Driving route generation device, driving route generation method and vehicle control device
By mounting a position sensor on the vehicle, generating a reference path and calculating the assumed driving path, the problem of reducing long-term prediction accuracy in the prior art is solved, and higher driving path accuracy and path update efficiency are achieved.
Patent Information
- Application Number
- CN201980094363.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2019-04-01
- Publication Date
- 2024-12-20
- Estimated Expiration
- 2039-04-01
AI Technical Summary
When the prior art uses the road shape to predict the driving path, the prediction accuracy is easily reduced in long-term prediction, and the path update is insufficient after the vehicle deviates from the predicted path, resulting in an increase in the actual position and speed error.
The vehicle position and orientation are obtained by carrying the vehicle position sensor, a reference path is generated, and the assumed driving path is calculated based on the difference between the reference path and the actual position, and the driving path is determined and corrected to ensure that the vehicle remains on the predicted path for a long time.
It effectively prevents the reduction of driving path prediction accuracy, improves the path accuracy in long-term prediction, and reduces the error between the vehicle and the predicted path.
Smart Images
Figure CN113631447B_ABST
Abstract
Description
Technical Field
[0001] The present application relates to a driving path generating device, a driving path generating method and a vehicle control device. Background Art
[0002] As a method for predicting the vehicle's travel path, there are existing methods such as prediction using a motion model or prediction using a road shape (map). In the former prediction using a motion model, a specific motion model is used to predict the vehicle's travel path based on the motion state of the target such as the speed or acceleration observed and inferred by the sensor. In this method, the inferred motion state of the target is highly accurate, and its accuracy is high in very short-term predictions such as less than 1 second. However, in the case of long-term predictions, the prediction accuracy will decrease because the motion state has changed from the current motion state.
[0003] In the latter prediction using the road shape, as disclosed in Patent Document 1, for example, the property that “the vehicle travels along the road” is utilized to predict a predicted path with the road shape as a target.
[0004] Prior art literature
[0005] Patent Literature
[0006] Patent Document 1: Japanese Patent Application Publication No. 2010-83314 Summary of the invention
[0007] Technical problem to be solved by the invention
[0008] As described above, the prior art disclosed in Patent Document 1 calculates a predicted path using the road shape. However, since this method calculates the predicted path based on the road shape and the size of the vehicle, the predicted path is uniquely determined as long as the road shape does not change over time. Therefore, even if the vehicle travels at a location that deviates from the predicted travel path, the error between the predicted travel path and the actual physical quantities such as the vehicle position or speed will increase because the travel path will not be updated.
[0009] The present application discloses a technology for solving the above-mentioned problems, and its object is to provide a driving route generation device, a driving route generation method, and a vehicle control device that can prevent the prediction accuracy from decreasing even in long-term driving route prediction.
[0010] Technical means for solving technical problems
[0011] The driving path generation device disclosed in the present application obtains the position and orientation of the vehicle from a vehicle position sensor mounted on the vehicle, and generates a driving path of the vehicle. The driving path generation device includes:
[0012] a reference path acquisition unit, the reference path acquisition unit acquiring the position and orientation of the host vehicle from the host vehicle position sensor to acquire the reference path of the host vehicle; a reference path determination unit determining whether the host vehicle is traveling on the reference path, and if it is determined that the host vehicle is traveling on the reference path, determining the reference path to be the driving path of the host vehicle; and a hypothetical driving path calculation unit calculating a hypothetical driving path according to the determination of the reference path determination unit, when it is determined that the host vehicle is not traveling on the reference path, calculating a hypothetical driving path according to the distance between the host vehicle position detected by the host vehicle position sensor and the reference path. at least two locations among the locations with a set distance therefrom are used to calculate the assumed driving path of the host vehicle; an assumed driving path determining unit is used to determine whether the host vehicle is traveling on the assumed driving path, and if it is determined that the host vehicle is traveling on the assumed driving path, the assumed driving path is determined as the driving path of the host vehicle; if it is determined that the host vehicle is not traveling on the assumed driving path, the assumed driving path is corrected; and a driving path setting unit is used to set any one of the driving path determined by the reference path determining unit and the driving path determined by the assumed driving path determining unit as the driving path of the host vehicle.
[0013] Effects of the Invention
[0014] According to the driving route generation device disclosed in the present application, it is possible to obtain a driving route generation device that can prevent the prediction accuracy from being reduced even in long-term driving route prediction. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 This is a block diagram illustrating the structure of the driving route generating device according to the first embodiment.
[0016] Figure 2 This is a flowchart for explaining the driving route generating device according to the first embodiment.
[0017] Figure 3 This is a diagram for explaining a plurality of travel routes acquired by the reference route acquisition unit according to the first embodiment.
[0018] Figure 4 This is a diagram for explaining the determination of a reference path in the reference path determination unit according to the first embodiment.
[0019] Figure 5 This is a diagram for explaining a method in which the provisional traveling route calculation unit according to the first embodiment calculates a deviation in a traveling route.
[0020] Figure 6This is a block diagram illustrating the structure of a driving route generating device according to the second embodiment.
[0021] Figure 7 This is a flowchart for explaining the travel route generating device according to the second embodiment.
[0022] Figure 8 This is a block diagram illustrating the structure of a travel route generating device according to the third embodiment.
[0023] Fig. 9 This is a flowchart for explaining the driving route generating device according to the third embodiment.
[0024] Fig. 10A It is a diagram for explaining the determination result of the collision determination unit according to the third embodiment.
[0025] Fig. 10B It is a diagram for explaining the determination result of the collision determination unit according to the third embodiment.
[0026] Fig.11 This is a flowchart for explaining the determination processing operation of the collision determination unit according to the third embodiment.
[0027] Fig.12 This is a diagram showing an example of hardware of the driving route generation device according to the first to third embodiments. DETAILED DESCRIPTION
[0028] Hereinafter, preferred embodiments of the driving route generation device, driving route generation method, and vehicle control device according to the present application will be described using the accompanying drawings. In addition, the same reference numerals in the drawings indicate the same or corresponding parts.
[0029] Implementation method 1.
[0030] Figure 1 This is a block diagram illustrating the structure of the driving route generating device according to the first embodiment.
[0031] Figure 1 In the present invention, the driving path generation device 100 obtains the position and orientation (direction) of the own vehicle from the own vehicle position sensor 20 (for example, GPS and geomagnetic sensor) mounted on the own vehicle, and generates the driving path of the own vehicle by the following method, and outputs the generated data to the own vehicle control unit 30. Then, the own vehicle control unit 30 controls the own vehicle so that it drives on the driving path of the own vehicle generated by the driving path generation device 100.
[0032] The travel route generation device 100 includes a reference route acquisition unit 11 , a reference route determination unit 12 , a passing point setting unit 13 , a tentative travel route calculation unit 14 , a tentative travel route determination unit 15 , and a travel route setting unit 16 .
