A trajectory generation device configured to generate a branch trajectory as a trajectory of a first vehicle traveling from a main lane to a branch lane includes a determination unit and an adjustment unit. The determination unit is configured to determine whether a second vehicle different from the first vehicle is present in the branch lane. The adjustment unit is configured to adjust a sharpness of the branch trajectory based. The branch trajectory in a scene where it is determined that the second vehicle is present in the branch lane is a branch following trajectory. The branch trajectory in a scene where it is determined that the second vehicle is not present in the branch lane is a branch release trajectory. The branch release trajectory guides the first vehicle to the branch lane less sharply than the branch following trajectory.
TRAJECTORY GENERATION DEVICE, TRAJECTORY GENERATION METHOD, AND COMPUTER PROGRAM PRODUCT
2022-11-10
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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