Provided is a route determination device including a recognition unit that recognizes peripheral circumstances of a host vehicle (121); and an evaluation unit (123C) that evaluates each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on peripheral circumstances of the host vehicle recognized by the recognition unit, and selects one or more routes from the plurality of routes based on an evaluation result. Each of the plurality of routes is generated by joining at least two of a plurality of edges. Each of the plurality of edges is generated by connecting two virtual nodes among a plurality of virtual nodes. The plurality of virtual nodes is located with space in each of a forward moving direction and a road width direction.
ROUTE DETERMINATION DEVICE, VEHICLE CONTROL DEVICE, ROUTE DETERMINATION METHOD, AND STORAGE MEDIUM
2018-09-20
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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