公开(公告)号：US20220355799A1

公开(公告)日：2022-11-10

申请号：US17814624

申请日：2022-07-25

申请人： DENSO CORPORATION

发明人： KOUJI KAWAKITA ,  KEIGO FUJIMOTO

IPC分类号： B60W30/18 ,  B60W60/00 ,  B60W40/04 ,  B60W30/14

摘要： A trajectory generation device configured to generate a branch trajectory as a trajectory of a first vehicle traveling from a main lane to a branch lane includes a determination unit and an adjustment unit. The determination unit is configured to determine whether a second vehicle different from the first vehicle is present in the branch lane. The adjustment unit is configured to adjust a sharpness of the branch trajectory based. The branch trajectory in a scene where it is determined that the second vehicle is present in the branch lane is a branch following trajectory. The branch trajectory in a scene where it is determined that the second vehicle is not present in the branch lane is a branch release trajectory. The branch release trajectory guides the first vehicle to the branch lane less sharply than the branch following trajectory.

公开(公告)号：US20220348198A1

公开(公告)日：2022-11-03

申请号：US17812569

申请日：2022-07-14

申请人： DENSO CORPORATION

发明人： YUTA KAMOSHITA ,  KEIGO FUJIMOTO

IPC分类号： B60W30/095 ,  B60W60/00 ,  B60W50/00

摘要： A trajectory generation device is configured to generate a future trajectory along which a vehicle travels in a future. The trajectory generation device includes an action plan unit, a trajectory candidate unit, a trajectory evaluation unit, and a trajectory fixing unit. The action plan unit is configured to plan a future action of the vehicle. The trajectory candidate generation unit is configured to generate a trajectory candidate of the future trajectory in accordance with the planned future action. The trajectory evaluation unit is configured to evaluate whether a traveling along the trajectory candidate is permitted. The trajectory fixing unit is configured to fix the trajectory candidate as the future trajectory when it is determined that the traveling along the trajectory candidate is permitted. The action plan unit is configured to plan the future action again when it is determined that the traveling along the trajectory candidate is not permitted.