Title:
TARGET TRAJECTORY COMPUTATION DEVICE, VEHICLE CONTROL DEVICE, AND TARGET TRAJECTORY COMPUTATION METHOD
Document Type and Number:
WIPO Patent Application WO/2022/157906
Kind Code:
A1
Abstract:
A target trajectory computation device (210) comprises: an in-the-same-path determination unit (211) that determines the presence/absence of a preceding vehicle travelling in the same path as a given vehicle, on the basis of dividing line information and preceding vehicle information; and a target trajectory setting unit (220) that, if a dividing line acquisition unit can acquire dividing line information of only one of the left and right dividing lines, computes a target trajectory on the basis of the acquired dividing line information of the one dividing line if the in-the-same-path determination unit determines that there is a preceding vehicle travelling in the same path, and does not compute a target trajectory if it was determined that there is not a preceding vehicle travelling in the same path. Due to this configuration, this invention can suppress the generation of an erroneous target trajectory and erroneous steering control or the like based thereon, and can realize stable vehicle control along the path, even if information of only one of the left and right dividing lines can be acquired.
Inventors:
MATSUO YUSUKE (JP)
YAMAMOTO MUNENORI (JP)
KOBAYASHI HIROYUKI (JP)
NAKAJIMA SHUNSUKE (JP)
YAMAMOTO MUNENORI (JP)
KOBAYASHI HIROYUKI (JP)
NAKAJIMA SHUNSUKE (JP)
Application Number:
PCT/JP2021/002159
Publication Date:
July 28, 2022
Filing Date:
January 22, 2021
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G08G1/09; B60W30/10
Domestic Patent References:
| WO2019186692A1 | 2019-10-03 | |||
| WO2019043832A1 | 2019-03-07 |
Foreign References:
| JP2018024345A | 2018-02-15 | |||
| JP2020082772A | 2020-06-04 |
Other References:
KANG, D. ET AL.: "Camera and Radar Sensor Fusion for Robust Vehicle Localization via Vehicle Part Localization", IEEE ACCESS, vol. 8, 2020, pages 75223 - 75236, XP011786054, DOI: 10.1109/ACCESS.2020.2985075
Attorney, Agent or Firm:
MURAKAMI, Kanako et al. (JP)
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