The present invention provides a driving assistance device and a computer program capable of generating a travel trajectory in which sudden turning or deceleration is suppressed when traveling in a curve section including a plurality of consecutive curves, as a travel trajectory for a recommended vehicle to travel. Specifically, the present invention is configured so as to: acquire a planned travel path on which a vehicle travels, and, in particular, when a plurality of continuous curves are included in the acquired planned travel path, set connection points of the plurality of curves for a curve section including the plurality of curves using map information including information relating to a division line; a curve section is taken as a target, a first half travel trajectory from a start vector to a connection point and a second half travel trajectory from the connection point to an end vector are combined to generate a travel trajectory for recommended vehicle travel, and driving assistance of the vehicle is performed on the basis of the generated travel trajectory.
本发明提供一种驾驶辅助装置及计算机程序,能够生成抑制了在包含连续的复数个弯道的弯道区间行驶时进行急转弯或减速的行驶轨迹,作为推荐车辆行驶的行驶轨迹。具体而言,构成为:获取车辆行驶的行驶预定路径,特别是在获取到的行驶预定路径中包含连续的复数个弯道的情况下,使用包含与区划线相关的信息的地图信息,以包含该复数个弯道的弯道区间为对象设定复数个弯道的连接点,以弯道区间为对象,通过组合从开始矢量到连接点的前半行驶轨迹和从连接点到结束矢量的后半行驶轨迹,生成为推荐车辆行驶的行驶轨迹,基于生成的行驶轨迹进行车辆的驾驶辅助。
Driving assistance device and computer program
驾驶辅助装置及计算机程序
2025-04-11
Patent
Electronic Resource
Chinese
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