[0033] The reference path acquisition unit 11 acquires the reference path of the host vehicle based on the position and orientation (direction) of the host vehicle acquired from the host vehicle position sensor 20. The reference path determination unit 12 compares the current position and orientation (direction) of the host vehicle with the reference path of the host vehicle acquired from the reference path acquisition unit 11, and determines whether to set the acquired reference path of the host vehicle as the driving path of the host vehicle.
[0034] The location through which the vehicle passes is set by the location setting unit 13. The assumed driving path calculation unit 14 calculates the assumed driving path using the location set by the location setting unit 13 and the position and orientation (direction) of the vehicle. The assumed driving path determination unit 15 determines whether to set the assumed driving path calculated by the assumed driving path calculation unit 14 as the driving path of the vehicle. The driving path setting unit 16 sets any one of the reference path of the vehicle determined by the reference path determination unit 12 and the driving path of the vehicle determined by the assumed driving path determination unit 15 as the driving path of the vehicle, and outputs the generated data to the vehicle control unit 30. The vehicle control unit 30 controls the vehicle based on the generated data.
[0035] The driving route generating device 100 according to the first embodiment is configured as described above, and its operation will be described below.
[0036] Figure 2 1 is a flowchart for explaining the operation of the driving route generating device 100 . Figure 2 In the process, the reference path acquisition unit 11 acquires the position and orientation (direction) of the host vehicle from the host vehicle position sensor 20 (step S10), and sets the acquired position and orientation (direction) of the host vehicle as the vehicle state at the starting point of the driving path (step S11). Then, based on the acquired position and orientation (direction) of the host vehicle, the driving path of the host vehicle is acquired from the road shape of the pre-stored map data as the reference path of the host vehicle (step S12).
[0037] At this time, if there are multiple (N_PATH(n)) paths within the specified range of the starting point of the set driving path of the own vehicle (for example, Figure 3 As shown, in the case where multiple end locations represented by labels A, B, C, and D can be set at the intersection, all N_PATH(n) paths are obtained, and the i-th (i=1, 2, ..., N_PATH) path is marked as the reference path i of the vehicle.
[0038] Then, the i-th path is selected from the obtained N_PATH(n) reference paths as the reference path i of the host vehicle, and the subsequent processing is performed on i=1, 2, . . . N_PATH (step 13).
[0039] in addition, Figure 3 In the figure, the dashed line indicates the reference path of the vehicle, i.e., the driving path obtained from the map, and the dotted line indicates the driving path of the vehicle, i.e., the actual driving path. In addition, the black triangle indicates the state of the vehicle at the driving point t (t=tn) of the reference path, i.e., the position and orientation (direction), and the triangle indicated by the hatched line (-45 degree inclined line) to the lower right indicates the state of the vehicle at the driving point t (t=tn), i.e., the actual state. The white triangle (the triangle filled with white) indicates the starting point of the driving path of the vehicle.
[0040] Next, the reference path determination unit 12 compares the current position and orientation (direction) of the vehicle with the reference path of the vehicle to determine whether the reference path of the vehicle is the driving path of the vehicle (step S14). If the reference path determination unit 12 determines that the reference path of the vehicle is the driving path of the vehicle, the process proceeds to step S15, and the driving path setting unit 16 determines the reference path as the driving path of the vehicle. If the reference path determination unit 12 determines that the reference path of the vehicle is not the driving path of the vehicle, the process proceeds to step S16.
[0041] The reference path determination unit 12 determines whether the difference d0 between the starting point (the position of the vehicle) and the position of the reference path i of the vehicle is greater than a set value. Figure 4 As shown, a vertical line is drawn from the position E of the host vehicle to the reference path i of the host vehicle, and the value of the difference d0 can be calculated based on the distance between the intersection of the vertical line and the reference path i of the host vehicle. When the difference d0 is less than a set value, it is determined that the reference path i of the host vehicle is the driving path of the host vehicle, and when the difference d0 is greater than the set value, it is determined that the reference path i of the host vehicle is not the driving path of the host vehicle.
[0042] Next, when it is determined that the reference path of the vehicle selected by the reference path determination unit 12 is not the driving path of the vehicle, the vehicle state at the end point of the driving path of the vehicle is set by the location setting unit 13. That is, the calculated end point of the driving path of the vehicle is set on the reference path i of the vehicle. (Step S16).
[0043] The end point of the driving path of the vehicle is set to a point separated from the starting point by a set distance along the reference path i of the vehicle, for example, the distance traveled for t seconds at the current vehicle speed v (v×t). In addition, the starting point is determined based on the driving state of the vehicle at the current moment.
[0044] Next, the tentative travel route calculation unit 14 calculates a curve passing through the set start point and end point, and sets the curve as the tentative travel route i′ of the host vehicle (step S17 ).
[0045] As a method for calculating a curve passing through a set starting point and an ending point, using the positions and directions of two or more points, there is a spiral curve with a continuously changing curvature, or a polynomial approximation calculated by a polynomial, or a curve obtained by combining a straight line, a spiral curve with a monotonically changing curvature, and a circle with a certain curvature, etc. For any of the above methods, the calculated curve is the assumed driving path i' of the vehicle.
[0046] Then, the assumed travel path calculation unit 14 calculates the deviation e of the assumed travel path i' of the host vehicle. Specifically, the difference between the reference path i of the host vehicle selected in step S13 and the assumed travel path i' of the host vehicle calculated in step S17 is calculated as the deviation e (step S18).
[0047] The deviation e is calculated as Figure 5 As shown. That is, find the point P(j) (j=1, 2, ...M) of the assumed travel path i' after setting a specified distance along the assumed travel path i' from the starting point of the assumed travel path i' represented by the dotted line, draw a perpendicular line from the point P(j) (j=1, 2, ...M) to the reference path i of the vehicle represented by the single-point dashed line, and find the distance d(j) between the intersection of the perpendicular line and the reference path i of the vehicle. Perform the above processing on M points P(j) (j=1, 2, ...M) respectively, and calculate the value obtained by averaging these distances d(j) as the deviation e.
[0048] Next, the deviation e is determined in the tentative travel route determination unit 15. That is, it is determined whether the deviation e calculated in step S18 is equal to or greater than a set value (step S19).
[0049] Here, when the deviation e is greater than the set value, it means that the assumed driving path i' of the vehicle is a path that is greatly different from the reference path of the vehicle. Therefore, it is determined that the possibility of the actual driving of the vehicle is low, and the end state is reset (step S20), and the process returns to step S17 to reset the assumed driving path i' of the vehicle. In addition, when the deviation e is less than the set value, it means that the reference path i of the vehicle and the assumed driving path i' are similar driving paths.
