US 11,946,758 B2
Route selection device and method
Takao Kashu, Edogawa-ku (JP); Yasutaka Teramae, Kawasaki (JP); Hirotaka Kato, Nukata-gun (JP); Shuichi Morimoto, Edogawa-ku (JP); Ryo Masutani, Ota-ku (JP); and Ichi Gi, Setagaya-ku (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jun. 16, 2021, as Appl. No. 17/349,553.
Claims priority of application No. 2020-113332 (JP), filed on Jun. 30, 2020.
Prior Publication US 2021/0403028 A1, Dec. 30, 2021
Int. Cl. G01C 21/34 (2006.01); B60W 30/18 (2012.01); B60W 60/00 (2020.01); G06T 7/73 (2017.01); G06V 20/56 (2022.01); G06F 18/24 (2023.01)
CPC G01C 21/3461 (2013.01) [B60W 30/18163 (2013.01); B60W 60/001 (2020.02); G01C 21/3407 (2013.01); G06T 7/73 (2017.01); G06V 20/588 (2022.01); B60W 2552/53 (2020.02); G06F 18/24 (2023.01); G06T 2207/30256 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A route selection device comprising a processor configured to
identify a position of a lane on which a vehicle is traveling;
search for candidate partial routes leading from a current position of the vehicle to a waypoint on a route leading from a start point to a destination, the waypoint being located between the current position and the destination;
determine a lane change location where a lane change will be made for each of the candidate partial routes found by searching; and
select, as a partial route, a candidate partial route having a minimum total score regarding the lane change location from the candidate partial routes found by searching, the minimum total score being weighted depending on the position of the determined lane change location or whether automated travel is possible at the lane change location,
wherein a score of the lane change location that is used to calculate the minimum total score is weighted so that the lane change location close to the waypoint has a lower score than the lane change location far from the waypoint so that the lane change is made at a location outside a driver's perception, and
wherein the processor selects, as the partial route, a candidate partial route including fewer lane change locations from the candidate partial routes having the same minimum total score.