 1 than the obstacle forward in a travel direction and the second curve with a start point at the grid point G.SELECTED DRAWING: Figure 2
【課題】多様な経路候補を設定しつつ、その演算負荷を軽減することが可能な経路候補設定システム及び経路候補設定方法を提供する。【解決手段】経路候補設定システムである運転支援システム100のECU10は、y座標がx座標を変数とする第1関数で表わされる第1曲線と、y座標がx座標を変数とし第1関数よりも次数が低い第2関数で表わされる第2曲線と、を規定し、第1曲線及び第2曲線を経路候補RCとして設定するように構成されている。さらに、ECU10は、カメラ21及びレーダ22が障害物を検出している場合は、当該障害物よりも車両1から進行方向前方に離間した位置に設定されているグリッド点Gnを終点とする第1曲線と、当該グリッド点Gnを始点とする第2曲線と、を規定しない。【選択図】図2
ROUTE CANDIDATE SETTING SYSTEM AND ROUTE CANDIDATE SETTING METHOD
経路候補設定システム及び経路候補設定方法
2020-06-04
Patent
Electronic Resource
Japanese
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