| 摘要 |
PROBLEM TO BE SOLVED: To provide a route preparation device capable of reducing the preparation time of a running route. SOLUTION: The route preparation device 1 is a device for preparing a vehicle-running route from a starting point, up to a target point by sequentially connecting node-connecting segments. The route preparation device 1 includes a preparation part 16b for preparing a running route, by repeatedly implementing processing for setting a new node based on a point extracted from above a space at random until a node is set within a predetermined range from the target point and sequentially connecting the segments for connecting the set nodes; a means of detecting a vehicle status or a status around the vehicle, such as, an obstacle detector 11 and a white-line detector 12; and a probability determination part 16a for determining the probability with a target point as a point extracted at random. COPYRIGHT: (C)2011,JPO&INPIT |
