To provide a following path generation device capable of generating an appropriate following path.SOLUTION: A following path generation device includes: a weighting changing part 42 for changing a weighting coefficient in an evaluation function for determining a following path formed from an error of the following path for a target path and the weighting coefficient of the error on the basis of a vehicle state of an own vehicle while a vehicle is traveling; and a path determination part 40 for determining a following path on the basis of an evaluation function formed from the weighting coefficient changed by the weighing changing part 42.SELECTED DRAWING: Figure 1
【課題】 適切な追従経路を生成することが可能な追従経路生成装置を提供する。【解決手段】 追従経路生成装置は、車両走行中において、自車両の車両状態に基づいて、目標経路に対する追従経路の誤差及び当該誤差の重み係数から形成され追従経路を決定するための評価関数において重み係数を変更する重み変更部42と、重み変更部42により変更された重み係数から形成される評価関数に基づいて追従経路を決定する経路決定部40と、を有する。【選択図】 図1
FOLLOWING PATH GENERATION DEVICE, METHOD, AND PROGRAM
追従経路生成装置、方法及びプログラム
2021-03-25
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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