JP5552948B2 - Course decision device - Google Patents

Description

  The present invention relates to a course decision device.

  In Patent Document 1, all the tracks on which the surrounding vehicle of the host vehicle can travel are calculated for each surrounding vehicle, and the contact with the surrounding vehicle is avoided on the assumption that the surrounding vehicle causes an unpredictable abnormal behavior. A technique related to an interference evaluation method for setting a target course of the host vehicle is disclosed.

  Patent Document 2 discloses a technique for creating a course pattern that avoids the abnormal behavior of the preceding vehicle, and in particular, when the abnormal behavior is not performed, a course with good traveling efficiency is selected, and when the abnormal behavior is performed, the collision occurs. A technique related to a course evaluation device that selects a course that avoids the problem is disclosed. Further, Patent Document 3 relates to a driving support system that specifies a range in which a pedestrian can exist in the future based on the pedestrian's stride detected by a camera and the time when both feet are on the ground, and establishes a route that avoids the range. Technology is disclosed.

JP 2007-233645 A JP 2009-157502 A JP 2009-012521 A

  However, in the prior art, when it is assumed that all the surrounding vehicles cause abnormal behavior, there is a possibility that the target route of the own vehicle cannot be determined when there is no course of the own vehicle that can avoid contact with all the surrounding vehicles. There was a problem that there was.

  The present invention has been made in view of the above circumstances, and provides a course determination device that can increase the possibility that the target course of the host vehicle is determined and cause the host vehicle to perform realistic travel. For the purpose.

  The course determination device according to the present invention includes a peripheral obstacle behavior information acquisition unit that acquires information on the behavior of an obstacle existing around the host vehicle, and the obstacle is detected when the obstacle behaves abnormally. An abnormal behavior region predicting means for predicting an abnormal behavior region that is a region that can exist, and among the plurality of obstacles existing around the host vehicle, some of the obstacles exhibiting an abnormal behavior and the host vehicle, And a target course deriving means for deriving a target course that avoids the contact of.

  It is preferable that the target course deriving unit derives a plurality of patterns of the target course by changing a part of the obstacle patterns that do not predict the abnormal behavior region.

  The target route deriving means further reduces the number of the obstacles to be avoided when the target route that can avoid the obstacles to be avoided in the vicinity of the host vehicle cannot be derived. Deriving is preferable.

  According to the present invention, information on the behavior of an obstacle existing around the host vehicle is acquired, and when the obstacle behaves abnormally, an abnormal behavior area that is an area where the obstacle can exist is predicted, A target course that avoids contact between a part of obstacles that behave abnormally and a host vehicle among a plurality of obstacles existing around the host vehicle is derived. Thereby, there is an effect that the possibility that the target course of the host vehicle is determined can be increased and the host vehicle can be made to travel realistically. By preparing not only the path when all obstacles cause abnormal behavior but also the path assuming that only some obstacles cause abnormal behavior, the possibility that the course will be finally decided is increased. There is an effect that it is possible to make the vehicle run realistically.

  According to the present invention, a pattern of some obstacles that do not predict an abnormal behavior region is changed, and a plurality of target courses are derived. Thereby, there exists an effect that a contact risk with a surrounding obstacle can be reduced supposing a plurality of abnormal action patterns.

  According to the present invention, when a target route that can avoid an obstacle to be avoided cannot be derived around the host vehicle, the target route is derived by further reducing the number of obstacles to be avoided. In this way, by preparing not only the path when all the avoidance targets cause abnormal behavior but also the path assumed that only some obstacles among the current avoidance targets cause abnormal behavior, There is an effect that it is possible to increase the possibility that the course is determined and to make a realistic driving.

FIG. 1 is a block diagram illustrating a configuration of a route determination apparatus according to the first embodiment. FIG. 2 is a flowchart illustrating an example of a course determination operation according to the first embodiment. FIG. 3 is a diagram illustrating an example of an application scene of the course determination operation of the first embodiment. FIG. 4 is a block diagram illustrating a configuration of the route determination apparatus according to the second embodiment. FIG. 5 is a flowchart illustrating an example of a course determination operation according to the second embodiment. FIG. 6 is a diagram illustrating an example of an application scene of the course determination operation of the second embodiment. FIG. 7 is a block diagram showing the configuration of the course decision device according to the third embodiment. FIG. 8 is a flowchart illustrating an example of a course determination operation according to the third embodiment.

