To make it possible to promptly eliminate the location deviation and azimuth deviation of a target line segment after switching, by switching the target line segment at an appropriate timing.SOLUTION: A target line segment switching unit 15 switches a target line segment using a function φt=Φ(p,θ) for bisecting a three-dimensional space at a timing, in a state that the three-dimensional coordinates, which are formed by a location deviation p2, an azimuth deviation θ2, and a current curvature φ for a next target line segment, are apparently displaced by reaching or straddling a boundary in a three-dimensional space in which monitoring coordinates are represented using specified values. The switching unit also eliminates a useless control for making coordinates in a three-dimensional space closer to the boundary to match, by making the coordinates in the three-dimensional space, which are calculated in relation to the target line segment after switching when a control target is switched, already exist on the boundary or in the vicinity of the boundary.SELECTED DRAWING: Figure 1

    【課題】適切なタイミングで目標線分を切り替えることで、切り替え後の目標線分に対する位置偏差および方位偏差を迅速に解消することができるようにする。【解決手段】3次元空間を2分する関数φt=Φ(p,θ)を用いて、次の目標線分に対する位置偏差p2および方位偏差θ2と現在の曲率φからなる3次元座標が、所定値を用いて表される監視座標が存在する3次元空間上の境界に達するか当該境界を跨いで変位した状態といえるタイミングで目標線分の切り替えを行う目標線分切替部15を備えることにより、制御対象を切り替えた際に、切り替え後の目標線分との関係で算出される3次元空間の座標が既に境界の上または近傍に存在するようにして、3次元空間上の座標を境界に近づけて一致させるようにするための無駄な制御を不要にする。【選択図】図1


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    Title :

    AUTOMATIC TRAVEL CONTROL DEVICE, AUTOMATIC TRAVEL CONTROL METHOD, AND PROGRAM FOR AUTOMATIC TRAVEL CONTROL


    Additional title:

    自動走行制御装置、自動走行制御方法および自動走行制御用プログラム


    Contributors:

    Publication date :

    2022-10-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / B62D MOTOR VEHICLES , Motorfahrzeuge





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