A travel trajectory generation method including: detecting a plurality of risks (71, 72, 73) which are respectively present on one side of a left side and a right side of a host vehicle road that is a road on which a host vehicle (70) travels, the one side being close to the host vehicle, and which are at different front and rear positions ahead of a path of the host vehicle; determining, in accordance with types of the plurality of risks, each of lateral movement amounts (m1, m2, m3) of the host vehicle for avoiding and passing the plurality of risks with clearances from the plurality of risks; and generating a travel trajectory (75) avoiding and passing the plurality of risks at a lateral position moved by an amount equal to or more than a maximum lateral movement (m2) amount among the determined lateral movement amounts.
TRAVEL TRAJECTORY GENERATION METHOD AND TRAVEL TRAJECTORY GENERATION DEVICE
FAHRWEGERZEUGUNGSVERFAHREN UND FAHRWEGERZEUGUNGSVORRICHTUNG
PROCÉDÉ DE GÉNÉRATION DE TRAJECTOIRE DE DÉPLACEMENT ET DISPOSITIF DE GÉNÉRATION DE TRAJECTOIRE DE DÉPLACEMENT
2021-05-19
Patent
Electronic Resource
English
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