To provide a route generation device capable of generating a target route meeting conditions required for a vehicle.SOLUTION: A route generation device comprises: an acquisition unit which acquires topographic data around a vehicle including at least a front in a traveling direction; a setting unit which sets a horizontal route passing a present point and a target point of the vehicle in a plane view from above; an identification unit which identifies unevenness in a vertical direction of terrain related to the horizontal route on the basis of the topographic data acquired by the acquisition unit, and identifies a route candidate on the basis of the identified unevenness; a determination unit which determines whether the route candidate identified by the identification unit meets conditions concerning movement in the vertical direction of the vehicle; a first deformation unit which deforms the horizontal route when the determination unit determines that the conditions are not met; and a decision unit which decides the route candidate identified by the identification unit to be a route on which the vehicle moves when the determination unit determines that the conditions are met.SELECTED DRAWING: Figure 4
【課題】ビークルに要求される条件を満足する目標航路を生成することができる航路生成装置を提供する。【解決手段】航路生成装置は、少なくとも進行方向前方を含むビークルの周囲における地形データを取得する取得部と、上方からの平面視において前記ビークルの現在地点と目標地点とを通る水平航路を設定する設定部と、前記取得部が取得した前記地形データに基づいて前記水平航路に係る地形の上下方向の起伏を特定し、特定した起伏に基づいて航路候補を特定する特定部と、前記特定部が特定した前記航路候補が前記ビークルの前記上下方向の移動に係る条件を満たすか否かを判定する判定部と、前記判定部が前記条件を満たさないと判定した場合、前記水平航路を変形する第1変形部と、前記判定部が前記条件を満たすと判定した場合、前記特定部が特定した前記航路候補を前記ビークルが移動する航路に決定する決定部と、を備える。【選択図】図4
ROUTE GENERATION DEVICE, ROUTE GENERATION METHOD, AND PROGRAM
航路生成装置、航路生成方法及びプログラム
2021-06-24
Patent
Electronic Resource
Japanese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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