US 12,434,696 B2
Trajectory generation device, trajectory generation method, and computer program product
Yuta Kamoshita, Kariya (JP); and Keigo Fujimoto, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Jul. 14, 2022, as Appl. No. 17/812,569.
Application 17/812,569 is a continuation of application No. PCT/JP2020/048191, filed on Dec. 23, 2020.
Claims priority of application No. 2020-006258 (JP), filed on Jan. 17, 2020.
Prior Publication US 2022/0348198 A1, Nov. 3, 2022
Int. Cl. B60W 30/095 (2012.01); B60W 50/00 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 50/0097 (2013.01); B60W 60/001 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A trajectory generation device configured to generate a future trajectory along which a vehicle travels in a future, the trajectory generation device comprising:
an action plan unit configured to plan a future action of the vehicle;
a trajectory candidate generation unit configured to generate a trajectory candidate of the future trajectory in accordance with the planned future action;
a trajectory evaluation unit configured to evaluate whether a traveling along the trajectory candidate is permitted; and
a trajectory fixing unit configured to fix the trajectory candidate as the future trajectory when it is determined that the traveling along the trajectory candidate is permitted, wherein
the action plan unit is configured to plan the future action again when it is determined that the traveling along the trajectory candidate is not permitted,
the action plan unit is configured to plan a necessary condition related to at least one of a traveling position and a traveling time of the vehicle due to the future action,
the trajectory evaluation unit is configured to evaluate the trajectory candidate based on the necessary condition, and
the necessary condition includes a target arrival time for arriving at a specific point on a planned traveling section where the vehicle travels in accordance with the future action, and
wherein
the vehicle is controlled to execute a vehicle traveling control based on the generated future trajectory,
the target arrival time is set in advance based on a traffic regulation and a traffic moral as a time required for arriving at the specific point on the planned traveling section where the vehicle travels in accordance with the future action, and
the trajectory evaluation unit rejects the future action for a state in which the time required for arriving at the specific point is greater than the target arrival time.