| 主权项 |
1. A route calculation device for a vehicle, wherein
the route calculation device is configured to calculate a route of a vehicle on which the device is mounted, the route is for avoiding entry into two avoidance areas including a first avoidance area and a second avoidance area, the route calculation device calculates a second avoidance route after calculation of the first avoidance route, the first avoidance route is a route of the vehicle capable of avoiding entry into the first avoidance area, the second avoidance route is a route of the vehicle that branches off the first avoidance route and is capable of avoiding entry into both the first and second avoidance areas, the route calculation device is configured to determine a candidate point at which the second avoidance route branches off the first avoidance route at the time of calculating the second avoidance route, and the route calculation device is configured to determine the candidate point based on
a traveling direction and a speed of the vehicle at each point on the first avoidance route,a tangential direction of a boundary line of the second avoidance area at a predicted entry point into the second avoidance area, anda certain yaw rate not more than a maximum yaw rate of the vehicle. |