  DESCRIPTION OF EMBODIMENTS Embodiments (first embodiment, second embodiment, and third embodiment) of a route determination device according to the present invention will be described below with reference to the drawings. Note that the present invention is not limited to these embodiments.

[First Embodiment]
Here, a first embodiment of a course decision device according to the present invention will be described with reference to the drawings.

  First, the outline | summary of 1st Embodiment of the course determination apparatus concerning this invention is demonstrated. The conventional technology disclosed in Japanese Patent Application Laid-Open No. 2009-157502 is based on the assumption that the surrounding obstacle takes an abnormal movement (for example, the preceding vehicle applies a sudden brake) and the collision with the surrounding obstacle. By selecting a course group of the host vehicle that can be avoided, a safe course of the host vehicle is selected.

  By the way, in the actual traffic environment, there are usually multiple surrounding obstacles that should avoid collisions. In such an environment, the realization of safe vehicle path selection is the realization of the commerciality of automatic vehicle driving technology. It is essential.

  However, as in the prior art, it is assumed that all peripheral obstacles take abnormal movement without evaluating the safety of movement of multiple peripheral obstacles, and collision with all these peripheral obstacles If there is an attempt to avoid the vehicle at the same time, there is no appropriate avoidance route of the host vehicle that can avoid a collision due to the arrangement of surrounding obstacles, and the host vehicle route may not be determined. In addition, in the prior art, when the course of the vehicle is selected based on the existence of an avoidance path for abnormal movement of each surrounding obstacle, the path that interferes with surrounding obstacles other than the peripheral obstacle of abnormal movement is also safe. As a result, there was room for improvement in terms of further improving the safety of the vehicle. Further, since the conventional technology does not distinguish between the abnormal movement of the surrounding obstacles and the range of the normal movement, the vehicle in a realistic scenario in which some of the plurality of surrounding obstacles take an abnormal action. The safety of the course cannot be properly evaluated.

  Therefore, in the first embodiment, it is practically rare for all peripheral obstacles to take abnormal actions at the same time, and it is assumed that the majority of peripheral obstacles take normal movement, and then a plurality of peripheral obstacles are assumed. A plurality of movement ranges (abnormal movement range, normal movement range, etc.) are set for each of the objects, and a range to be avoided by the own vehicle is calculated by combining the plurality of movement ranges, and the calculated avoidance is performed. The course of the host vehicle is selected based on the fact that the host vehicle can avoid the power range. That is, a route group that avoids a combination of a plurality of movement ranges set for each peripheral obstacle is highly evaluated. Thereby, the safe course selection of the own vehicle is realizable in the actual traffic environment where two or more surrounding obstacles exist.

  Next, the configuration of the course decision device of the first embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating a configuration of a route determination apparatus according to the first embodiment.

  In FIG. 1, the code | symbol 1 is the course determination apparatus integrated in ECU (electronic control unit) mounted in own self-driving vehicle (own vehicle). Reference numeral 10 denotes a travel information acquisition unit, reference numeral 11 denotes an obstacle movement range setting unit, reference numeral 12 denotes an avoidance range setting unit, and reference numeral 13 denotes a course evaluation unit.

  The travel information acquisition unit 10 inputs signals from various sensors and navigation systems mounted on the host vehicle, so that the travel state such as the position / speed / steering angle of the host vehicle and surrounding obstacles (vehicles, pedestrians, etc.) ) Is acquired, and the travel information such as prior knowledge such as a map is output, and the acquired travel information is appropriately output to the obstacle movement range setting unit 11 as necessary.

  The obstacle movement range setting unit 11 uses the travel information output from the travel information acquisition unit 10 and uses a plurality of motion ranges (abnormal motion range, normal motion) for at least one of the plurality of surrounding obstacles. Range etc.) is set, and the set plurality of movement ranges are output to the avoidance range setting unit 12.

  The avoidance range setting unit 12 sets a range to be avoided by the host vehicle from a combination of a plurality of motion ranges output from the obstacle movement range setting unit 11, and outputs the set range to be avoided to the course evaluation unit 13. To do.

  The course evaluation unit 13 highly evaluates the course in which the host vehicle can avoid the range to be avoided output from the avoidance range setting unit 12. Here, when evaluating not only driving safety standards but also standards such as driving efficiency and driving rule compliance, the course evaluation unit 13 uses the technical concept disclosed in Japanese Patent Application Laid-Open No. 2009-157502. It is possible to evaluate a route group including a plurality of routes that are similar to each other.

