To determine a track so as not to interfere with an avoidance object such as an intersection center or a road shoulder when turning at an intersection.SOLUTION: A track generation device that a vehicle comprises generates track information indicating a track for moving from a travel area where a mobile travels to a travel area of a movement destination. In that case, a track in the travel area where the mobile travels and a track in the travel area of the movement destination are outputted as a first point sequence and a second point sequence, and the track information of the track for moving from the travel area where the mobile travels to the travel area of the movement destination is generated as a curve defining a point in the first point sequence as a starting point and a point in the second point sequence as an ending point. On the basis of an image picked up by a camera, an avoidance area that the mobile should avoids when traveling is estimated or detected and in a case where a distance between the avoidance area and the track is shorter than a predetermined distance, the track information is re-generated by re-selecting at least one of the starting point and the ending point in such a manner that the distance becomes equal to or longer than the predetermined distance.SELECTED DRAWING: Figure 6
【課題】交差点を曲がる際に、交差点中央や路肩といった回避対象と干渉しないよう軌道を決定する。【解決手段】車両が備えた軌道生成装置は、移動体が走行する走行領域から、移動先の走行領域へ移動する軌道を示す軌道情報を生成する。その際に、移動体が走行する走行領域における軌道と、移動先の走行領域における軌道をそれぞれ第一点列と第二点列で出力し、第一点列内の点を始点にし、第二点列内の点を終点とする曲線として、移動体が走行する走行領域から、移動先の走行領域へ移動する軌道の軌道情報を生成する。またカメラで撮影された画像に基づいて、回避して走行すべき回避領域を推定または検出し、回避領域と軌道との距離が所定距離に満たない場合には、距離が所定距離以上となるように、始点および終点の少なくとも一方を再選択して軌道情報を再生成する。【選択図】図6
TRACK GENERATION DEVICE, TRACK GENERATION METHOD, PROGRAM AND MOBILE
軌道生成装置、軌道生成方法、プログラムおよび移動体
2024-05-13
Patent
Electronic Resource
Japanese
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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