To generate a travel route which can realize a safe and smooth vehicle behavior on the basis of a traffic lane center point line acquired from map information and image information.SOLUTION: A travel route generation device generates a traffic lane center point line based on boundary line information, divides the traffic lane center point line into a plurality of sections, generates a travel route as a curve passing through a plurality of control points provided at positions corresponding to traffic lane center points on both ends of the sections, divides a maximum error section in each section of the travel route sectioned by the control points into two sections when the matching degree between the travel route and the traffic lane center point line is equal to or less than a threshold, generates the travel route as a curve passing through the control points provided at positions corresponding to the traffic lane center point on both ends of the divided sections, and repeats the division of the maximum error section and the generation of the travel route until the matching degree becomes larger than the threshold. The curve of each section of the travel route is expressed by a quintic function, and the quintic function is determined such that a tangent vector and a curvature vector continue at each control point.SELECTED DRAWING: Figure 3
【課題】地図情報や画像情報から取得した車線中心点列に基づき、安全でスムーズな車両挙動を実現可能な走行経路を生成する。【解決手段】走行経路生成装置は、境界線情報に基づき車線中心点列を生成し、車線中心点列を複数の区間に分割し、区間の各々の両端の車線中心点に対応する位置に設けられた複数の制御点を通る曲線として走行経路を生成し、走行経路と車線中心点列との一致度が閾値以下である場合、制御点により区分される走行経路の各区間の中の誤差最大区間を2つの区間に分割し、当該分割した区間の各々の両端の車線中心点に対応する位置に設けられた制御点をさらに通る曲線として走行経路を生成し、一致度が閾値より大きくなるまで誤差最大区間の分割及び走行経路の生成を繰り返す。走行経路の各区間の曲線は5次関数により表され、各制御点において曲線の接ベクトル及び曲率ベクトルが連続するように5次関数を決定する。【選択図】図3
TRAVEL ROUTE GENERATION DEVICE AND TRAVEL ROUTE GENERATION METHOD
走行経路生成装置及び走行経路生成方法
2023-06-07
Patent
Electronic Resource
Japanese
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