Title:
走行軌道生成装置
Document Type and Number:
Japanese Patent JP6724820
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a travel track generation device that can keep the maximum calculation amount to a predetermined calculation amount or less without depending on a travel scene and a parameter.SOLUTION: A travel track generation device 20 comprises: a normative track generation part 201 that generates a normative track based on information on a lane on which an own vehicle is travelling; a constraint information generation part 202 that calculates state quantity restraint information and operation quantity restraint information; and a track generation part 203 that generates a travel track for the own vehicle on the basis of the normative track and at least either of the state quantity restraint information and the operation quantity restraint information. The track generation part 203 generates a partially-reflected track on which is reflected the state quantity restraint information or the operation quantity restraint information with the normative track as a reference, and generates a travel track by reflecting on the track the state quantity restraint information or the operation quantity restraint information which is not reflected on the partially-reflected track, with the partially-reflected track as a reference.SELECTED DRAWING: Figure 1
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Inventors:
Isao Okawa
Application Number:
JP2017036654A
Publication Date:
July 15, 2020
Filing Date:
February 28, 2017
Export Citation:
Assignee:
株式会社デンソー
International Classes:
B60W30/10; B62D6/00; G08G1/16
Domestic Patent References:
| JP2017117079A | ||||
| JP2018086948A |
Attorney, Agent or Firm:
Toru Kamada
Takuma Tsuda
Takuma Tsuda