| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling object travel route generating device which does not give sense of incongruity to a driver by making an avoidance direction to an obstacle on a calculated obstacle avoidance route coincide with an obstacle avoidance direction set on the basis of a driving operation. SOLUTION: In (a), an obstacle avoidance direction X1 based on a driving operation and an initial target avoidance route candidate X2 are set. In (b), a virtual obstacle 32a for generating a second risk potential is set at a position opposite from a detected obstacle 32 across the target avoidance route candidate X2. In (c), the target avoidance route candidate X2 is corrected into a target avoidance route candidate X3 on the basis of a second risk potential generated on the basis of the virtual obstacle 32a. In (d), a new virtual obstacle 32b is set, the second risk potential is regenerated on the basis of the new virtual obstacle 32b, and the target avoidance route candidate X3 is corrected into the final target travel route X4 on the basis of the second risk potential. COPYRIGHT: (C)2011,JPO&INPIT |
