To provide a technique capable of enhancing probability of acquiring a realistic locus.SOLUTION: A scheduled locus acquisition system is configured to: acquire a plurality of states for an own vehicle and other vehicle, the states may be achieved in each vehicle at each position where each vehicle may arrive in a prediction period; acquire a sum which is obtained by multiplying a factor in which a weighting of the vehicle having high priority is relatively small value to own vehicle cost which is cost when the own vehicle changes the position and the states and which becomes large as possibility of other vehicle contacts the own vehicle is high, and other vehicle cost which is cost when other vehicle changes the position and the state and which becomes large as possibility of other vehicle contacts the own vehicle is high; and acquire as a scheduled locus of the own vehicle, a locus in which a cumulative value of the sum is minimum.SELECTED DRAWING: Figure 1
【課題】現実的な軌道が取得される可能性を高めることができる技術の提供。【解決手段】自車両と他車両について、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し、前記自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他車両が前記自車両と接触する可能性が高いほど大きくなる自車両コストと、前記他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他車両が前記自車両と接触する可能性が高いほど大きくなる他車両コストと、に対して優先度が高い車両の重み付けが相対的に小さい値である係数を乗じて加えた和を取得し、前記和の累積値が最小である軌道を前記自車両の予定軌道として取得する、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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