To provide a getting-out path generation device which generates and selects an optimum getting-out path.SOLUTION: A getting-out path generation device comprises: an own vehicle position specification part 101 which specifies a position of an own vehicle 1; a getting-out state setting part 104 which sets a target getting-out state when getting the own vehicle 1 out from a parking position to a travel path space 5; a peripheral map generation part 102 which generates a peripheral map; a travel-inhibited region specification part 103 which specifies a travel-inhibited region 12; a getting-out path generation part 105 which generates a first getting-out path to a target getting-out state by turning back using a first space 7a formed of the travel path space 5 and a portion on the travel path space 5 side in the parking space 6 and a second getting-out path to the target getting-out state by turning back using a second space 7b formed of the travel path space 5 and the parking space 6; and a getting-out path evaluation selection part 106 which selects the getting-out path with the smaller evaluation value by evaluating the first and second getting-out paths with an evaluation function.SELECTED DRAWING: Figure 1
【課題】最適な出庫経路を生成及び選択する出庫経路生成装置を得る。【解決手段】自車両1の位置を特定する自車両位置特定部101と、自車両1を駐車位置から走行路スペース5へと出庫させる際の目標出庫状態を設定する出庫状態設定部104と、周囲地図を生成する周囲地図生成部102と、走行禁止領域12を特定する走行禁止領域特定部103と、走行路スペース5と駐車スペース6における走行路スペース5側の一部とからなる第1のスペース7aを用いて切り返しを行って目標出庫状態に至る第1の出庫経路と、走行路スペース5と駐車スペース6からなる第2のスペース7bを用いて切り返しを行って目標出庫状態に至る第2の出庫経路を生成する出庫経路生成部105と、第1及び2の出庫経路を評価関数で評価し、評価値の小さい方の出庫経路を選択する出庫経路評価選択部106と、を備える。【選択図】図1
GETTING-OUT PATH GENERATION DEVICE AND AUTOMATIC GETTING-OUT SYSTEM
出庫経路生成装置及び自動出庫システム
2022-12-22
Patent
Electronic Resource
Japanese
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