[0050] Then, the assumed driving path i' of the host vehicle calculated in step S17 is set as the assumed driving path of the host vehicle (step S21). In the driving path setting unit 16, the driving path set in step S15, i.e., the reference path, is selected as the driving path of the host vehicle. In other cases, the driving path determined in step S21, i.e., the assumed driving path, is set as the driving path of the host vehicle.
[0051] The resetting in step S20 is performed as follows: the distance from the start point to the end point used in step S11 is added with a set value, and a point on the reference path i of the host vehicle that is the calculated value away from the start point is set as a new end point.
[0052] Next, in step S22, the process is repeated until the travel path of the host vehicle is calculated corresponding to each of the N_PATH(n) reference paths. If the calculation is not completed, the process returns to step S13.
[0053] Perform the above steps S10 to S22, select any one of the N_PATH(n) driving paths of the vehicle (for example, select the driving path with the smallest deviation e of the driving path), and the vehicle control unit 30 controls the vehicle to make the vehicle travel on the driving path.
[0054] As described above in detail, according to the driving route generation device 100 according to the first embodiment, it is possible to obtain a driving route generation device that can prevent a decrease in prediction accuracy even in long-term driving route prediction.
[0055] Implementation method 2.
[0056] Next, a travel route generating device according to the second embodiment will be described. Figure 6 This is a block diagram illustrating the structure of a driving route generating device according to the second embodiment.
[0057] Figure 6In the process, the driving path generation device 200 obtains the position and orientation (direction) of the vehicle from the vehicle position sensor 20 (for example, GPS and geomagnetic sensor) mounted on the vehicle. In addition, other vehicle position sensors 40 (for example, millimeter wave radar or camera, etc.) mounted on the vehicle are used to obtain the position and orientation (direction) of other vehicles around the vehicle with the position of the vehicle as the origin. Then, the driving path of other vehicles is generated by the following method, and the generated data is output to the driving path calculation unit 50 of the vehicle. The driving path calculation unit 50 of the vehicle calculates the driving path of the vehicle based on the driving path of other vehicles generated by the driving path generation device 200, and the vehicle control unit 30 controls the vehicle to make it travel on the driving path of the vehicle calculated by the driving path calculation unit 50 of the vehicle.
[0058] The travel route generation device 200 includes a coordinate conversion unit 60 , a reference route acquisition unit 21 , a reference route determination unit 22 , a passing point setting unit 23 , a tentative travel route calculation unit 24 , a tentative travel route determination unit 25 , and a travel route setting unit 26 .
[0059] The coordinate conversion unit 60 uses the position and orientation (direction) of the host vehicle to convert the position and orientation (direction) of the other vehicle into numerical values of the position and orientation (direction) (e.g., latitude / longitude) on a coordinate system fixed to the ground. The reference path acquisition unit 21 acquires the reference path of the other vehicle based on the position and orientation (direction) of the other vehicle. The reference path determination unit 22 compares the current position and orientation (direction) of the host vehicle with the acquired reference path of the other vehicle to determine whether to set the acquired reference path of the other vehicle as the driving path of the other vehicle.
[0060] The passing point setting unit 23 sets the point where other vehicles pass. The assumed driving path calculation unit 24 calculates the assumed driving path of other vehicles using the set passing point and the position and orientation (direction) of other vehicles. The assumed driving path determination unit 25 determines whether to set the assumed driving path of other vehicles calculated by the assumed driving path calculation unit 24 as the driving path of other vehicles. The driving path setting unit 26 sets any one of the reference path of other vehicles determined by the reference path determination unit 22 and the driving path of other vehicles determined by the assumed driving path determination unit 25 as the driving path. The own vehicle driving path calculation unit 50 calculates the driving path of the own vehicle so that the own vehicle does not approach the driving path of other vehicles. The own vehicle control unit 30 controls the own vehicle so that it travels on the driving path of the own vehicle calculated by the own vehicle driving path calculation unit 50.
[0061] The driving route generating device 200 according to the second embodiment is configured as described above, and its operation will be described below.
[0062] Figure 7 This is a flowchart for explaining the operation of the travel route generating device 200 , and explains a method for setting the travel routes of other vehicles when the number of other vehicles acquired by the other vehicle position sensor 40 is N_TARGET_VEH(n).
[0063] First, the other vehicle position sensor 40 selects one other vehicle for which a travel route is calculated from N_TARGET_VEH(n) and acquires the position and orientation (direction) of the other vehicle (step S30, step S31).
[0064] When the position and orientation (direction) of the other vehicle acquired from the other vehicle position sensor 40 are values when the own vehicle is used as a reference (origin), the coordinate conversion unit 60 converts them into a coordinate system fixed to the ground, such as latitude / longitude / orientation (step S32). Therefore, the position of the other vehicle in the own vehicle coordinate system is calculated based on the latitude / longitude / orientation of the own vehicle acquired by the own vehicle position sensor 20. Then, the calculated position and orientation (direction) of the other vehicle are set as the state of the other vehicle at the starting point of the driving path (step S33).
[0065] Next, the reference path acquisition unit 21 acquires the travel path of the other vehicle from the road shape of the pre-stored map data based on the calculated position and orientation (direction) of the other vehicle as the reference path of the other vehicle (step S34). At this time, if there are multiple paths (N_PATH(n) paths) within the specified range of the starting point of the set travel path of the other vehicle (for example, Figure 3 In the case where multiple end locations can be set at the intersection as shown in the figure), all N_PATH(n) paths are obtained, and the i-th path (i=1, 2, ... N_PATH) is marked as the reference path i for other vehicles. Then, the i-th path is selected as the reference path i for other vehicles from the obtained N_PATH(n) reference paths, and the subsequent processing is performed on i=1, 2, ... N_PATH (step S35).
[0066] Next, the reference path determination unit 22 determines whether the reference path of the other vehicle selected in step S35 is the driving path of the other vehicle (step S36). If it is determined to be the driving path of the other vehicle, the process proceeds to step S37, and the reference path of the other vehicle is determined to be the driving path of the other vehicle. If it is determined to be not the driving path of the other vehicle, the process proceeds to step S38.
[0067] In the determination of the reference path, it is determined whether the difference d0 between the starting point (the position of the other vehicle) and the position of the reference path i of the other vehicle is greater than a set value. The value of the difference d0 can be determined by comparing with Figure 4When the difference d0 is smaller than the set value, the reference path i of the other vehicle is determined to be the travel path of the other vehicle, and when the difference d0 is greater than the set value, the reference path i of the other vehicle is determined not to be the travel path of the other vehicle.
[0068] Next, when the reference path determination unit 22 determines that the reference path of the other vehicle is not the travel path of the other vehicle, the vehicle state at the end point of the other vehicle is set by the location setting unit 23. That is, the calculated end point of the travel path of the other vehicle is set on the reference path i of the other vehicle (step S38).
