To provide a technique for optimizing a locus by considering a situation in which a state of a vehicle is varied.SOLUTION: A scheduled locus acquisition system comprises: a position state acquisition part for acquiring a plurality of states which may be achieved on a vehicle at each position where the vehicle may arrive in a prediction period; a cost acquisition part for acquiring cost which is cost when the vehicle changes the position and the state, and which becomes large as possibility of a peripheral object contacts the vehicle is high; and a scheduled locus acquisition part for acquiring a locus regulated by the plurality of positions and the state on each position and in which a cumulative value of the cost on each position included in the locus is minimum.SELECTED DRAWING: Figure 1
【課題】車両の状態が異なる場合も考慮して軌道を最適化する技術の提供。【解決手段】予測期間内に車両が達し得る各位置において前記車両で実現し得る複数の状態を取得する位置状態取得部と、前記車両が前記位置および前記状態を変化させる際のコストであって、前記車両の周辺の物体が前記車両と接触する可能性が高いほど大きくなる前記コストを取得するコスト取得部と、複数の前記位置および各位置における前記状態によって規定される軌道であって、当該軌道に含まれる前記位置のそれぞれにおける前記コストの累積値が最小である軌道を予定軌道として取得する予定軌道取得部と、を備える予定軌道取得システムを構成する。【選択図】図1
SCHEDULED LOCUS ACQUISITION SYSTEM, SCHEDULED LOCUS DISPLAY SYSTEM AND SCHEDULED LOCUS ACQUISITION PROGRAM
予定軌道取得システム、予定軌道表示システムおよび予定軌道取得プログラム
2020-09-03
Patent
Electronic Resource
Japanese
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