ROUTE CALCULATION DEVICE FOR VEHICLE

摘要

A route calculation device calculates a route of a vehicle on which the device is mounted in order to avoid entry of the vehicle into a first avoidance area and a second avoidance area. The second avoidance route is calculated after calculation of the first avoidance route. The first avoidance route avoids entry of the vehicle into the first avoidance area. The second avoidance route branches off the first avoidance route and avoids entry of the vehicle into both the first and second avoidance areas. The route calculation device determines a candidate point for the branch off the first avoidance route to the second avoidance route at the time of calculating the second avoidance route. The candidate point is determined based on the traveling direction and speed of the vehicle at each point on the first avoidance route, the tangential direction of a boundary line of the second avoidance area at a predicted entry point into the second avoidance area, and a certain yaw rate not more than the maximum yaw rate of the vehicle.