To generate a movement route which takes into account the length of a movement route and lateral acceleration of a vehicle when turning, so that the vehicle can travel accurately along the movement route.SOLUTION: An arithmetic unit sets 530 a plurality of midpoint candidates, between a start point that is a spot where automatic driving control starts and an end point that is a spot where the vehicle finishes the automatic driving control, and generates 540 a plurality of movement route candidates for arriving at the end point via the midpoint candidates from the start point. Then, the arithmetic unit determines 560 a route which minimizes a value of a prescribed evaluation function among the plurality of movement route candidates to be a movement route of the automatic driving control. The evaluation function is a function based on the sum of lateral acceleration of a vehicle or a curvature factor of a movement route candidate, and a route length of the movement route candidate, when assuming that the vehicle travels on the movement route candidate.SELECTED DRAWING: Figure 5

    【課題】車両が移動経路に沿って精度良く走行できるように、移動経路の長さ及び車両の旋回時の横加速度を考慮した移動経路を生成する。【解決手段】演算装置は、自動運転制御を開始する地点である開始点と前記車両が前記自動運転制御を終了する地点である終了点との間に、複数の中間点候補を設定し530、前記開始点から前記中間点候補を経由して前記終了点へ到達する複数の移動経路候補を生成する540。そして、複数の移動経路候補の中から、所定の評価関数の値が最小となる経路を、前記自動運転制御の移動経路として決定する560。評価関数は、車両が移動経路候補を走行したと仮定したときの、車両の横加速度又は移動経路候補の曲率と、移動経路候補の経路長との和に基く関数である。【選択図】図5


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    Title :

    ARITHMETIC UNIT


    Additional title:

    演算装置


    Contributors:

    Publication date :

    2021-03-01


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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