In-vehicle processing device
An in-vehicle processing device includes an offset route generation part configured to generate an offset route by offsetting to an oncoming lane an outbound route in a street on which the host vehicle has previously traveled, a candidate point generation part configured to generate a plurality of candidate points that are candidates for a return route based on the offset route generated by the offset route generation part, a candidate route generation part configured to generate a plurality of candidate routes by connecting the candidate points generated by the candidate point generation part, and a route selection part configured to select the return route based on the plurality of candidate routes generated by the candidate route generation part.
1. An in-vehicle processing device comprising:
one or more processors configured to control the in-vehicle processing device to:
generate an offset route on a street, that is a route offset from an outbound route on the street, on which a host vehicle has previously traveled, to a width direction of the host vehicle and an offset direction toward an oncoming lane, the offset route being in a direction opposite to the outbound route,
calculate a traveling direction of the host vehicle on the street based on a vehicle parameter,
calculate the offset direction from the traveling direction calculated,
generate a plurality of candidate points that are candidates for a return route based on the offset route generated and based on current peripheral information around the host vehicle and current information on the host vehicle, wherein the candidate points are not generated in places with obstacles,
generate a plurality of candidate routes by connecting the candidate points generated, and
select the return route based on the plurality of candidate routes generated.
2. The in-vehicle processing device according to claim 1 , wherein the one or more processors are further configured to control the in-vehicle processing device to calculate the offset route based on the outbound route and a width of the street.
3. The in-vehicle processing device according to claim 2 , wherein the current peripheral information is from a sonar, a radar, a rider, a stereo camera, and cameras and the current information is detected by a vehicle speed sensor and a steering angle sensor.
4. The in-vehicle processing device according to claim 1 , wherein the current peripheral information is from a sonar, a radar, a rider, a stereo camera, and cameras and the current information is detected by a vehicle speed sensor and a steering angle sensor.