[0069] The end point of the driving path of the other vehicle is set to a point separated from the starting point by a set distance along the reference path i, for example, the distance traveled for t seconds at the current vehicle speed v (v×t). In addition, the starting point is determined based on the driving status of the other vehicle at the current moment.
[0070] Next, the tentative travel route calculation unit 24 calculates a curve passing through the set start point and end point, and calculates the curve as the tentative travel route i′ of the other vehicle (step S39 ).
[0071] The curve passing through the set start point and end point can be calculated using the method described in the first embodiment.
[0072] Then, the assumed travel path calculation unit 24 calculates the deviation e of the assumed travel path i' of the other vehicle. Specifically, the difference between the reference path i of the other vehicle selected in step S35 and the assumed travel path i' of the other vehicle calculated in step S39 is calculated as the deviation e (step S40).
[0073] The calculation of the deviation e can be based on the method described in Embodiment 1. Figure 5 It can be found by the method described in .
[0074] Next, the deviation e is determined in the provisional travel route determination unit 25. That is, it is determined whether the deviation e calculated in step S70 is equal to or greater than a set value (step S41).
[0075] Here, when the deviation e is greater than the set value, it means that the assumed driving path i' of the other vehicle is a path that is greatly different from the reference path i of the other vehicle. Therefore, it is determined that the possibility of the other vehicle actually driving is low, and the end state is reset (step S42), and the process returns to step S39 to reset the assumed driving path i'.
[0076] Furthermore, when the deviation e is smaller than the set value, it means that the reference path i of the other vehicle and the assumed traveling path i′ of the other vehicle are similar traveling paths.
[0077] Then, the assumed driving path i' of the other vehicle calculated in step S39 is determined as the assumed driving path of the other vehicle (step S43). In the driving path setting unit 26, the driving path set in step S37, i.e., the reference path, is selected as the driving path of the other vehicle. In other cases, the driving path set in step 43, i.e., the assumed driving path, is selected as the driving path of the other vehicle.
[0078] The resetting in step S42 is performed as follows: the distance from the start point to the end point used in step S33 is added with a set value, and a point on the reference path i of another vehicle that is the calculated value away from the start point is set as a new end point.
[0079] Next, the process is repeated until the travel paths of other vehicles are calculated corresponding to the N_PATH(n) reference paths of other vehicles respectively (step S44 ). If the calculation of the travel paths of other vehicles is not completed, the process returns to step S35 .
[0080] Next, the process is repeated until the travel paths of other vehicles are calculated for each of the N_TARGET_VEH(n) other vehicles (step S45 ). If the calculation of the travel paths of other vehicles is not completed, the process returns to step S30 .
[0081] The driving path generation device 200 involved in the second embodiment performs the above steps S30 to S45, and calculates the driving paths of N_PATH(n) other vehicles corresponding to N_TARGET_VEH(n) other vehicles. In the driving path calculation unit 50 of the own vehicle, it is determined whether the driving path of the own vehicle thereafter overlaps with the driving paths of all these other vehicles. If it is close to the driving paths of other vehicles, the driving path of the own vehicle is corrected. Then, the own vehicle control unit 30 controls the own vehicle to make it travel on the driving path of the own vehicle.
[0082] As described above in detail, according to the traveling route generation device 200 according to the second embodiment, it is possible to obtain a traveling route generation device that can prevent a decrease in prediction accuracy even in long-term traveling route prediction, similarly to the first embodiment.
[0083] Implementation method 3.
[0084] Next, a travel route generating device according to the third embodiment will be described. Figure 8 This is a block diagram illustrating the structure of a travel route generating device according to the third embodiment.
[0085] Figure 8In the present invention, the driving path generation device 300 obtains the position and orientation (direction) of the vehicle from the vehicle position sensor 20 (for example, GPS and geomagnetic sensor) mounted on the vehicle. In addition, other vehicle position sensors 40 (for example, millimeter wave radar or camera, etc.) mounted on the vehicle are used to obtain the position and orientation (direction) of other vehicles around the vehicle with the position of the vehicle as the origin. Then, the driving path of the vehicle is generated by the following method, and the generated data is output to the vehicle control unit 30. Then, the vehicle is controlled based on the driving path generated by the driving path generation device 300 in the vehicle control unit 30.
[0086] The driving path generation device 300 includes: a coordinate conversion unit 60, a first reference path acquisition unit 11a, a second reference path acquisition unit 21a, a first reference path determination unit 12a, a second reference path determination unit 22a, a first passing point setting unit 13a, a second passing point setting unit 23a, a first assumed driving path calculation unit 14a, a second assumed driving path calculation unit 24a, a first assumed driving path determination unit 15a, a second assumed driving path determination unit 25a, a first assumed driving path setting unit 16a, a second driving path setting unit 26a, and a collision determination unit 70.
[0087] Here, the first reference path acquisition unit 11a, the first reference path determination unit 12a, the first passing point setting unit 13a, the first assumed driving path calculation unit 14a, the first assumed driving path determination unit 15a and the first driving path setting unit 16a are respectively the same or equivalent structures as the reference path acquisition unit 11, the reference path determination unit 12, the passing point setting unit 13, the assumed driving path calculation unit 14, the assumed driving path determination unit 15 and the driving path setting unit 16 described in Implementation Example 1.
[0088] In addition, the second reference path acquisition unit 21a, the second reference path determination unit 22a, the second passing point setting unit 23a, the second assumed driving path calculation unit 24a, the second assumed driving path determination unit 25a and the second driving path setting unit 26a are respectively the same or equivalent structures as the reference path acquisition unit 21, the reference path determination unit 22, the passing point setting unit 23, the assumed driving path calculation unit 24, the assumed driving path determination unit 25 and the driving path setting unit 26 described in Implementation Example 2.
[0089] The first reference path acquisition unit 11a acquires the reference path of the host vehicle based on the position and orientation (direction) of the host vehicle acquired from the host vehicle position sensor 20. The first reference path determination unit 12a compares the current position and orientation (direction) of the host vehicle with the reference path of the host vehicle acquired from the first reference path acquisition unit 11a, and determines whether to set the acquired reference path of the host vehicle as the driving path of the host vehicle.
[0090] The first passing point setting unit 13a sets the point through which the vehicle passes. The first assumed travel path calculation unit 14a calculates the assumed travel path of the vehicle using the point set by the first passing point setting unit 13a and the position and orientation (direction) of the vehicle. The first assumed travel path determination unit 15a determines whether to set the assumed travel path calculated by the first assumed travel path calculation unit 14a as the travel path of the vehicle. The first travel path setting unit 16a determines either the reference path of the vehicle determined by the reference path determination unit 12 or the travel path of the vehicle determined by the assumed travel path determination unit 15 as the travel path of the vehicle, and outputs the result to the collision determination unit 70.
