To provide a calculation device of a target traveling route which accurately creates the target traveling route at low noise.SOLUTION: In a calculation device 10 for creating a target traveling route of an own vehicle 1 on the basis of a large number of point data (P1 to Pn) existing in a prescribed zone ΔL from a current point Pv of the own vehicle 1 up to a target point Pt along a lane 2 in map data, a plurality of point data (P1 to Pi) continuing toward the target point Pt from the nearest vicinity point data P1 being the nearest vicinity of the current point Pv are selected from a large number of the point data (P1 to Pn), curved-line approximation processing for creating approximation curved lines of the plurality of selected point data are repeatedly executed while differentiating individual numbers (i) of the plurality of point data up until a distance from a starting point of the approximation curved lines up to the current point Pv reaches a limit within an allowable range, and an approximation curved line at a time point at which the starting point of the approximation curved lines reaches the limit within the allowable range as the target traveling route of the own vehicle 1.SELECTED DRAWING: Figure 1
【課題】目標走行経路、低ノイズで精度よく目標走行経路を生成する目標走行経路の演算装置を提供する。【解決手段】地図データにおける車道2に沿って自車両1の現在地点Pvから目標地点Ptまでの間の所定の区間ΔLで存在する多数の地点データ(P1~Pn)に基づいて、自車両1の目標走行経路を作成する演算装置10において、現在地点Pvの最近傍となる最近傍地点データP1から目標地点Ptに向かって連続した複数の地点データ(P1~Pi)を多数の地点データ(P1~Pn)のなかから選択し、選択した複数の地点データの近似曲線を作成する曲線近似処理を、近似曲線の始点から現在地点Pvまでの距離が許容範囲の限度となるまで、複数の地点データの個数(i)を異ならせながら繰り返し実行し、自車両1の目標走行経路として近似曲線の始点が許容範囲の限度となった時点での近似曲線を決定する。【選択図】図1
CALCULATION DEVICE OF TARGET TRAVELING ROUTE
目標走行経路の演算装置
2023-10-05
Patent
Electronic Resource
Japanese
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 |
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