To provide a route generation device which generates a route for accurately parking at a parking target position.SOLUTION: A route generation device 100 includes: an own vehicle position acquiring part 10 which acquires an own vehicle position; a peripheral environmental information acquiring part 11 which acquires peripheral environmental information; a vehicle information acquiring part 12 which acquires vehicle information; a parking space information calculation part 13 which calculates a parking target position 45 and a travelable area 41 as parking space information; and a route generation part 14 which generates a route based on the own vehicle position, peripheral environmental information, vehicle information and parking space information. Therein, the route generation part 14 includes: a reference route generation part 21 which generates a reference route 51 extending to a parking target position 45 from a parking starting position 44; and a local route generation part 22 which generates, at a present position of the own vehicle being moving along the reference route 51, a local route 52 getting to a movement track which converges to a reference route 51 from the present position.SELECTED DRAWING: Figure 1
【課題】精度良く駐車目標位置に駐車するための経路を生成する経路生成装置を得る。【解決手段】本開示の経路生成装置100は、自車位置を取得する自車位置取得部10と、周辺環境情報を取得する周辺環境情報取得部11と、車両情報を取得する車両情報取得部12と、駐車目標位置45及び走行可能領域41を駐車スペース情報として算出する駐車スペース情報算出部13と、自車位置、周辺環境情報、車両情報及び駐車スペース情報に基づき経路を生成する経路生成部14と、を備え、経路生成部14は、駐車開始位置44から駐車目標位置45に至るリファレンス経路51を生成するリファレンス経路生成部21と、リファレンス経路51に沿って移動中の現在位置において現在位置からリファレンス経路51に収束する移動軌跡となるローカル経路52を生成するローカル経路生成部22と、を備える。【選択図】図1
ROUTE GENERATION DEVICE, PARKING SUPPORT SYSTEM AND ROUTE GENERATION METHOD
経路生成装置、駐車支援システム及び経路生成方法
2024-05-27
Patent
Electronic Resource
Japanese
ROUTE GENERATION DEVICE, PARKING ASSISTANCE SYSTEM, AND ROUTE GENERATION METHOD
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