To provide a driving route planning method, etc. for solving a problem that it is difficult to indicate complexity of an actual traffic scene, and a problem that a route is greatly affected by sampling accuracy.SOLUTION: A driving route planning method includes; determining at least one reference curve for covering a first length range, and selecting a target reference curve for covering the first length range from the at least one reference curve for covering the first length range, the target reference curve being a curve that can avoid an obstacle in at least the first length range; extracting an adjustment object curve for covering a second length range smaller than the first length range, which has the same start position as the start position in the first length range, from the target reference curve for covering the first length range; processing the adjustment object curve and acquiring an adjustment curve based on safety parameters in the second length range; and determining a driving route that covers the first length range based on the adjustment curve and the target reference curve.SELECTED DRAWING: Figure 1

    【課題】実際の交通シーンの複雑さを表すことが困難であるという問題及び経路がサンプリング精度により大きく影響されるという問題を解決するための運転経路の計画方法等を提供する。【解決手段】 方法は、第1の長さ範囲をカバーする少なくとも1つの参照曲線を決定し、第1の長さ範囲をカバーする少なくとも1つの参照曲線から第1の長さ範囲をカバーする目標参照曲線を選定することであって、目標参照曲線は少なくとも第1の長さ範囲における障害物を回避できる曲線である、選定することと、第1の長さ範囲をカバーする目標参照曲線から、第1の長さ範囲よりも小さく且つ第1の長さ範囲の開始位置と同じ開始位置を有する第2の長さ範囲をカバーする調整対象曲線を抽出することと、第2の長さ範囲内の安全性パラメータに基づいて、調整対象曲線を処理して調整曲線を得ることと、調整曲線及び目標参照曲線に基づいて、第1の長さ範囲をカバーする運転経路を決定することとを含む。【選択図】図1


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    Title :

    DRIVING ROUTE PLANNING METHOD, DEVICE, VEHICLE, AND PROGRAM


    Additional title:

    運転経路の計画方法、装置、車両、及びプログラム


    Contributors:
    FU XIAOXIN (author) / HAO DAYANG (author) / ZHU ZHENGUANG (author) / CHEN ZHIYUAN (author) / ZHU FAN (author)

    Publication date :

    2020-08-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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