Granted Patent B2

US 12,252,128 · App. 17/814,624 · Granted Mar 18, 2025

Inventors: Kouji Kawakita (Kariya, JP); Keigo Fujimoto (Kariya, JP)

Assignee: DENSO CORPORATION

B60W30/18163B60W30/143B60W40/04B60W60/001B60W2554/4041

Abstract

Claims (79)

1. 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 while the first vehicle is following a second vehicle in the main lane, the trajectory generation device comprising:

a determination unit configured to determine whether the second vehicle different from the first vehicle is present in the branch lane or the main lane; and

an adjustment unit configured to adjust a sharpness of the branch trajectory based on whether the second vehicle is present in the branch lane, wherein the branch trajectory generated in a scene where it is determined that the second vehicle is present in the branch lane is a branch following trajectory in which the first vehicle is traveling in a state of following the second vehicle,

the branch trajectory generated in a scene where it is determined that the second vehicle is present in the main lane is a branch release trajectory in which the first vehicle is released from the state of following to the second vehicle, and

the adjustment unit is configured to generate the branch release trajectory that guides the first vehicle to the branch lane less sharply than the branch following trajectory, and

wherein

the branch release trajectory is configured to have a smaller azimuth angle between a direction of the main lane and a traveling direction of the first vehicle entering the branch lane than the branch following trajectory, and

the first vehicle is capable of performing autonomous driving constantly or temporarily by receiving a driving control of a driving control device, and

the driving control device controls at least steering of the first vehicle according to the generated branch release trajectory or the generated branch following trajectory.

2. The trajectory generation device according to claim 1 , wherein the branch lane includes a parallel lane that is parallel to the main lane and a connection lane that connects the main lane to the parallel lane,

the branch following trajectory generated in a scene where it is determined that the second vehicle is present in the connection lane is a connection following trajectory, and

the adjustment unit is configured to generate the branch release trajectory that guides the first vehicle to the branch lane less sharply than the connection following trajectory.

3. The trajectory generation device according to claim 2 , wherein the branch following trajectory generated in a scene where it is determined that the second vehicle is not present in the connection lane and is present in the parallel lane is a parallel following trajectory, and

the adjustment unit is configured to generate the parallel following trajectory that guides the first vehicle to the branch lane less sharply than the connection following trajectory.

4. The trajectory generation device according to claim 3 , wherein

the adjustment unit is configured to generate the branch release trajectory that guides the first vehicle to the branch lane less sharply than the parallel following trajectory.

5. The trajectory generation device according to claim 3 , wherein

the adjustment unit is configured to adjust the sharpness by a completion position at which a lane change of the first vehicle to the branch lane is completed, and

the completion position is

a position at which the first vehicle starts traveling in parallel with the main lane in the parallel lane in a scene where it is determined that the second vehicle is not present in the connection lane and the parallel lane,

a position at which the connection lane transitions to the parallel lane in a scene where it is determined that the second vehicle is present in the connection lane, and

a position at which the first vehicle starts following the second vehicle in the parallel lane in a scene where it is determined that the second vehicle is not present in the connection lane and is present in the parallel lane.

6. The trajectory generation device according to claim 1 , wherein

the adjustment unit is configured to adjust the sharpness of the branch trajectory by a curvature of a curve drawn by the first vehicle entering the branch lane.

7. The trajectory generation device according to claim 1 , wherein

the adjustment unit is configured to adjust a sharpness of the branch trajectory by an azimuth angle between a direction of the main lane and a traveling direction of the first vehicle entering the branch lane.

8. The trajectory generation device according to claim 1 ,

wherein the adjustment unit is configured to adjust a sharpness of the branch trajectory by a maximum centrifugal acceleration of the first vehicle entering the branch lane.

9. The trajectory generation device according to claim 1 , wherein

the adjustment unit is configured to adjust a sharpness of the branch trajectory by a rate of change of a maximum centrifugal acceleration of the first vehicle entering the branch lane.

10. The trajectory generation device according to claim 1 , wherein

the adjustment unit is configured to give, as a constraint to the branch trajectory, an entrance limit position of the first vehicle entering the branch lane.