[0091] In addition, the coordinate conversion unit 60 converts the position of the other vehicle into a value of a position (e.g., latitude / longitude) on a coordinate system fixed to the ground using the position and orientation (direction) of the host vehicle. The second reference path acquisition unit 21a acquires the reference path of the other vehicle based on the position and orientation (direction) of the other vehicle. The second reference path determination unit 22a continues to compare the current position and orientation (direction) of the host vehicle with the acquired reference path of the other vehicle, and determines whether to set the acquired reference path of the other vehicle as the driving path of the other vehicle.
[0092] The second passing point setting unit 23a sets the point where the other vehicle passes. The second assumed travel path calculation unit 24a calculates the assumed travel path of the other vehicle using the set passing point and the position and orientation (direction) of the other vehicle. The second assumed travel path determination unit 25a determines whether to set the assumed travel path of the other vehicle calculated by the second assumed travel path calculation unit 24a as the travel path of the other vehicle. The second travel path setting unit 26a determines either the reference path of the other vehicle determined by the second reference path determination unit 22a or the travel path of the other vehicle determined by the second assumed travel path determination unit 25a as the travel path of the other vehicle, and outputs it to the collision determination unit 70.
[0093] The collision determination unit 70 determines whether there is a possibility of collision between the driving path of the host vehicle and the driving path of the other vehicle, and outputs the driving path of the host vehicle without the possibility of collision to the host vehicle control unit 30. The host vehicle control unit 30 controls the host vehicle to travel on the driving path of the host vehicle output from the collision determination unit 70.
[0094] The driving route generating device 300 according to the third embodiment is configured as described above, and its operation will be described below.
[0095] The driving path generation device 300 first calculates the driving paths of other vehicles existing around the host vehicle, and then generates a driving path of the host vehicle that keeps a certain distance from the driving paths of other vehicles, that is, a driving path of the host vehicle that does not approach other vehicles. Then, the host vehicle is controlled to travel on the driving path.
[0096] Fig. 9 1 is a flowchart for explaining the operation of the travel route generating device 300 . Fig. 9 In the process, first, one other vehicle whose driving path is to be calculated is selected from N_TARGET_VEH(n) (step S50), and the driving path of the selected other vehicle is calculated (step S51). Then, the process is repeated until the calculation of the driving paths of all N_TARGET_VEH(n) other vehicles is completed (step S52).
[0097] The details of the processing contents of the above steps S50 to S52 are the same as those of the processing contents described in the second embodiment, and the subsequent processing is a processing for calculating the travel path of the host vehicle.
[0098] First, the first reference path acquisition unit 11a acquires the position and orientation (direction) of the vehicle from the vehicle position sensor 20 (step S53), and sets the acquired position and orientation (direction) of the vehicle as the vehicle state at the start point of the travel path (step S54). Then, based on the acquired position and orientation (direction) of the vehicle, the travel path of the vehicle is acquired from the road shape of the pre-stored map data as the reference path of the vehicle (step S55).
[0099] At this time, if there are multiple (N_PATH(n)) paths within the specified range of the starting point of the set driving path of the own vehicle (for example, Figure 3 As shown, in the case where multiple end locations represented by labels A, B, C, and D can be set at the intersection, all N_PATH(n) paths are obtained, and the i-th (i=1, 2, ...N_PATH) path is marked as the reference path i of the vehicle.
[0100] Then, the i-th path is selected from the acquired N_PATH(n) reference paths as the reference path i of the host vehicle, and the subsequent processing is performed on i=1, 2, . . . N_PATH (step S56).
[0101] Next, the first reference path determination unit 12a compares the current position and orientation (direction) of the vehicle with the selected reference path of the vehicle to determine whether the selected reference path of the vehicle is the driving path of the vehicle (step S57). If the first reference path determination unit 12a determines that the selected reference path of the vehicle is the driving path of the vehicle, the process proceeds to step S58, and the first driving path setting unit 16a determines the reference path as the driving path of the vehicle. If the first reference path determination unit 12 determines that the reference path of the vehicle is not the driving path of the vehicle, the process proceeds to step S59.
[0102] In the determination of the reference path of the host vehicle in the first reference path determination unit 12a, it is determined whether the difference d0 between the starting point (the position of the vehicle) and the position of the reference path i is greater than a set value. Figure 4 The difference d0 is calculated in the same manner as described above. When the difference d0 is less than a set value, the reference path i of the vehicle is determined to be the driving path of the vehicle, and when the difference d0 is greater than the set value, the reference path i of the vehicle is determined not to be the driving path of the vehicle.
[0103] Next, when it is determined that the reference path of the vehicle selected by the first reference path determination unit 12a is not the driving path of the vehicle, the first passing point setting unit 13a sets the vehicle state at the end point of the driving path of the vehicle. That is, the calculated end point of the driving path of the vehicle is set on the reference path i. (Step S59).
[0104] The end point of the driving path of the vehicle is set to a point separated from the starting point by a set distance along the reference path i of the vehicle, for example, the distance traveled for t seconds at the current vehicle speed v (v×t). In addition, the starting point is determined based on the driving status of other vehicles at the current moment.
[0105] Next, the first tentative travel route calculation unit 14 a calculates a curve passing through the set start point and end point, and sets the curve as the tentative travel route i′ of the host vehicle (step S60 ).
[0106] The curve passing through the set start point and end point can be calculated using the method described in the first embodiment.
[0107] Then, the first assumed travel path calculation unit 14a calculates the deviation e of the assumed travel path i' of the host vehicle, that is, the difference between the reference path i of the host vehicle selected in step S56 and the assumed travel path i' of the host vehicle calculated in step S60 as the deviation e (step S61).
[0108] The calculation of the deviation e can be performed according to the embodiment 1. Figure 5 It can be found by the method described in .
[0109] Next, the first tentative travel route determination unit 15a determines the deviation e. Specifically, it determines whether the deviation e calculated in step S61 is equal to or greater than a set value (step S62).
[0110] Here, when the deviation e is greater than the set value, it means that the assumed driving path i' of the vehicle is a path that is greatly different from the reference path i of the vehicle. Therefore, it is determined that the possibility of the actual driving of the vehicle is low, and the end state is reset (step S63), and the process returns to step S60 to reset the assumed driving path i' of the vehicle.
[0111] Furthermore, when the deviation e is smaller than the set value, it means that the reference path i of the host vehicle and the assumed travel path i′ of the host vehicle are similar travel paths.
[0112] Then, the assumed driving path i' of the host vehicle calculated in step S60 is determined as the assumed driving path of the host vehicle (step S64). In the first driving path setting unit 16a, the driving path set in step S58, i.e., the reference path, is selected as the driving path of the host vehicle. In other cases, the driving path determined in step S64, i.e., the assumed driving path, is selected as the driving path of the host vehicle.
[0113] The resetting in step S63 is performed as follows: the distance from the start point to the end point used in step S54 is added with a set value, and a point on the reference path i of the host vehicle that is the calculated value away from the start point is set as a new end point.
