| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a traveling course generation apparatus and a traveling control apparatus in which a traveling course can be generated within a predetermined time completely without performing control to stop a present vehicle and accuracy for a desired traveling course can be maintained to a certain extent. <P>SOLUTION: A traveling course generation ECU 10 includes a traveling course calculation section 13 which generates the traveling course. On the basis of a present vehicle position and a target arrival position, the traveling course calculation section 13 generates the traveling course in accordance with a deformation method. Furthermore, when a solution of the traveling course cannot be discovered within a predetermined time by the deformation method, the traveling course is generated according to a step planner method of which the calculation time is shorter than that of the deformation method. <P>COPYRIGHT: (C)2013,JPO&INPIT |