  Next, an example of a course determination operation performed by the course determination apparatus 1 having the above-described configuration will be described with reference to FIGS. 2 and 3. FIG. 2 is a flowchart illustrating an example of a course determination operation according to the first embodiment. FIG. 3 is a diagram illustrating an example of an application scene of the course determination operation of the first embodiment.

  For example, when the host vehicle travels on a road with a leading vehicle (peripheral vehicle 1) and a vehicle that exits from the alley (peripheral vehicle 2), as shown in FIG. Assuming that neighboring vehicles 1 and 2 take abnormal actions at the same time, the range that the own vehicle should avoid is set, and the course of the own vehicle that can avoid the set avoidable range (all assumed to take abnormal action) The course of the own vehicle that can avoid a collision with a neighboring vehicle is selected.

  However, in the situation shown in the figure where all the surrounding vehicles are close to the host vehicle, assuming that all the surrounding vehicles take an abnormal action, the range to be avoided by the own vehicle becomes too large. There is no course of the host vehicle that can avoid the range to be avoided, and as a result, an appropriate course of the host vehicle may not be determined.

  Accordingly, in consideration of the fact that it is extremely rare for the surrounding vehicles 1 and 2 to take abnormal behavior at the same time, the course determination device 1 takes the abnormal behavior of the preceding surrounding vehicle 1 and the surrounding vehicles in the alley No. 2 sets a range that the host vehicle should avoid assuming normal movement, and determines a course of the host vehicle that can avoid the set avoidable range. Specifically, the course decision device 1 executes the following course decision operation. Thereby, the course of the own vehicle which can ensure the safety in the realistic scenario that some of several surrounding vehicles take abnormal action can be determined.

  First, the travel information acquisition unit 10 acquires travel information by inputting signals from various sensors and navigation systems mounted on the host vehicle, and outputs the acquired travel information to the obstacle movement range setting unit 11 (steps). SA1).

  Next, the obstacle movement range setting unit 11 sets an abnormal movement range for the surrounding vehicle 1 and a normal movement range for the surrounding vehicle 2 using the travel information output in step SA1. The plurality of set motion ranges are output to the avoidance range setting unit 12 (step SA2).

  Next, the avoidance range setting unit 12 sets a range to be avoided by the host vehicle from the combination of the plurality of motion ranges output in step SA2, and outputs the set range to be avoided to the course evaluation unit 13 ( Step SA3).

  Then, when the course of the host vehicle can be derived based on the fact that the range to be avoided output in step SA3 can be avoided, the course evaluation unit 13 evaluates it highly and selects it as the target course of the host vehicle. Determine (step SA4).

[Second Embodiment]
Here, a second embodiment of the route determination apparatus according to the present invention will be described with reference to the drawings. In the second embodiment, the description overlapping that of the first embodiment described above may be omitted.

  First, the outline | summary of 2nd Embodiment of the course determination apparatus concerning this invention is demonstrated. In the first embodiment described above, since it is extremely rare for all the surrounding obstacles to take an abnormal action at the same time, it is assumed that there is a realistic scenario in which some surrounding obstacles take an abnormal action. However, there is a possibility that the optimum course of the host vehicle cannot be determined when a surrounding obstacle that is not supposed to take an abnormal action takes an abnormal action.

  Therefore, in the second embodiment, it is assumed that one peripheral obstacle among all the peripheral obstacles takes an abnormal action, and the remaining peripheral obstacles take a normal movement, and one peripheral obstacle taking an abnormal action. While changing an object among all surrounding obstacles, a plurality of sets of areas to be avoided are obtained, and a route group of the own vehicle is selected based on the fact that the area to be avoided by the own vehicle can be avoided. That is, a plurality of combinations of peripheral obstacles that cause abnormal behavior and peripheral obstacles that do not cause abnormal behavior are set, and the course of the host vehicle corresponding to each set combination is calculated. Thereby, even when a peripheral obstacle that is not assumed to take an abnormal action takes an abnormal action, it is possible to determine the optimum course of the host vehicle.

  Next, the configuration of the route determination apparatus of the second embodiment will be described with reference to FIG. FIG. 4 is a block diagram illustrating a configuration of the route determination apparatus according to the second embodiment.