[0114] Next, the collision determination unit 70 determines the possibility of collision between the travel path of the own vehicle determined in step S58 or step S64 and the travel path of the other vehicle generated from step S50 to step S52 (step S65 ).
[0115] Fig. 10A An example is shown in which it is determined that there is a possibility of a collision because the distance between the i-th host vehicle point Pego(i) and the point PA(i) of another vehicle A is less than a predetermined distance. The operation of performing this determination process will be described later.
[0116] If it is determined in step S65 that there is no possibility of collision, the process proceeds to step S66 and ends the process. If it is determined that there is a possibility of collision, the process proceeds to step S67, and the closest passing point is added to correct the driving path of the vehicle, and the process returns to step S60 to reset the driving path i' of the vehicle. Fig. 10BAn example of the corrected travel path of the host vehicle is shown.
[0117] Next, the collision determination process in the collision determination unit 70 will be described. Fig.11 1 is a flowchart for explaining the operation of the determination process in the collision determination unit 70 .
[0118] Fig.11 In the process, first, one other vehicle is selected from a plurality of other vehicles (step S70), and the m-th path of the other vehicle is selected (step S71).
[0119] Next, the nth time t(n) obtained by dividing the time by T seconds at a constant interval of Δt seconds from the start of travel is selected (step S72), and the position Pego(n) of the host vehicle at time t(n) is calculated (step S73).
[0120] Next, the position Ptgt(l,m,n) of the mth path of the other vehicle 1 at time t(n) is calculated (step S74), and the distance d(l,m,n) between the vehicle and the mth path of the other vehicle 1 at time t(n) is calculated (step S75).
[0121] Next, the process is repeated until n=N_PATH_POINT ends (step S76), and the process is repeated until m=N_PATH ends (step S77).
[0122] Next, the process is repeated until l=N_TARGET_VEH (step S78). Then, it is determined whether the distances d(l, m, n) between the host vehicle and a plurality of other vehicles are all greater than a predetermined distance (step S79).
[0123] If the judgment result in step S79 is that the distances d(l, m, n) between the vehicle and multiple other vehicles are all above the specified distance, there is no possibility of collision, and the driving path set by the first driving path setting unit 16a is output to the vehicle control unit 30 and the process ends (step S80).
[0124] In addition, when the distances d(l, m, n) between the vehicle and multiple other vehicles are all less than the specified distance, there is a possibility of collision, and the vehicle control unit 30 outputs a stop signal for the vehicle, and a notification of the possibility of collision is output to other vehicles, and the process ends (step S81).
[0125] The driving path generation device involved in implementation mode 3 performs the above-mentioned processing from step S50 to step S67, selects any driving path among N_PATH(n) (for example, selects the driving path with the smallest deviation), and the vehicle control unit 30 controls the vehicle so that the vehicle travels on the driving path.
[0126] As described above in detail, according to the travel route generation device according to the third embodiment, it is possible to obtain a travel route generation device that can prevent a decrease in prediction accuracy even in long-term travel route prediction, similarly to the first embodiment.
[0127] Although the driving route generation device, driving route generation method, and vehicle control device according to the first to third embodiments of the present application have been described above, Fig.12 As shown in FIG. 1 , the driving route generation devices 100, 200, and 300 described in each embodiment are composed of a processor P and a storage device M. Although the storage device M is not shown in the figure, it has a volatile storage device such as a random access memory, and a non-volatile auxiliary storage device such as a flash memory. In addition, an auxiliary storage device such as a hard disk may be provided instead of the flash memory. The processor P executes a program input from the storage device M. In this case, the program is input from the auxiliary storage device to the processor P via the volatile storage device. In addition, the processor P can output data such as calculation results to the volatile storage device of the storage device M, and can also save the data in the auxiliary storage device via the volatile storage device.
[0128] Although the present application discloses various exemplary embodiments and examples, various features, methods, and functions disclosed in one or more embodiments are not limited to application in a specific embodiment and may be applied to the embodiment alone or in various combinations.
[0129] Therefore, numerous modifications not shown in the examples are conceivable within the technical scope disclosed in the present application, including, for example, modification, addition or omission of at least one constituent element, and extraction of at least one constituent element and combination with constituent elements of other embodiments.
[0130] Description of symbols
[0131] 11, 21 reference path acquisition unit, 11a first reference path acquisition unit, 21a second reference path acquisition unit, 12, 22 reference path determination unit, 12a first reference path determination unit, 22a second reference path determination unit, 13, 23 passing point setting unit, 13a first passing point setting unit, 23a second passing point setting unit, 14, 24 assumed driving path calculation unit, 14a first assumed driving path calculation unit, 24a second assumed driving path calculation unit, 15, 25 assumed driving path determination unit, 15a first assumed driving path determination unit, 25a second assumed driving path determination unit, 16, 26 driving path setting unit, 16a first driving path setting unit, 26a second driving path setting unit, 20 vehicle position sensor, 30 vehicle control unit, 40 other vehicle position sensors, 50 vehicle driving path calculation unit, 60 coordinate conversion unit, 100, 200, 300 driving path generation device, P processor, M storage device.
Claims
1. A driving path generating device, the driving path generating device acquiring the position and orientation of the vehicle from a vehicle position sensor mounted on the vehicle, and generating the driving path of the vehicle, the driving path generating device being characterized by comprising: a reference path acquisition unit that acquires the position and orientation of the host vehicle from the host vehicle position sensor, thereby acquiring a plurality of reference paths of the host vehicle extending from an intersection at the position of the host vehicle from a road shape of pre-stored map data; a reference route determination unit for determining whether the host vehicle is traveling on the reference route, and determining the reference route as the travel route of the host vehicle if the host vehicle is determined to be traveling on the reference route; an assumed travel path calculation unit that calculates an assumed travel path of the host vehicle based on at least two locations, namely, a location of the host vehicle detected by the host vehicle position sensor and a location that is a set distance away from the location of the host vehicle along the reference path, when it is determined by the reference path determination unit that the host vehicle is not traveling on the reference path; an assumed driving path determination unit, the assumed driving path determination unit determining whether the host vehicle is traveling on the assumed driving path, determining the assumed driving path as the driving path of the host vehicle if the host vehicle is traveling on the assumed driving path, and correcting the assumed driving path if the host vehicle is not traveling on the assumed driving path; as well as A driving route setting unit sets, as a driving route of the host vehicle, either the driving route determined by the reference route determination unit or the driving route determined by the provisional driving route determination unit, the driving route having the smallest deviation between the reference route and the provisional driving route.
2. The driving route generating device according to claim 1, characterized in that: When the deviation between the reference route and the assumed travel route is equal to or greater than a set value, the assumed travel route is corrected.
