To provide a motion planning device and a control computing device which properly decide a motion of an own vehicle and improve the accuracy of the automatic driving.SOLUTION: A motion planning device 102 comprises: a plane coordinate system movement prediction unit 104 which performs movement prediction of an obstacle on the basis of plane coordinate system obstacle information S3 expressing the obstacle with a plane coordinate system, and outputs it as plane coordinate system obstacle movement information S7; a scene determination unit 105 which determines a situation of the obstacle on the basis of the plane coordinate system obstacle movement information S7 and outputs the situation where a movable body is placed, as scene information S8; and a motion decision unit 106 which decides a motion of the movable body on the basis of the scene information S8, and outputs a motion decision result S9 to a control computing device 103 which computes a target value for controlling the movable body according to the motion decision result S9. The control computing device 103 computes the target value according to the motion decision result S9 output from the motion planning device 102.SELECTED DRAWING: Figure 2

    【課題】自車両の行動を適切に決定し、自動運転の精度を向上させる行動計画装置および制御演算装置を提供する。【解決手段】行動計画装置102は、障害物を平面座標系で表した平面座標系障害物情報S3に基づいて、前記障害物の移動予測を行い、平面座標系障害物移動情報S7として出力する平面座標系移動予測部104と、前記平面座標系障害物移動情報S7に基づいて、前記障害物の状況を判定し、移動体が置かれた状況をシーン情報S8として出力するシーン判定部105と、前記シーン情報S8に基づいて、前記移動体の行動を決定し、行動決定結果S9に従って前記移動体を制御するための目標値を演算する制御演算装置103に対し、前記行動決定結果S9を出力する行動決定部106と、を備えた。制御演算装置103は、前記行動計画装置102から出力される前記行動決定結果S9に従って、前記目標値の演算を行う。【選択図】図2


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    Title :

    MOTION PLANNING DEVICE AND CONTROL COMPUTING DEVICE


    Additional title:

    行動計画装置および制御演算装置


    Contributors:
    KAMEOKA SHOTA (author) / ITO RIN (author) / KITANO HIROAKI (author)

    Publication date :

    2022-04-11


    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