To provide a travel route determination device that reduces an amount of calculation required to generate a travel route, and an automatic driving system equipped with the travel route determination device.SOLUTION: A travel route determination device comprises: an obstacle information acquisition unit that acquires obstacle information at a regular interval; an obstacle determination unit that determines whether the obstacle is a moving object or a stationary object with respect to all obstacles acquired by the obstacle information acquisition unit; a moving object list updating unit that registers the obstacle in a moving object list when the obstacle is determined to be the moving object; a travel inhibition area updating unit that registers the obstacle as a travel inhibition area in the area that contains the obstacle when the obstacle is determined to be the stationary object; and a travel route determination unit that performs a calculation to avoid a collision between the vehicle and the obstacle based on the updated moving object list and the travel inhibition area without using the continued travel inhibition area, and modifies a preset travel route.SELECTED DRAWING: Figure 1
【課題】走行経路を生成するための演算量を削減した走行経路決定装置、及びこの走行経路決定装置を備えた自動運転システムを提供する。【解決手段】走行経路決定装置は、障害物の情報を一定間隔で取得する障害物情報取得部、障害物情報取得部で取得したすべての障害物に対し、障害物が移動物体か静止物体かを判定する障害物判定部、障害物が移動体であると判定された場合、その障害物を移動物体リストに登録する移動物体リスト更新部、障害物が静止物体と判定された場合、その障害物を包含する領域に走行禁止領域として登録する走行禁止領域更新部、更新された移動物体リスト及び走行禁止領域に基づくとともに、継続された走行禁止領域は用いずに車両と障害物との衝突を回避する演算を行い、予め設定された走行経路を修正する走行経路決定部と、を備えている。【選択図】図1
TRAVEL ROUTE DETERMINATION DEVICE AND AUTOMATIC DRIVING SYSTEM
走行経路決定装置及び自動運転システム
2024-06-20
Patent
Electronic Resource
Japanese
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