3. A driving path generating device, which obtains the position and orientation of other vehicles from other vehicle position sensors mounted on the vehicle and generates the driving path of the other vehicles, wherein the driving path generating device is characterized by comprising: a reference path acquisition unit that acquires the position and orientation of the other vehicle from the other vehicle position sensor, thereby acquiring a plurality of reference paths of the other vehicle extending from an intersection at the position of the other vehicle from a road shape of pre-stored map data; a reference path determination unit configured to determine whether the other vehicle is traveling on the reference path, and if it is determined that the other vehicle is traveling on the reference path, determine the reference path as the traveling path of the other vehicle; an assumed travel path calculation unit that calculates an assumed travel path of the other vehicle based on at least two locations, namely, a position of the other vehicle detected by the other vehicle position sensor and a location that is a set distance away from the position of the other vehicle along the reference path, when it is determined by the reference path determination unit that the other vehicle is not traveling on the reference path; an assumed travel path determination unit, the assumed travel path determination unit determining whether the other vehicle is traveling on the assumed travel path, determining the assumed travel path as the travel path of the other vehicle if the other vehicle is traveling on the assumed travel path, and correcting the assumed travel path if the other vehicle is not traveling on the assumed travel path; as well as A travel route setting unit sets, as a travel route of the other vehicle, either the travel route determined by the reference route determination unit or the travel route determined by the provisional travel route determination unit, the travel route having the smallest deviation between the reference route and the provisional travel route.
4. The driving route generating device according to claim 3, characterized in that: When the deviation between the reference route and the assumed travel route is equal to or greater than a set value, the assumed travel route is corrected.
5. A driving path generating device, the driving path generating device acquiring the position and orientation of the own vehicle from a vehicle position sensor mounted on the own vehicle to generate the driving path of the own vehicle, and acquiring the position and orientation of other vehicles from other vehicle position sensors mounted on the own vehicle to generate the driving paths of the other vehicles, the driving path generating device is characterized in that it comprises: a first reference path acquisition unit that acquires the position and orientation of the host vehicle from the host vehicle position sensor, thereby acquiring a plurality of reference paths of the host vehicle extending from an intersection at the position of the host vehicle from a road shape of pre-stored map data; a first reference path determination unit configured to determine whether the host vehicle is traveling on the reference path, and, if the host vehicle is determined to be traveling on the reference path, determine the reference path as the traveling path of the host vehicle; a first assumed travel path calculation unit that calculates the assumed travel path of the host vehicle based on at least two locations, namely, a location of the host vehicle detected by the host vehicle position sensor and a location that is spaced a set distance from the location of the host vehicle along the reference path of the host vehicle, when it is determined by the first reference path determination unit that the host vehicle is not traveling on the reference path; a first assumed driving path determining unit, the first assumed driving path determining unit determining whether the host vehicle is traveling on the assumed driving path calculated by the first assumed driving path calculating unit, and determining the assumed driving path as the driving path of the host vehicle if the host vehicle is traveling on the assumed driving path, and correcting the assumed driving path if the host vehicle is not traveling on the assumed driving path; a first driving path setting unit that sets, as the driving path of the host vehicle, any one of the driving path determined by the first reference path determination unit and the driving path determined by the first assumed driving path determination unit, in which a deviation between the reference path and the assumed driving path is the smallest; a second reference path acquisition unit that acquires the position and orientation of the other vehicle from the other vehicle position sensor, thereby acquiring a plurality of reference paths of the other vehicle extending from an intersection at the position of the other vehicle from a road shape of pre-stored map data; a second reference path determination unit for determining whether the other vehicle is traveling on the reference path, and determining the reference path as the traveling path of the other vehicle if the other vehicle is determined to be traveling on the reference path; a second assumed travel path calculation unit that calculates, based on a determination by the second reference path determination unit, when it is determined that the other vehicle is not traveling on the reference path, an assumed travel path of the other vehicle based on at least two locations, namely, a position of the other vehicle detected by the other vehicle position sensor and a location that is a set distance away from the position of the other vehicle along the reference path; a second assumed travel path determination unit, the second assumed travel path determination unit determining whether the other vehicle is traveling on the assumed travel path, determining the assumed travel path as the travel path of the other vehicle if the other vehicle is traveling on the assumed travel path, and correcting the assumed travel path if the other vehicle is not traveling on the assumed travel path; a second driving path setting unit that sets, as a driving path of the other vehicle, either the driving path determined by the second reference path determination unit or a driving path determined by the second provisional driving path determination unit that has a minimum deviation between the reference path and the provisional driving path; as well as A collision determination unit determines whether there is a possibility of a collision between the host vehicle and the other vehicle based on the travel path of the host vehicle determined by the first travel path setting unit and the travel path of the other vehicle determined by the second travel path setting unit.
6. The driving route generating device according to claim 5, characterized in that: When the deviation between the reference route and the assumed travel route is equal to or greater than a set value, the assumed travel route is corrected.
7. A driving path generation method, wherein the driving path generation method obtains the position and orientation of the vehicle from a vehicle position sensor mounted on the vehicle to generate the driving path of the vehicle, wherein the driving path generation method is characterized by comprising: A first step, in which the position and orientation of the vehicle are obtained; A second step, in which, based on the position and orientation of the host vehicle acquired in the first step, a plurality of reference paths of the host vehicle extending from an intersection at the position of the host vehicle are acquired from a road shape of pre-stored map data; a third step, in which it is determined whether the host vehicle is traveling on the reference path, and if it is determined that the host vehicle is traveling on the reference path, the reference path is determined as the traveling path of the host vehicle; A fourth step, in which, when it is determined that the host vehicle is not traveling on the reference path, an assumed travel path of the host vehicle is calculated based on the position of the host vehicle and at least two locations along the reference path that are separated from the position of the host vehicle by a set distance; A fifth step, in which it is determined whether the host vehicle is traveling on the assumed driving path, and if it is determined that the host vehicle is traveling on the assumed driving path, the assumed driving path is determined as the driving path of the host vehicle, and if it is not traveling on the assumed driving path, the assumed driving path is corrected; as well as A sixth step is to set, as the driving path of the host vehicle, either the driving path determined in the third step or the driving path determined in the fifth step in which the deviation between the reference path and the assumed driving path is the smallest.
8. The driving route generation method according to claim 7, characterized in that: The assumed travel route is corrected by resetting either or both of the end point used to calculate the assumed travel route and the passing point of the host vehicle other than the start point used to calculate the assumed travel route and the end point used to calculate the assumed travel route.
9. The driving route generation method according to claim 8, characterized in that: The end point of the provisional travel route is set on the reference route.
10. The driving route generation method according to claim 8, characterized in that: The starting point of the assumed travel route is determined by the travel state of the host vehicle at the current moment.
11. The driving route generation method according to claim 10, characterized in that: The end point of the provisional travel route is set on the reference route.
12. The driving route generation method according to any one of claims 7 to 11, characterized in that: When a plurality of end points of the reference route can be set for one host vehicle, the reference route is calculated in association with each of the end points for one host vehicle.
