To provide a travel lane planning device for evaluating a space on an adjacent lane to which the vehicle can move.SOLUTION: A travel lane planning device includes: a space selection unit for selecting a plurality of spaces on an adjacent lane which are within a prescribed distance from the current position of a vehicle, and to which the vehicle can move from a travel lane where the vehicle is traveling; an evaluation value calculation unit for obtaining an evaluation value for each space, on the basis of a distance from the current position of the vehicle to a movement completion position which is determined on the basis of the topographical restrictions of the travel lane, and at which movement to the adjacent lane is completed, the length of the space, a positional relationship between the current position of the vehicle and the space, the magnitude of acceleration or deceleration presumed to be generated in the vehicle when the vehicle travels from the current position to a position adjacent to the space, and a first speed difference between the speed of the space and a target speed as a target in the traveling of the vehicle; and a space determination unit for determining one space as the movement destination of the vehicle from among the plurality of spaces on the basis of the evaluation value.SELECTED DRAWING: Figure 2
【課題】車両が移動可能な隣接車線上のスペースを評価する走行車線計画装置を提供する。【解決手段】走行車線計画装置は、車両の現在位置から所定の距離以内にあり、且つ、車両が走行している走行車線から移動可能な隣接車線上の複数のスペースを選択するスペース選択部と、車両の現在位置から走行車線の地形的制限に基づいて決定される隣接車線への移動を完了する移動完了位置までの距離、スペースの長さ、車両の現在位置とスペースとの位置関係、車両が現在位置からスペースと並ぶ位置まで走行する時に車両に生じると推定される加速度又は減速度の大きさ、及び、スペースの速度と車両の走行において目標とする目標速度との第1速度差に基づいて、各スペースの評価値を求める評価値算出部と、評価値に基づいて、複数のスペースから車両の移動先となる一のスペースを決定するスペース決定部と、を有する。【選択図】図2
TRAVEL LANE PLANNING DEVICE, COMPUTER PROGRAM FOR TRAVEL LANE PLANNING, AND TRAVEL LANE PLANNING METHOD
走行車線計画装置、走行車線計画用コンピュータプログラム及び走行車線計画方法
2022-10-13
Patent
Electronic Resource
Japanese
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