A physical quantity of motion of a vehicle in future traveling is specified in time series in a traveling trajectory. A standard trajectory is calculated based on a standard response parameter as a traveling trajectory that does not consider a constraint condition in future traveling. A correction trajectory is calculated based on a correction response parameter different from the standard trajectory as a traveling trajectory having a correction amount for correcting the standard trajectory in time series according to the constraint condition. A target trajectory to which the vehicle follows is calculated as a traveling trajectory in which the correction trajectory is superimposed on the standard trajectory.
TRAJECTORY GENERATOR, TRAJECTORY GENERATING METHOD AND NON-TRANSITORY TANGIBLE COMPUTER-READABLE STORAGE MEDIUM
2021-04-15
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 |
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