US 11,807,234 B2
Automated driving trajectory generating device and automated driving device
Daichi Hotta, Tokyo (JP); Taichi Kawanai, Susono (JP); and Yusuke Hayashi, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 9, 2021, as Appl. No. 17/470,330.
Claims priority of application No. 2020-191028 (JP), filed on Nov. 17, 2020.
Prior Publication US 2022/0153263 A1, May 19, 2022
Int. Cl. B60W 30/095 (2012.01); B60W 40/04 (2006.01)
CPC B60W 30/0956 (2013.01) [B60W 40/04 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/801 (2020.02); B60W 2555/60 (2020.02)] 6 Claims
OG exemplary drawing
 
1. An automated driving trajectory generating device that generates a trajectory for automated driving of a vehicle, the automated driving trajectory generating device comprising:
a mobile object recognizing unit configured to recognize a mobile object which is located near the vehicle, and recognize a bias of a lateral position in a direction crossing a traveling direction of the mobile object;
a path calculating unit configured to calculate a host vehicle path for automated driving of the vehicle and a plurality of predicted paths of the mobile object based on a position of the vehicle on a map, a position of the mobile object on the map, and map information;
a predicted acceleration calculating unit configured to calculate a predicted acceleration which is generated in the mobile object moving along a predicted path for each predicted path based on the plurality of predicted paths and a vehicle speed of the mobile object;
a target path identifying unit configured to identify a predicted path extending in a direction corresponding to the bias of the lateral position out of the plurality of predicted paths as a target path based on a result of comparison between the predicted acceleration and an acceleration threshold value, the target path being a predicted path used to generate the trajectory; and
a trajectory generating unit configured to generate the trajectory based on the host vehicle path and the target path.