To provide a track generation device that generates a track suitable for a traveling scene of an own vehicle.SOLUTION: A track generation device that generates a branch travel track as a track for an own vehicle traveling from a main lane 4a toward a branch traffic lane 4b, comprises: a determination block for determining the presence or absence of the other vehicle in the branch traffic lane 4b; and an adjustment block for adjusting a pace for the branch travel track according to a determination result of the presence or absence. A branch travel track in a travel scene in which it is determined that the other vehicle is present in the branch traffic lane 4b is defined as branch following tracks Xbfc, Xbfp that causes the own vehicle to follow the other vehicle. The branch travel track "b" in the travel scene in which it is determined that the other vehicle is absent in the branch traffic lane 4b is defined as a branch release track Xbr for releasing the own vehicle from following the other vehicle. The adjustment block generates a branch release track Xbr for guiding the own vehicle to the branch traffic lane 4b at a pace slower than the branch following tracks Xbfc, Xbfp.SELECTED DRAWING: Figure 9
【課題】自車両の走行シーンに適した軌道を生成する軌道生成装置の提供。【解決手段】本線4aから分岐車線4bへ向かう自車両の軌道として、分岐走行軌道を生成する軌道生成装置は、分岐車線4bにおける他車両の存在有無を判定する判定ブロックと、当該存在有無の判定結果に応じて、分岐走行軌道の緩急を調整する調整ブロックと、を備える。分岐車線4bにおける他車両の存在有判定が下される走行シーンでの分岐走行軌道は、自車両を他車両に追従させる分岐追従軌道Xbfc,Xbfpと定義される。分岐車線4bにおける他車両の存在無判定が下される走行シーンでの分岐走行軌bは、自車両を他車両への追従から解放する分岐解放軌道Xbrと定義される。調整ブロックは、分岐追従軌道Xbfc,Xbfpよりも緩やかに自車両を分岐車線4bへ案内する分岐解放軌道Xbrを、生成する。【選択図】図9
TRACK GENERATION DEVICE, TRACK GENERATION METHOD, AND TRACK GENERATION PROGRAM
軌道生成装置、軌道生成方法、軌道生成プログラム
2021-08-30
Patent
Electronic Resource
Japanese
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 |
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