11. A method for a processor to generate a branch trajectory as a trajectory of a first vehicle traveling from a main lane to a branch lane while the first vehicle is following a second vehicle in the main lane, the method comprising:

determining whether the second vehicle is present in the branch lane or the main lane; and

adjusting a sharpness of the branch trajectory based on whether the second vehicle is present in the branch lane, wherein

the branch trajectory generated in a scene where it is determined that the second vehicle is present in the branch lane is a branch following trajectory in which the first vehicle is traveling in a state of following the second vehicle,

the branch trajectory generated in a scene where it is determined that the second vehicle is present in the main lane is a branch release trajectory in which the first vehicle is released from the state of following to the second vehicle, and

the branch release trajectory guides the first vehicle to the branch lane less sharply than the branch following trajectory, and

wherein

the branch release trajectory is configured to have a smaller azimuth angle between a direction of the main lane and a traveling direction of the first vehicle entering the branch lane than the branch following trajectory, and

the first vehicle is capable of performing autonomous driving constantly or temporarily by receiving a driving control of a driving control device, and

the driving control device controls at least steering of the first vehicle according to the generated branch release trajectory or the generated branch following trajectory.

12. The method according to claim 11 , wherein

the branch lane includes a parallel lane that is parallel to the main lane and a connection lane that connects the main lane to the parallel lane,

the branch following trajectory in a scene where it is determined that the second vehicle is present in the connection lane is a connection following trajectory, and

the branch release trajectory guides the first vehicle to the branch lane less sharply than the connection following trajectory.

13. The method according to claim 12 , wherein

the branch following trajectory in a scene where it is determined that the second vehicle is not present in the connection lane and is present in the parallel lane is a parallel following trajectory, and

the parallel following trajectory guides the first vehicle to the branch lane less sharply than the connection following trajectory.

14. The method according to claim 13 , wherein

the branch release trajectory guides the first vehicle to the branch lane less sharply than the parallel following trajectory.

15. The method according to claim 13 , wherein

in the adjusting the sharpness, the sharpness is adjusted by a completion position at which a lane change of the first vehicle to the branch lane is completed, and

the completion position is

a position at which the first vehicle starts traveling in parallel with the main lane in the parallel lane in a scene where it is determined that the second vehicle is not present in the connection lane and the parallel lane,

a position at which the connection lane transitions to the parallel lane in a scene where it is determined that the second vehicle is present in the connection lane, and

a position at which the first vehicle starts following the second vehicle in the parallel lane in a scene where it is determined that the second vehicle is not present in the connection lane and is present in the parallel lane.

16. The method according to claim 11 , wherein

in the adjusting the sharpness, the sharpness of the branch trajectory is adjusted by a curvature of a curve drawn by the first vehicle entering the branch lane.

17. The method according to claim 11 ,

wherein in the adjusting the sharpness, the sharpness of the branch trajectory is adjusted by an azimuth angle between a direction of the main lane and a traveling direction of the first vehicle entering the branch lane.

18. The method according to claim 11 , wherein

in the adjusting the sharpness, the sharpness of the branch trajectory is adjusted by a maximum centrifugal acceleration of the first vehicle entering the branch lane.

19. The method according to claim 11 , wherein

in the adjusting the sharpness, the sharpness of the branch trajectory is adjusted by a rate of change of a maximum centrifugal acceleration of the first vehicle entering the branch lane.

20. The method according to claim 11 , wherein

in the adjusting the sharpness, an entrance limit position of the first vehicle entering the branch lane is given to the branch trajectory as a constraint.

21. A computer program product for generating a branch trajectory as a trajectory of a first vehicle traveling from a main lane to a branch lane while the first vehicle is following a second vehicle in the main lane, the computer program product being stored on at least one non-transitory computer readable medium and comprising instructions configured to, when executed by at least one processor, cause the at least one processor to:

determine whether the second vehicle is present in the branch lane or the main lane; and

adjust a sharpness of the branch trajectory based on whether the second vehicle is present in the branch lane, wherein

the branch trajectory generated in a scene where it is determined that the second vehicle is present in the branch lane is a branch following trajectory in which the first vehicle is traveling in a state of following the second vehicle,

the branch trajectory generated in a scene where it is determined that the second vehicle is present in the main lane is a branch release trajectory in which the first vehicle is released from the state of following the second vehicle, and

the branch release trajectory guides the first vehicle to the branch lane less sharply than the branch following trajectory, and

wherein

the branch release trajectory is configured to have a smaller azimuth angle between a direction of the main lane and a traveling direction of the first vehicle entering the branch lane than the branch following trajectory, and

the first vehicle is capable of performing autonomous driving constantly or temporarily by receiving a driving control of a driving control device, and

the driving control device controls at least steering of the first vehicle according to the generated branch release trajectory or the generated branch following trajectory.

22. The trajectory generation device according to claim 1 , wherein

the branch release trajectory is configured to provide a lower lateral acceleration than the branch following trajectory.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (9)