  In FIG. 4, reference numeral 14 is a multiple avoidance range setting unit, and reference numeral 15 is a course group evaluation unit. The multiple avoidance range setting unit 14 sets a plurality of ranges that the host vehicle should avoid from the combination of the motion ranges output from the obstacle movement range setting unit 11, and sets the plurality of set avoidance ranges as the route group evaluation unit 15 is output. The course group evaluation unit 15 highly evaluates a course group that can avoid a plurality of avoidable ranges output from the multiple avoidance range setting unit 14.

  Next, an example of a course determination operation performed by the course determination apparatus 1 having the above-described configuration will be described with reference to FIGS. 5 and 6. FIG. 5 is a flowchart illustrating an example of a course determination operation according to the second embodiment. FIG. 6 is a diagram illustrating an example of an application scene of the course determination operation of the second embodiment.

  For example, when the host vehicle travels on a street, there are a preceding vehicle (peripheral vehicle 1) and a vehicle (peripheral vehicle 2) coming out of the alley, in the first embodiment described above, the peripheral vehicles 1 and 2 In consideration of the fact that taking abnormal behavior at the same time is extremely rare, it is assumed that the preceding surrounding vehicle 1 takes abnormal behavior and the surrounding vehicle 2 in the alley takes normal movement. Sets a range to be avoided and determines a course of the host vehicle that can avoid the set range to be avoided.

  However, there is a possibility that the optimum course of the own vehicle cannot be determined when a surrounding vehicle that is not supposed to take abnormal behavior takes abnormal behavior.

  Therefore, in the second embodiment, it is assumed that one (1) peripheral vehicle 1 of all (two) peripheral vehicles 1 and 2 takes an abnormal action, and the remaining peripheral vehicles 2 take a normal movement, and the abnormal action is assumed. A plurality of sets of areas to be avoided are obtained while changing the surrounding vehicle to be the surrounding vehicle 2, and a course group of the own vehicle is selected based on the fact that the area to be avoided by the own vehicle can be avoided. Specifically, the course decision device 1 executes the following course decision operation. Thereby, even when a surrounding vehicle that is not supposed to take an abnormal action takes an abnormal action, the optimum course of the host vehicle can be determined.

  First, the travel information acquisition unit 10 acquires travel information by inputting signals from various sensors and navigation systems mounted on the vehicle, and outputs the acquired travel information to the obstacle movement range setting unit 11 (step SB1). ).

  Next, the obstacle movement range setting unit 11 uses the travel information output in step SB1 to indicate an abnormal movement range with respect to the preceding surrounding vehicle 1 and a normal movement with respect to the surrounding vehicle 2 in the alley. A range is set, and a combination (combination 1) of the set motion ranges is output to the avoidance range setting unit 12 (step SB2). The obstacle movement range setting unit 11 sets a normal movement range for the surrounding vehicle 1 and an abnormal movement range for the surrounding vehicle 2, and sets a plurality of the set movement ranges (combination 2). It outputs to the avoidance range setting part 14 (step SB2).

  Next, as shown in FIG. 6, the range to be avoided by the host vehicle with respect to the combination 1 from the combination of the plurality of movement ranges (combination 1, combination 2) output at the multiple avoidance range setting unit 14 and step SB2 ( A range to be avoided by the host vehicle for the avoidance range 1) and the combination 2 (avoidance range 2) is set, and the plurality of set ranges to be avoided (avoidance range 1 and avoidance range 2) are output to the course group evaluation unit 15. (Step SB3).

  Then, when the course of the host vehicle can be derived based on the fact that both of the plurality of ranges to be avoided output in step SB3 can be avoided, the course group evaluation unit 15 highly evaluates the course of the host vehicle. A target course is selected and determined (step SB4).

  Thereby, the safe course corresponding to any abnormal action of the surrounding vehicles 1 and 2 can be determined. For example, as shown in FIG. 6, when it is assumed that the surrounding vehicle 1 takes an abnormal action of sudden deceleration, the own vehicle also decelerates, and the surrounding vehicle 2 assumes an abnormal action of sudden acceleration. Can determine the course that the vehicle passes by maintaining speed.

[Third Embodiment]
Here, a third embodiment of the course decision device according to the present invention will be described with reference to the drawings. In the third embodiment, the description overlapping the first execution mode and the second embodiment described above may be omitted.

  First, an outline of a third embodiment of the route determination apparatus according to the present invention will be described. In the second embodiment described above, it is assumed that one peripheral obstacle among all the peripheral obstacles takes an abnormal action and the remaining peripheral obstacles take a normal movement, and one peripheral obstacle that takes an abnormal action. The range to be avoided was obtained while changing the object among all the surrounding obstacles, but when multiple surrounding obstacles took abnormal action at the same time, it is possible to determine the optimum course of the own vehicle There is a possibility that it cannot be done.

