To provide a route preparation device capable of reducing the preparation time of a running route.
The route preparation device 1 is a device for preparing a vehicle-running route from a starting point, up to a target point by sequentially connecting node-connecting segments. The route preparation device 1 includes a preparation part 16b for preparing a running route, by repeatedly implementing processing for setting a new node based on a point extracted from above a space at random until a node is set within a predetermined range from the target point and sequentially connecting the segments for connecting the set nodes; a means of detecting a vehicle status or a status around the vehicle, such as, an obstacle detector 11 and a white-line detector 12; and a probability determination part 16a for determining the probability with a target point as a point extracted at random.
| JP2008023630A | 2008-02-07 | |||
| JP2000020117A | 2000-01-21 | |||
| JP2007531110A | 2007-11-01 | |||
| JPH06131593A | 1994-05-13 | |||
| JP2007237334A | 2007-09-20 | |||
| JP2008105132A | 2008-05-08 |
Yoshiki Kuroki
Hikaru Suzuki