13. The driving route generation method according to any one of claims 7 to 11, characterized in that: When a plurality of end points of the reference route can be set for one host vehicle, the provisional travel route is calculated in association with each of the end points for one host vehicle.
14. A driving path generation method, which obtains the position and orientation of other vehicles from other vehicle position sensors mounted on the vehicle, thereby generating the driving path of the other vehicles, the driving path generation method being characterized by comprising: A first step, in which the position and orientation of the other vehicle are obtained; A second step, in which, based on the position and orientation of the other vehicle acquired in the first step, a plurality of reference paths of the other vehicle extending from the intersection at the position of the other vehicle is acquired from the road shape of pre-stored map data; a third step, in which it is determined whether the other vehicle is traveling on the reference path, and if it is determined that the other vehicle is traveling on the reference path, the reference path is determined as the traveling path of the other vehicle; a fourth step, in which, when it is determined that the other vehicle is not traveling on the reference path, an assumed travel path of the other vehicle is calculated based on the position of the other vehicle and at least two locations along the reference path that are separated from the position of the other vehicle by a set distance; A fifth step, in which it is determined whether the other vehicle is traveling on the assumed travel path, and if it is determined that the other vehicle is traveling on the assumed travel path, the assumed travel path is determined to be the travel path of the other vehicle, and if it is not traveling on the assumed travel path, the assumed travel path is corrected; as well as A sixth step is to set, as the driving path of the other vehicle, either the driving path determined in the third step or the driving path determined in the fifth step in which the deviation between the reference path and the assumed driving path is the smallest.
15. The driving route generation method as described in claim 14 corrects the assumed driving route by resetting the end point used to calculate the assumed driving route and any one or both of the passing points of the other vehicles other than the starting point used to calculate the assumed driving route and the end point used to calculate the assumed driving route.
16. The driving route generation method according to claim 15, characterized in that: An end point for calculating the assumed travel path of the other vehicle is set on the reference path.
17. The driving route generation method according to claim 15, characterized in that: The starting point for calculating the assumed travel path of the other vehicle is determined by the travel state of the other vehicle at the current moment.
18. The driving route generation method according to claim 17, characterized in that: An end point for calculating the assumed travel path of the other vehicle is set on the reference path.
19. The driving route generation method according to any one of claims 14 to 18, characterized in that: When a plurality of end points of the reference route can be set for one of the other vehicles, the reference route is calculated in association with each of the end points for one of the other vehicles.
20. The driving route generation method according to any one of claims 14 to 18, characterized in that: When a plurality of end points of the assumed travel route can be set for one of the other vehicles, the assumed travel route is calculated in association with each of the end points for the one of the other vehicles.
21. A driving path generation method, which obtains the position and orientation of a vehicle from a vehicle position sensor mounted on the vehicle to generate the driving path of the vehicle, and obtains the position and orientation of other vehicles from other vehicle position sensors mounted on the vehicle to generate the driving paths of the other vehicles, the driving path generation method being characterized by comprising: A first step, in which the position and orientation of the vehicle are obtained; A second step, in which, based on the position and orientation of the host vehicle acquired in the first step, a plurality of reference paths of the host vehicle extending from an intersection at the position of the host vehicle are acquired from a road shape of pre-stored map data; a third step, in which it is determined whether the host vehicle is traveling on the reference path, and if it is determined that the host vehicle is traveling on the reference path, the reference path is determined as the traveling path of the host vehicle; A fourth step, in which, when it is determined that the host vehicle is not traveling on the reference path, an assumed travel path of the host vehicle is calculated based on the position of the host vehicle and at least two locations along the reference path that are separated from the position of the host vehicle by a set distance; A fifth step, in which it is determined whether the host vehicle is traveling on the assumed driving path, and if it is determined that the host vehicle is traveling on the assumed driving path, the assumed driving path is determined as the driving path of the host vehicle, and if it is not traveling on the assumed driving path, the assumed driving path is corrected; A sixth step, in which any one of the driving path determined in the third step and the driving path determined in the fifth step in which the deviation between the reference path and the assumed driving path is minimized is set as the driving path of the host vehicle; The seventh step is to obtain the position and orientation of the other vehicle; an eighth step, in which, based on the position and orientation of the other vehicle acquired in the seventh step, a plurality of reference paths of the other vehicle extending from the intersection at the position of the other vehicle is acquired from the road shape of pre-stored map data; A ninth step, in which it is determined whether the other vehicle is traveling on the reference path, and if it is determined that the other vehicle is traveling on the reference path, the reference path is determined as the traveling path of the other vehicle; a tenth step, in which, when it is determined that the other vehicle is not traveling on the reference path, an assumed travel path of the other vehicle is calculated based on at least two locations, namely, a location of the other vehicle and a location along the reference path that is separated from the location of the other vehicle by a set distance; An eleventh step, in which it is determined whether the other vehicle is traveling on the assumed travel path, and if it is determined that the other vehicle is traveling on the assumed travel path, the assumed travel path is determined to be the travel path of the other vehicle, and if it is not traveling on the assumed travel path, the assumed travel path is corrected; A twelfth step, in which any one of the driving path determined in the ninth step and the driving path determined in the eleventh step in which the deviation between the reference path and the assumed driving path is the smallest is set as the driving path of the other vehicle; as well as A thirteenth step, in which, based on the driving path of the host vehicle set in the sixth step and the driving path of the other vehicle set in the twelfth step, it is determined whether there is a possibility of collision between the host vehicle and the other vehicle.
22. A vehicle control device, characterized in that: include: a vehicle position sensor mounted on the vehicle; The driving path generating device as claimed in claim 1; and A host vehicle control unit of the host vehicle is controlled based on the travel route generated by the travel route generation device.
23. A vehicle control device, characterized in that: include: a vehicle position sensor mounted on the vehicle; Other vehicle position sensors mounted on the vehicle; The driving path generating device as claimed in claim 3; and A host vehicle control unit of the host vehicle is controlled based on the travel route generated by the travel route generation device.
24. The vehicle control device according to claim 23, characterized in that: When the assumed travel route determination unit determines that the other vehicle is traveling on the assumed travel route, the host vehicle control unit controls the host vehicle based on the assumed travel route.
25. A vehicle control device, characterized in that: include: a vehicle position sensor mounted on the vehicle; Other vehicle position sensors mounted on the vehicle; The driving path generating device as claimed in claim 5; and A host vehicle control unit of the host vehicle is controlled based on the travel route generated by the travel route generation device.
26. The vehicle control device according to claim 25, characterized in that: The host vehicle control unit stops the host vehicle based on the output of the collision determination unit.
27. The vehicle control device according to claim 25 or 26, characterized in that: The host vehicle control unit outputs a notification of a possibility of collision to the other vehicle based on the output of the collision determination unit.