US 12,291,234 B2
Path planning device, path planning method, computer program product
Kouji Kawakita, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Aug. 1, 2022, as Appl. No. 17/816,629.
Application 17/816,629 is a continuation of application No. PCT/JP2020/046063, filed on Dec. 10, 2020.
Claims priority of application No. 2020-016457 (JP), filed on Feb. 3, 2020.
Prior Publication US 2022/0371620 A1, Nov. 24, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01)
CPC B60W 60/0011 (2020.02) [B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 60/0015 (2020.02); B60W 2554/406 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A path planning device configured to plan a traveling path on a future route of a vehicle, the path planning device comprising:
a lane evaluation unit configured to estimate a risk score of each chronological section of each traveling lane on the future route including parallel traveling lanes, the risk score representing a traveling risk;
a score accumulation unit configured to accumulate the risk scores of chronological sections for each traveling lane; and
a lane selection unit configured to select the traveling lane for the traveling path based on evaluation accumulated values each of which is calculated by accumulating the risk scores for each traveling lane, wherein
the lane evaluation unit is configured to estimate, as the risk score of a first one of the chronological sections in each traveling lane, a base score based on static information that is fixed in time,
the static information contains a traveling difficulty for the vehicle at a change node at which a lane arrangement changes on the future route, and
the lane evaluation unit is configured to estimate the base score such that the traveling risk is higher as the traveling difficulty is higher.