Route determination device, vehicle control device, route determination method, and storage medium

1. A route determination device comprising a processor configured to:

recognize peripheral circumstances of a host vehicle;

evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle;

select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predetermined distance from adjacent virtual nodes of the plurality of virtual nodes in each of a forward moving direction and a road width direction;

recognize a position of an object on a periphery of the host vehicle; and

increase a cost to be applied to an edge corresponding to another lane on a side toward which the object is biased, in a case that the position of the object recognized by the recognition unit is biased from a center of a lane, for evaluating each of a plurality of routes.

2. The route determination device according to claim 1 ,

wherein the plurality of virtual nodes are located for each lane in the road width direction.

3. The route determination device according to claim 1 ,

wherein the processor individually evaluates one or more routes in which the host vehicle is able to arrive at a target lane at a trailing end of an evaluation section in a case that the target lane at the trailing end of the evaluation section is set.

4. A vehicle control device comprising:

the route determination device according to claim 1 ; and

a driving control unit that controls the host vehicle to move based on a route selected by the evaluation unit of the route determination device.

5. A route determination device comprising a processor configured to:

recognize peripheral circumstances of a host vehicle;

evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle;

select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predetermined distance from adjacent virtual nodes of the plurality of virtual nodes in each of a forward moving direction and a road width direction;

recognize a position and a state of an object on a periphery of the host vehicle,

estimate a future position of the object based on the position and the state of the object; and

apply a cost to each of the plurality of edges based on the future position of the object for evaluating each of a plurality of routes.

6. The route determination device according to claim 5 ,

wherein the plurality of virtual nodes are located for each lane in the road width direction.

7. The route determination device according to claim 5 ,

wherein the processor individually evaluates one or more routes in which the host vehicle is able to arrive at an a target lane at a trailing end of an evaluation section in a case that the target lane at the trailing end of the evaluation section is set.

8. A vehicle control device comprising:

the route determination device according to claim 5 ; and

a driving control unit that controls the host vehicle to move based on a route selected by the evaluation unit of the route determination device.

9. A route determination device comprising a processor configured to:

recognize peripheral circumstances of a host vehicle;

evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle;

select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predetermined distance from adjacent virtual nodes of the plurality of virtual nodes in each of a forward moving direction and a road width direction; and

determine that the host vehicle is to follow a preceding vehicle in a case that a sum of the costs of all of the plurality of routes exceeds a criterion.

10. A vehicle control device comprising:

the route determination device according to claim 9 ; and

a driving control unit that controls the host vehicle to move based on a route selected by the evaluation unit of the route determination device.

11. A route determination device comprising a processor configured to:

recognize peripheral circumstances of a host vehicle;

evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle;

select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predetermined distance from adjacent virtual nodes of the plurality of virtual nodes in each of a forward moving direction and a road width direction;

recognize a position and a size of an object on a periphery of the host vehicle; and

increase a cost to be applied to an edge on the periphery of the object in proportion to an increase in a width of the recognized object.

12. A vehicle control device comprising:

the route determination device according to claim 11 ; and

a driving control unit that controls the host vehicle to move based on a route selected by the evaluation unit of the route determination device.

13. A route determination device comprising a processor configured to:

recognize peripheral circumstances of a host vehicle;

evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle;

select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predetermined distance from adjacent virtual nodes of the plurality of virtual nodes in each of a forward moving direction and a road width direction;

recognize a direction in which an object on a periphery of the host vehicle moves; and

determine a cost to be applied to an edge on the periphery of the object, based on the direction.

14. A vehicle control device comprising:

the route determination device according to claim 13 ; and

a driving control unit that controls the host vehicle to move based on a route selected by the evaluation unit of the route determination device.

15. A route determination method using a computer mounted in a host vehicle, comprising:

recognizing peripheral circumstances of the host vehicle;

evaluating each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle; and

selecting one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predefined distance from one another in each of a forward moving direction and a road width direction,

wherein the recognizing includes recognizing a position and a state of an object on a periphery of the host vehicle, and

the evaluating includes applying a cost to each of the plurality of edges based on the future position of the object for evaluating each of a plurality of routes.

16. A non-transitory computer-readable storage medium which stores a program for causing a computer mounted in a host vehicle:

to recognize peripheral circumstances of the host vehicle;

to evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle; and

to select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, the plurality of virtual nodes being located a predetermined distance from one another in each of a forward moving direction and a road width direction,

wherein the recognition includes recognizing a position and a state of an object on a periphery of the host vehicle, and

the evaluation includes applying a cost to each of the plurality of edges based on the future position of the object for evaluating each of a plurality of routes.