Behavior planning device and control calculation device

A behavior planning device (102) is provided with: a plane-coordinate system movement prediction unit (104) that, on the basis of plane-coordinate system obstacle information (S3) in which a surrounding obstacle detected by an external sensor provided in a vehicle (100) is represented by a plane-coo...

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Bibliographic Details
Main Authors KAMEOKA SHOTA, KITANO HIROAKI, ITO RIN
Format Patent
LanguageChinese
English
Published 25.04.2023
Subjects
PHYSICS
SIGNALLING
TRAFFIC CONTROL SYSTEMS
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Summary:A behavior planning device (102) is provided with: a plane-coordinate system movement prediction unit (104) that, on the basis of plane-coordinate system obstacle information (S3) in which a surrounding obstacle detected by an external sensor provided in a vehicle (100) is represented by a plane-coordinate system, predicts the movement of the obstacle, and outputs the predicted obstacle as plane-coordinate system obstacle movement information (S7); a scene determination unit (105) that determines the state of the obstacle on the basis of the plane-coordinate system obstacle movement information (S7), and outputs the state of the vehicle (100) as scene information (S8); and a behavior determination unit (106) that determines the behavior of the vehicle (100) on the basis of the scene information (S8), and outputs the determined behavior as a behavior determination result (S9). A control calculation device (103) calculates a target value for controlling the vehicle (100) in accordance with the behavior determin
Bibliography:Application Number: CN202080103606