US 11,754,402 B2
Course generation apparatus and vehicle control apparatus
Takayuki Tanaka, Tokyo (JP); Michihiro Ogata, Tokyo (JP); and Taiki Kumi, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
Filed on Jan. 28, 2022, as Appl. No. 17/587,479.
Claims priority of application No. 2021-044260 (JP), filed on Mar. 18, 2021.
Prior Publication US 2022/0326021 A1, Oct. 13, 2022
Int. Cl. G01C 21/28 (2006.01); G01S 19/39 (2010.01); G01C 21/34 (2006.01); G01S 19/40 (2010.01); B60W 60/00 (2020.01)
CPC G01C 21/28 (2013.01) [G01C 21/3461 (2013.01); G01S 19/396 (2019.08); G01S 19/40 (2013.01); B60W 60/001 (2020.02)] 9 Claims
OG exemplary drawing
 
1. A course generation apparatus comprising:
an environmental information acquisitor that acquires environmental information of surroundings of a vehicle;
an environmental-information course calculator that calculates a course on which a vehicle should advance, based on the environmental information acquired by the environmental information acquisitor;
a positioning device that positions a vehicle position, based on a signal from a positioning satellite;
a route generator that generates an on-a-map route on which a vehicle should travel;
a route information acquisitor that acquires information on a forward route of the vehicle position positioned by the positioning device, from the route generated by the route generator;
a route-information course calculator that calculates a course on which a vehicle should advance, from the information on the forward route acquired by the route information acquisitor;
a prohibition-section determinator that determines, in the case where the information on the forward route acquired by the route information acquisitor indicates forking from a main lane, that a present section is an environmental-information-course usage prohibition section, during a period from a time when the vehicle position positioned by the positioning device passes through a point before a forking starting point by a predetermined distance to a time when the vehicle position passes through a forking completion point; and
a course selector that selects a course calculated by the route-information course calculator in the environmental-information-course usage prohibition section and that selects a course calculated by the environmental-information course calculator or a course calculated by the route-information course calculator in a section other than the environmental-information-course usage prohibition section.