VEHICLE CONTROL DEVICE
First Claim
1. A vehicle control device comprising:
- an outside state detection unit that detects an outside state of a vehicle;
a road environment recognition unit that recognizes a road environment based on a detection result obtained by the outside state detection unit;
an obstacle recognition unit that recognizes one or more obstacles based on a detection result obtained by the outside state detection unit; and
a trajectory generation unit that generates a travel trajectory along which the vehicle is able to travel without interfering with the obstacles based on the road environment recognized by the road environment recognition unit and the obstacles recognized by the obstacle recognition unit, whereinthe trajectory generation unit generates the travel trajectory that passes through a second drivable zone the second drivable zone being determined by subtracting obstacle areas indicative of the obstacles from a first drivable zone for the vehicle defined by the road environment.
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Accused Products
Abstract
A vehicle control device includes a mid-term trajectory generation unit and a short-term trajectory generation unit, one of which generates a travel trajectory on which a vehicle can travel without interfering with an obstacle. The mid-term trajectory generation unit or the short-term trajectory generation unit: generates a travel route that passes through a second potential-travelling region which is obtained by subtracting obstacle regions, indicating obstacles, from a vehicle first potential-travelling region that is defined by the road environment; and generates the travel trajectory on the basis of the generated travel route.
11 Citations
9 Claims
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1. A vehicle control device comprising:
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an outside state detection unit that detects an outside state of a vehicle; a road environment recognition unit that recognizes a road environment based on a detection result obtained by the outside state detection unit; an obstacle recognition unit that recognizes one or more obstacles based on a detection result obtained by the outside state detection unit; and a trajectory generation unit that generates a travel trajectory along which the vehicle is able to travel without interfering with the obstacles based on the road environment recognized by the road environment recognition unit and the obstacles recognized by the obstacle recognition unit, wherein the trajectory generation unit generates the travel trajectory that passes through a second drivable zone the second drivable zone being determined by subtracting obstacle areas indicative of the obstacles from a first drivable zone for the vehicle defined by the road environment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification