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 |
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.
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