To provide a route generation device capable of reducing a processing load in generation of a parking route.SOLUTION: A route generation device 100 comprises: a surrounding environment information acquisition unit 101 that acquires a surrounding environment of an own vehicle 10; an own vehicle position estimation unit 102 that estimates an own vehicle position; a geometrical route generation unit 103 that generates a geometrical route AL using an expression representing a geometrical shape of a route; a graph search route generation unit 104 that generates a graph search route GL using a graph search algorithm for searching for the route using a plurality of nodes and a plurality of edges for connecting the nodes; and a route combination unit 105 that generates a parking route from a parking start position SP to a parking target position EP by combining the geometrical route AL and the graph search route GL.SELECTED DRAWING: Figure 1
【課題】駐車経路の生成における処理負荷の軽減が可能な経路生成装置を得る。【解決手段】本開示の経路生成装置100は、自車両10の周辺環境を取得する周辺環境情報取得部101と、自車位置を推定する自車位置推定部102と、経路の幾何学的な形状を表す式を用いて幾何学的経路ALを生成する幾何学的経路生成部103と、複数のノードとノード間を接続する複数のエッジを用いて経路を探索するグラフ探索アルゴリズムを用いてグラフ探索経路GLを生成するグラフ探索経路生成部104と、幾何学的経路AL及びグラフ探索経路GLを組み合わせることにより駐車開始位置SPから駐車目標位置EPまでの駐車経路を生成する経路組合せ部105と、を備える。【選択図】図1
ROUTE GENERATION DEVICE, PARKING ASSISTANCE SYSTEM, AND ROUTE GENERATION METHOD
経路生成装置、駐車支援システム及び経路生成方法
2024-09-20
Patent
Electronic Resource
Japanese
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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