TRAVEL TRAJECTORY DETERMINING DEVICE AND AUTOMATIC DRIVING DEVICE

• Main Authors: MATSUNAGA HIDEKI, GOTO KEN, NAKANISHI KOSUKE, ICHINO YUKI, YASUI YUJI
• Format: Patent
• Language: English; Japanese
• Published: 25.06.2020
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

To provide a travel trajectory determining device that can appropriately determine a future travel trajectory even under a condition that map data and the like do not exist, when a vehicle travels on a curved tavel road.SOLUTION: The travel trajectory determining device comprises an ECU. The ECU calculates a second travel-road target point Xt and determines a future travel trajectory Xf for a vehicle 3 when the vehicle turns to the right and the left, using a first straight line L1 extending in a travelling direction while passing through an intersection 30 from the vehicle 3, a second straight line L2 extending along a second travel road 32 so that the line crosses the first straight line L1 in the intersection 30 while passing through the second travel-road target point Xt and a curved trajectory Xfb constituted of secondary Bezier curves.SELECTED DRAWING: Figure 3 【課題】車両が折れ曲がった走路を走行するときに、地図データなどが存在しない条件下でも、未来の走行軌道を適切に決定することができる走行軌道決定装置などを提供する。【解決手段】走行軌道決定装置はECUを備える。ECUは、第2走路目標点Xtを算出し、車両3から交差点30内を通りながら進行方向に延びる第1直線L1と、第2走路目標点Xtを通りながら第1直線L1と交差点30内で交差するように第2走路32に沿って延びる第2直線L2と、2次ベジェ曲線で構成された曲線軌道Xfbとを用い、右左折時の車両3の未来の走行軌道Xfを決定する。【選択図】図３