Therefore, in the third embodiment, the following processes (1) to (3) are executed.
(1) First, assuming that all surrounding obstacles take abnormal behavior, a range to be avoided of the own vehicle is set, and a course group of the own vehicle that can avoid the set range to be avoided is calculated.
(2) If there is no course group that can avoid the range to be avoided (a course group that can avoid a collision), one surrounding obstacle takes normal movement, and the remaining surrounding obstacles perform abnormal behavior. Assuming that it is taken (that is, reducing the surrounding obstacles that take abnormal action by one), the surrounding obstacles that take the normal movement are replaced with all the surrounding obstacles, and the range that should be avoided can be avoided Calculate the course group of the vehicle.
(3) The number of surrounding obstacles that take normal movement is increased (the number of surrounding obstacles that take abnormal action is reduced) until a course group that can avoid the range to be avoided is obtained.

  In other words, in the third embodiment, each time a reduction is made while reducing the number of peripheral obstacles that cause abnormal behavior, a plurality of combinations of peripheral obstacles that cause abnormal behavior and peripheral obstacles that do not cause abnormal behavior are set and set. The route group of the own vehicle corresponding to each combination is calculated. Thereby, even when a plurality of surrounding obstacles take an abnormal action at the same time, the optimum course of the host vehicle can be determined.

  Next, the configuration of the course decision device 1 of the third embodiment will be described with reference to FIG. FIG. 7 is a block diagram showing the configuration of the course decision device according to the third embodiment.

  In FIG. 7, reference numeral 16 denotes a prioritized multiple avoidance range setting unit. The prioritized multiple avoidance range setting unit 16 sets a plurality of ranges to be avoided by the host vehicle from the combination of the plurality of motion ranges output from the obstacle movement range setting unit 11, and the plurality of the set multiple avoidance ranges should be avoided. Divide the range into groups and prioritize each group.

  Next, an example of a course determination operation performed by the course determination apparatus 1 having the above-described configuration will be described with reference to FIG. FIG. 8 is a flowchart illustrating an example of a course determination operation according to the third embodiment.

[Step SC1: Assume that all surrounding obstacles take abnormal behavior]
First, the obstacle movement range setting unit 11 uses the travel information output from the travel information acquisition unit 10, and all peripheral obstacles (the peripheral obstacle 1, the peripheral obstacle 2, and the peripheral obstacle 3) are abnormal. Assuming that action is taken, an abnormal movement range is set for each of the surrounding obstacles 1, 2, and 3, and the plurality of set movement ranges (combination 1) are sent to the prioritized multiple avoidance range setting unit 16. Output. Next, the priority order multiple avoidance range setting unit 16 sets a range to be avoided by the host vehicle from a combination of a plurality of motion ranges, and outputs the set range to be avoided to the course group evaluation unit 15. Then, when the course of the host vehicle can be derived based on the fact that the range to be avoided can be avoided, the course group evaluation unit 15 highly evaluates and selects / determines the target course of the host vehicle.

[Step SC2: Assume that one surrounding obstacle takes normal action]
Next, when the course of the host vehicle does not exist in step SC1, the obstacle movement range setting unit 11 assumes that one peripheral obstacle takes a normal action, and the combination 1 is a peripheral obstacle. A normal movement range is set for 1 and an abnormal movement range is set for the remaining peripheral obstacles 2 and 3, respectively. An abnormal movement range is set for each of the surrounding obstacles 1 and 3, and as a combination 3, a normal movement range is set for the surrounding obstacle 3 and each of the remaining surrounding obstacles 1 and 2 is set. An abnormal movement range is set, and a plurality of movement ranges of all the set combinations (three) are output to the prioritized multiple avoidance range setting unit 16. Next, the prioritized multiple avoidance range setting unit 16 selects a range (avoidance range 1, avoidance range 2, avoidance range) that the host vehicle should avoid from each combination of a plurality of motion ranges of all combinations. 3) is set, and the plurality of set ranges to be avoided are output to the course group evaluation unit 15. Then, when the course of the host vehicle can be derived based on the fact that both of a plurality of areas to be avoided can be avoided as a reference, the course group evaluation unit 15 highly evaluates and selects and determines the target course of the host vehicle. .

