In a target track generation apparatus (10), a preceding vehicle position acquisition unit (1) acquires a relative position of a preceding vehicle. A subject vehicle state quantity acquisition unit (2) acquires a state quantity of a subject vehicle. A subject vehicle movement amount calculator (3) calculates a movement amount of the subject vehicle, based on the state quantity of the subject vehicle. A subject vehicle reference preceding vehicle position calculator (4) calculates a point group of subject vehicle reference preceding vehicle positions representing a history of the relative position of the preceding vehicle in a coordinate system using a current position of the subject vehicle as a reference, based on the relative position of the preceding vehicle and the movement amount of the subject vehicle. A target track generator (5) generates a target track of the subject vehicle, based on the point group of the subject vehicle reference preceding vehicle positions. A target track correction determination unit (6) determines whether or not correction of the target track is necessary, based on the point group of the subject vehicle reference preceding vehicle positions or the target track. A correction target track generator (7) generates a correction target track obtained by correcting the target track, based on the point group of the subject vehicle reference preceding vehicle positions or the target track, when it is determined that correction of the target track is necessary.
TARGET TRACK GENERATION APPARATUS, VEHICLE CONTROL APPARATUS, TARGET TRACK GENERATION METHOD, AND VEHICLE CONTROL METHOD
2021-12-23
Patent
Electronic Resource
English
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 |
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