To raise the probability of arriving at an intended position when generating a movement route, while suppressing an increase in a duration till arriving at the intended position.SOLUTION: A map generation unit 112 generates a map that indicates the surrounding situation of a vehicle 1 on the basis of detection data acquired by a detection data input unit 111. A movement route generation unit 113 generates, on the map generated by the map generation unit 112, a movement route for moving from a movement start point to a final intended point, the route including a clothoid curve section. The movement route generation unit 113 determines the movement speed of the vehicle 1 according to the expanse of a space usable for movement from the movement start point to the final intended point and/or the expanse of a frontage at a place where the final intended point exists.SELECTED DRAWING: Figure 1
【課題】移動経路を生成する際、目標位置までの到達時間の増加を抑えつつ、目標位置まで到達する確率を上げる。【解決手段】マップ生成部112は、検知データ入力部111により取得された検知データをもとに、車両1の周辺状況を示すマップを生成する。移動経路生成部113は、マップ生成部112により生成されたマップ上において、移動開始地点から最終目標地点へ移動する、クロソイド曲線区間を含む移動経路を生成する。移動経路生成部113は、移動開始地点から最終目標地点への移動に使用可能なスペースの広さ、及び/又は最終目標地点が存在する場所の間口の広さに応じて、車両1の移動速度を決定する。【選択図】図1
ROUTE GENERATOR, ROUTE GENERATION METHOD, AND ROUTE GENERATION PROGRAM
経路生成装置、経路生成方法、及び経路生成プログラム
2018-11-01
Patent
Electronic Resource
Japanese
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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