[Step SC3: Assume that two surrounding obstacles take normal action]
Next, when the course of the host vehicle does not exist in step SC2, the obstacle movement range setting unit 11 assumes that the two surrounding obstacles take normal action, and the combination 1 is a surrounding obstacle. A normal movement range is set for each of 2 and 3 and an abnormal movement range is set for the remaining peripheral obstacles 1, and a normal movement range is set for each of the peripheral obstacles 1 and 3 as combination 2. Is set to an abnormal range of motion for the remaining peripheral obstacles 2, and as a combination 3, a normal range of motion is set for each of the peripheral obstacles 1 and 2, and for the remaining peripheral obstacles 3. An abnormal movement range is set, and a plurality of movement ranges of all the set combinations (three) are output to the prioritized multiple avoidance range setting unit 16. Next, the prioritized multiple avoidance range setting unit 16 selects a range (avoidance range 1, avoidance range 2, avoidance range) that the host vehicle should avoid from each combination of a plurality of motion ranges of all combinations. 3) is set, and the plurality of set ranges to be avoided are output to the course group evaluation unit 15. Then, when the course of the host vehicle can be derived based on the fact that both of a plurality of areas to be avoided can be avoided as a reference, the course group evaluation unit 15 highly evaluates and selects and determines the target course of the host vehicle. .

[Step SC4: Assuming that all surrounding obstacles take normal action]
If there is no course of the host vehicle in step SC3, the obstacle movement range setting unit 11 normally indicates that all peripheral obstacles (peripheral obstacle 1, peripheral obstacle 2, peripheral obstacle 3) are present. The normal motion ranges are set for the surrounding obstacles 1, 2 and 3 respectively, and the plurality of set motion ranges (combination 1) are set to the prioritized multiple avoidance range setting unit 16. Output to. Next, the priority order multiple avoidance range setting unit 16 sets a range to be avoided by the host vehicle from a combination of a plurality of motion ranges, and outputs the set range to be avoided to the course group evaluation unit 15. Then, when the course of the host vehicle can be derived based on the fact that the range to be avoided can be avoided, the course group evaluation unit 15 highly evaluates and selects / determines the target course of the host vehicle.

[Summary of Embodiments and Other Embodiments]
As described above, according to the above-described embodiment, when the target course of the own vehicle that avoids contact with all the avoidance targets is not assumed assuming that a plurality of obstacles around the own vehicle cause abnormal behavior. Reduce the number of obstacles assumed to cause abnormal behavior, and recalculate the target course to avoid contact with the avoidance target that causes some abnormal behavior. Accordingly, it is possible to increase the possibility that the target course of the host vehicle is determined by assuming that only some of the obstacles cause abnormal behavior, and it is possible to cause the host vehicle to travel realistically.

  Further, according to the above-described embodiment, a plurality of combinations (patterns) of obstacles that cause abnormal behavior and obstacles that do not cause abnormal behavior (obstacles that take normal movement) are assumed, and according to each assumed pattern. Calculate the target course of your vehicle. Thereby, a contact risk with an obstacle can be reduced assuming a plurality of abnormal behavior patterns.

  As described above, the route determination device according to the present invention is useful in the automobile manufacturing industry, and is particularly suitable for use in determining the route of the host vehicle that avoids contact with surrounding obstacles.

DESCRIPTION OF SYMBOLS 1 Course determination apparatus 10 Driving information acquisition part 11 Obstacle movement range setting part 12 Avoidance range setting part 13 Course evaluation part 14 Multiple avoidance range setting part 15 Course group evaluation part 16 Multiple avoidance range setting part with priority

Claims (2)

Surrounding obstacle behavior information acquisition means for acquiring information on the behavior of obstacles existing around the host vehicle,
When the obstacle behaves abnormally, an abnormal behavior region predicting means for predicting an abnormal behavior region that is a region where the obstacle can exist;
A target route deriving unit for deriving a target route that avoids contact between the obstacle and a part of the obstacle that behaves abnormally among the plurality of obstacles present around the host vehicle;
Equipped with a,
The target course deriving means includes
If the target route that can avoid the obstacle to be avoided in the vicinity of the host vehicle cannot be derived, the target route is derived by further reducing the number of obstacles to be avoided;
The course decision device characterized by this. The target course deriving means includes
Changing the pattern of some of the obstacles that do not predict the abnormal behavior region, and deriving the target path of multiple patterns
The course decision device according to claim 1.

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