To provide an automatic driving course generation device and an automatic driving device capable of appropriately generating a course of an automatic driving in accordance with feasibility of a prediction route of a mobile body positioned around a vehicle.SOLUTION: An automatic driving course generation device 20 includes: an outside-vehicle environment recognition section 12 for recognizing a mobile body positioned around a vehicle; a route calculation section 14 for calculating a route of automatic driving of the host vehicle and a plurality of prediction routes of the mobile body based on an on-map position of the vehicle, on-map position of the mobile body, and map information; a prediction acceleration calculation section 15 for calculating a prediction acceleration to be generated in the mobile body along the prediction route for each prediction route, based on the plurality of prediction routes and the vehicle speed of the mobile body; an object route identification section 16 for identifying an object route being the prediction route to be used in generating a course among the plurality of prediction routes based on a comparison result between the prediction acceleration and an acceleration threshold; and a course generation section 17 for generating a course based on the host-vehicle route and the object route.SELECTED DRAWING: Figure 1

    【課題】車両の周囲に位置する移動体の予測経路の実現可能性に応じて適切に自動運転の進路を生成することができる自動運転進路生成装置及び自動運転装置を提供する。【解決手段】自動運転進路生成装置20は、車両の周囲に位置する移動体を認識する車外環境認識部12と、車両の地図上の位置と移動体の地図上の位置と地図情報とに基づいて、車両の自動運転の自車経路と移動体の複数の予測経路とを算出する経路算出部14と、複数の予測経路と移動体の車速とに基づいて、予測経路に沿って移動する移動体に生じる予測加速度を予測経路ごとに算出する予測加速度算出部15と、予測加速度と加速度閾値との比較結果に基づいて、複数の予測経路のうち進路の生成に用いる予測経路である対象経路を特定する対象経路特定部16と、自車経路と対象経路とに基づいて、進路を生成する進路生成部17と、を備える。【選択図】図1


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    Title :

    AUTOMATIC DRIVING COURSE GENERATION DEVICE AND AUTOMATIC DRIVING DEVICE


    Additional title:

    自動運転進路生成装置及び自動運転装置


    Contributors:

    Publication date :

    2022-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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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