A vehicle is caused to track a target trajectory in future travel of the vehicle. A prediction trajectory is generated and obtained by predicting a state quantity of the vehicle in time series at a plurality of prediction points so as to approach the target trajectory. A steering command is output for operating the vehicle according to the prediction trajectory. The generating of the prediction trajectory includes: adjusting a plurality of prediction intervals to be wider as a distance from the vehicle increases. The prediction intervals are defined as an interval between adjacent prediction points in a prediction section for generating the prediction trajectory.
TRAJECTORY PROCESSING SYSTEM, TRAJECTORY PROCESSING DEVICE, AND TRAJECTORY PROCESSING METHOD
2024-05-02
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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