To provide a travel trajectory generating device, a vehicle control device and a travel trajectory generating program capable of curbing an increase in control load required to generate a travel trajectory.SOLUTION: A control device 100 comprises: an availability calculation section 103 which calculates availability of a vehicle 10 representing a range that the vehicle 10 can reach through activation of actuators 41, 51 and 61; and a trajectory generating section 104 which generates a first travel trajectory which is a travel trajectory for allowing the vehicle 10 to travel along a travel route in front of a current position of the vehicle 10 within a range of the availability. When the travel route includes a curve which prevents the first travel trajectory along the travel route from being generated within the range of the availability, the trajectory generation section 104 sets a target position in front of the curve and generates a second travel trajectory which is a travel trajectory for allowing the vehicle 10 to stop at the target position within the range of the availability.SELECTED DRAWING: Figure 1

    【課題】走行軌道の生成に要する制御負荷が高くなることを抑制できる走行軌道生成装置、車両用制御装置及び走行軌道生成プログラムを提供する。【解決手段】制御装置100は、アクチュエータ41,51,61の作動によって車両10が到達可能な範囲を示す車両10のアベイラビリティを演算するアベイラビリティ演算部103と、現在位置よりも車両10の前方の走路に沿って車両10を走行させるための走行軌道である第1走行軌道を、アベイラビリティの範囲内で生成する軌道生成部104と、を備える。軌道生成部104は、走路がカーブを含むときに、走路に沿った第1走行軌道をアベイラビリティの範囲内で生成できなくなる場合には、当該カーブの手前に目標位置を設定し、当該目標位置に車両10を停止させるための走行軌道である第2走行軌道をアベイラビリティの範囲内で生成する。【選択図】図1


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    Title :

    TRAVEL TRAJECTORY GENERATING DEVICE, VEHICLE CONTROL DEVICE AND TRAVEL TRAJECTORY GENERATING PROGRAM


    Additional title:

    走行軌道生成装置、車両用制御装置及び走行軌道生成プログラム


    Contributors:

    Publication date :

    2023-08-10


    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




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