| CPC B60W 30/10 (2013.01) [B60W 30/165 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/803 (2020.02); B60W 2556/10 (2020.02)] | 16 Claims |
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1. A target track generation apparatus comprising:
a processor to execute a program; and
a memory to store the program which, when executed by the processor, performs processes of:
acquiring a relative position of a preceding vehicle traveling in front of a subject vehicle;
acquiring a state quantity of the subject vehicle;
calculating a movement amount of the subject vehicle, based on the state quantity of the subject vehicle;
calculating a point group of subject vehicle reference preceding vehicle positions representing a history of the relative position of the preceding vehicle in a coordinate system using a current position of the subject vehicle as a reference, based on the relative position of the preceding vehicle and the movement amount of the subject vehicle;
generating a target track of the subject vehicle, based on the point group of the subject vehicle reference preceding vehicle positions;
determining whether or not correction of the target track is necessary, based on the point group of the subject vehicle reference preceding vehicle positions or the target track; and
generating a correction target track obtained by correcting the target track, based on the point group of the subject vehicle reference preceding vehicle positions or the target track, when it is determined that correction of the target track is necessary, wherein
the processor generates the target track by performing polynomial approximation on the point group of the subject vehicle reference preceding vehicle positions, and
the processor generates the correction target track by lowering a degree of the polynomial approximation used to generate the target track.
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