Provided is an obstacle avoidance apparatus that can specify a distance between a subject vehicle and an obstacle when making the subject vehicle avoid the obstacle. An obstacle avoidance apparatus includes: an obstacle movement predictor that predicts movement of the obstacle; and a constraint generator that establishes a constraint on a state quantity or a control input of the subject vehicle by determining whether to steer right or left around the obstacle and defining a no-entry zone for preventing the subject vehicle from colliding with the obstacle. The constraint generator incorporates, into the no-entry zone, an area to the left of the obstacle when determining to steer right around the obstacle, and incorporates, into the no-entry zone, an area to the right of the obstacle when determining to steer left around the obstacle.
OBSTACLE AVOIDANCE APPARATUS AND OBSTACLE AVOIDANCE ROUTE GENERATING APPARATUS
05.03.2020
Patent
Elektronische Ressource
Englisch
Obstacle avoidance apparatus and obstacle avoidance route generating apparatus
Europäisches Patentamt | 2023
|OBSTACLE AVOIDANCE DEVICE AND OBSTACLE AVOIDANCE ROUTE GENERATION DEVICE
Europäisches Patentamt | 2020
|