To set an optimized target travel trajectory based on travel trajectories when traveling on the same road in the past.SOLUTION: In a travel trajectory generation method, travel trajectories when a vehicle travels in a predetermined section on the same road a plurality of times are acquired (S1), a plurality of candidate travel trajectories when traveling in the predetermined section is generated by extracting, for each of the acquired trave trajectories, pass points that are positions on the travel trajectory and giving reliability to each of the pass points, storing the pass points in a storage device in association with the reliability, and connecting the pass points stored in the storage device (S5), one of the candidate travel trajectories of the plurality of generated candidate travel trajectories is extracted based on the total of the reliability of the pass points belonging to the candidate travel trajectories (S7), and the extracted candidate travel trajectory is generated as a target travel trajectory where the vehicle travels.SELECTED DRAWING: Figure 6

    【課題】過去に同じ道路を走行したときの走行軌跡に基づいて、最適化された目標走行軌道を設定する。【解決手段】走行軌道生成方法では、同一の道路の所定区間を車両が複数回走行したときの走行軌跡を取得し(S1)、取得した走行軌跡毎に、走行軌跡上の位置である複数の通過点を抽出して複数の通過点の各々に信頼度を付与し、通過点と信頼度とを対応付けて記憶装置に記憶し、記憶装置に記憶された通過点を接続することにより、所定区間を走行する複数の走行軌道候補を生成し(S5)、生成された複数の走行軌道候補のうち、走行軌道候補に属する通過点の信頼度の合算値に基づいて、いずれかの走行軌道候補を抽出し(S7)、抽出された走行軌道候補を車両が走行する目標走行軌道として生成する。【選択図】図6


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    Title :

    TRAVEL TRAJECTORY GENERATION METHOD, TRAVELING SUPPORTING METHOD, TRAVEL TRAJECTORY GENERATION DEVICE, AND TRAVELING SUPPORTING DEVICE


    Additional title:

    走行軌道生成方法、走行支援方法、走行軌道生成装置および走行支援装置


    Contributors:

    Publication date :

    2023-01-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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