| 摘要 |
<p>PROBLEM TO BE SOLVED: To properly select a route desired by a driver.SOLUTION: When a vehicle is automatically guided, a plurality of branch routes R1-Rn branching from a reference route Rs forward of the vehicle are detected. At least one of direction indication operation, acceleration/deceleration operation, and steering operation of the driver is detected as well. In this case, according to direction indication operation, acceleration/deceleration operation, and steering operation detected subsequently, one branch route intended by the driver is selected. The selected branch route is set as a new reference route Rs. Specifically, for each of the branch routes, a standard trajectory Os for the vehicle moving from the reference route Rs to a branch route is set. A trajectory of the vehicle estimated from the detected direction indication operation, acceleration/deceleration operation, and steering operation, selects a branch route which suits the standard trajectory Os.</p> |
