To provide a track processing system that achieves both suppression of a decrease in track following performance and a reduction in arithmetic load.SOLUTION: A track processing system 1 has a processor and performs a track process for causing a vehicle 2 to follow a target track in future traveling of the vehicle 2. The processor is configured to: generate a predicted track 7 in which quantities of state of the vehicle 2 are predicted at a plurality of prediction points Ppk in a time series so as to approach the target track; and output a steering command for operating the vehicle 2 following the predicted track 7. The generating the predicted track 7 includes adjusting a plurality of prediction intervals Δtk, Δlk so as to become wider as being farther away from the vehicle 2 with intervals between successive prediction points Ppk in a prediction interval Rp where the predicted track 7 is generated regarded as the prediction intervals Δtk, Δlk.SELECTED DRAWING: Figure 4

    【課題】軌道追従性能の低下抑制と演算負荷の軽減とを両立させる軌道処理システムの提供。【解決手段】軌道処理システム1は、プロセッサを有し、車両2の将来走行における目標軌道に、車両2を追従させるための軌道処理を遂行する。プロセッサは、複数の予測点Ppkにおいて車両2の状態量を時系列に予測した予測軌道7を、目標軌道に近づけるように生成することと、予測軌道7に従って車両2を操作する操舵指令を、出力することとを、実行するように構成されている。予測軌道7を生成することは、予測軌道7を生成する予測区間Rpにおいて連続する予測点Ppk同士の間隔を予測間隔Δtk、Δlkとして、車両2から離れるほど広くなるように複数の予測間隔Δtk、Δlkを調整することを、含む。【選択図】図4


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    Title :

    TRACK PROCESSING SYSTEM, TRACK PROCESSING DEVICE, TRACK PROCESSING METHOD, AND TRACK PROCESSING PROGRAM


    Additional title:

    軌道処理システム、軌道処理装置、軌道処理方法、軌道処理プログラム


    Contributors:

    Publication date :

    2023-01-26


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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