| CPC B60W 60/0011 (2020.02) [B60W 30/0956 (2013.01); B60W 60/0015 (2020.02); G08G 1/164 (2013.01); B60W 2554/20 (2020.02); B60W 2554/40 (2020.02); B60W 2556/50 (2020.02)] | 4 Claims |
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1. A traveling route deciding device comprising:
an obstacle information acquirer to acquire information of a first obstacle from a roadside sensing device and information of a second obstacle around a vehicle from an in-vehicle sensor provided to the vehicle, at regular intervals;
an obstacle determiner which, on the basis of the information of the first obstacle and the information of the second obstacle acquired by the obstacle information acquirer, determines whether each obstacle is a moving object or a static object, for all obstacles including the first obstacle and the second obstacle that have been acquired;
a moving object list updater which, in a case where the obstacle determiner has determined that the obstacle is the moving object, registers the obstacle in a moving object list;
a traveling prohibited area updater which, in a case where the obstacle determiner has determined that the obstacle is the static object, registers an area including the obstacle as a traveling prohibited area, and among the obstacles, in a case where the obstacle determiner has determined that the obstacle is the static object again, continues the registered traveling prohibited area for the obstacle; and
a traveling route decider which performs calculation so as to avoid collision with all the obstacles, on the basis of the moving object list updated by the moving object list updater and the traveling prohibited area updated by the traveling prohibited area updater, and thus corrects a preset traveling route of the vehicle based on a dynamic map, wherein
for the traveling prohibited area continued by the traveling prohibited area updater, the traveling route decider does not perform calculation for avoiding collision,
wherein the traveling route deciding device further comprises at least one processor configured to implement the obstacle information acquirer, the obstacle determiner, the moving object list updater, the traveling prohibited area updater and the traveling route decider,
wherein the traveling route deciding device is configured to retrieve a pre-stored map from a memory, generate the dynamic map by updating the pre-stored map with obstacle state information including positions, movement speeds, movement directions, and static states of the obstacles included in the pre-stored map, and store the dynamic map in the memory.
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