Trajectory generation device, trajectory generation system, trajectory generation method, and program

Abstract

The present invention reduces the amount of data stored in the memory of a vehicle that performs autonomous driving. A trajectory generation device (1) includes an application unit (11) that divides a trajectory on which traveling of a vehicle is expected into a plurality of sections, and applies each section to one of a curve section, a transition curve section, and a straight section; a parameter acquisition unit (12) that acquires a first parameter that identifies the shape of the curve section and a second parameter that identifies the shape of the transition curve section; and a section data generation unit (13) that generates section data expressing section information of each of a plurality of sections, the section information of the curve section including the first parameter and the section information of the transition curve section including the second parameter.

Description

Trajectory generation device, trajectory generation system, trajectory generation method, and computer-readable medium

[0001] The present disclosure relates to a trajectory generation device, a trajectory generation system, a trajectory generation method, and a computer-readable medium.

[0002] Patent Document 1 describes a harvester that automatically travels along a travel route.

[0003] Japanese Patent Application Laid-Open No. 2022-048223

[0004] When a vehicle (e.g., a bus) travels along a track, the steering, accelerator, and brakes are automatically controlled based on travel track data, which is an array of position coordinates extracted at regular intervals from the track. In this case, travel track data corresponding to all possible routes must be stored in advance, but the data size is so large that it is difficult to store it in advance in the vehicle's memory.

[0005] Therefore, one of the objectives that the embodiments disclosed in this specification aim to achieve is to provide a trajectory generation device, a trajectory generation system, a trajectory generation method, and a non-transitory storage medium storing a program that can reduce the amount of data stored in the memory of an autonomously driving vehicle.

[0006] A trajectory generation device according to a first aspect of the present disclosure comprises: an application means for dividing a trajectory along which a vehicle is scheduled to travel into a plurality of sections, and for assigning each section to either a curve section, a transition curve section, or a straight section; a parameter acquisition means for acquiring a first parameter that specifies the shape of the curve section and a second parameter that specifies the shape of the transition curve section; and a section data generation means for generating section data representing section information for each of the plurality of sections, wherein the section information for the curve section includes the first parameter and the section information for the transition curve section includes the second parameter.

[0007] A trajectory generation device according to a second aspect of the present disclosure includes: a selection means for selecting one or more sections through which a vehicle is to pass from a plurality of sections obtained by dividing a trajectory along which the vehicle is scheduled to travel, wherein each section is assigned to either a curve section, a transition curve section, or a straight section; and a driving trajectory data generation means for generating driving trajectory data that lists position coordinates of a plurality of points included in the one or more sections, wherein the driving trajectory data generation means generates position coordinates of each point included in the curve section based on a first parameter that specifies the shape of the curve section, and generates position coordinates of each point included in the transition curve section based on a second parameter that specifies the shape of the transition curve section.

[0008] A trajectory generation system according to a third aspect of the present disclosure is a trajectory generation system including a server and an on-board device, wherein the server comprises: an application means for dividing a trajectory along which a vehicle is scheduled to travel into a plurality of sections and applying a curve section, a transition curve section, and a straight section to each section; a parameter acquisition means for acquiring a first parameter that specifies the shape of the curve section and a second parameter that specifies the shape of the transition curve section; and a section data generation means for generating section data indicating section information for each of the plurality of sections, wherein the section information for the curve section includes the first parameter and the section information for the transition curve section includes the second parameter; and the on-board device comprises: a selection means for selecting one or more sections through which the vehicle will pass from the plurality of sections; and a driving trajectory data generation means for generating driving trajectory data including position coordinates of a plurality of points included in the one or more sections, wherein the driving trajectory data generation means generates position coordinates of each point included in the curve section based on the first parameter and generates position coordinates of each point included in the transition curve section based on the second parameter.

[0009] A trajectory generation method according to a fourth aspect of the present disclosure includes: dividing a trajectory along which a vehicle is scheduled to travel into a plurality of sections, and classifying each section as either a curve section, a transition curve section, or a straight section; obtaining a first parameter that specifies the shape of the curve section and a second parameter that specifies the shape of the transition curve section; and generating section data indicating section information for each of the plurality of sections, wherein the section information for the curve section includes the first parameter and the section information for the transition curve section includes the second parameter.

[0010] A trajectory generation method according to a fifth aspect of the present disclosure includes: selecting one or more sections through which the vehicle will pass from a plurality of sections obtained by dividing a trajectory along which the vehicle is scheduled to travel, wherein each section is assigned to either a curve section, a transition curve section, or a straight section; and generating traveling trajectory data that lists position coordinates of a plurality of points included in the one or more sections, wherein the position coordinates of each point included in the curve section are generated based on a first parameter that specifies the shape of the curve section, and the position coordinates of each point included in the transition curve section are generated based on a second parameter that specifies the shape of the transition curve section.

[0011] A non-transitory computer-readable medium according to a sixth aspect of the present disclosure stores a program for causing a computer to execute a trajectory generation method, the method including: dividing a trajectory along which a vehicle is scheduled to travel into a plurality of sections, and assigning to each section either a curved section, a transition curve section, or a straight section; obtaining a first parameter that specifies the shape of the curved section and a second parameter that specifies the shape of the transition curve section; and generating section data that represents section information for each of the plurality of sections, wherein the section information for the curved section includes the first parameter and the section information for the transition curve section includes the second parameter.

[0012] A non-transitory computer-readable medium according to a seventh aspect of the present disclosure stores a program for causing a computer to execute a trajectory generation method, including: selecting one or more sections through which the vehicle will pass from a plurality of sections obtained by dividing a trajectory along which the vehicle is scheduled to travel, wherein each section is assigned to either a curve section, a transition curve section, or a straight section; and generating driving trajectory data that lists position coordinates of a plurality of points included in the one or more sections, wherein the position coordinates of each point included in the curve section are generated based on the first parameter that specifies the shape of the curve section, and the position coordinates of each point included in the transition curve section are generated based on a second parameter that specifies the shape of the transition curve section.

[0013] According to the present disclosure, it is possible to provide a trajectory generation device, a trajectory generation system, a trajectory generation method, and a non-transitory computer-readable medium storing a program that can reduce the amount of data stored in the memory of an autonomously driving vehicle.

[0014] Fig. 1 is a block diagram showing the configuration of a trajectory generation device according to a first embodiment. Fig. 2 is a block diagram showing the configuration of a trajectory generation device according to a second embodiment. Fig. 3 is a block diagram showing the configuration of a trajectory generation system according to a third embodiment. Fig. 4 is a diagram explaining an example of section data according to the third embodiment. Fig. 5 is a diagram explaining the operation of a selection unit according to the third embodiment. Fig. 6 is a flowchart showing the flow of a trajectory generation method according to the third embodiment.

[0015] 1 is a block diagram showing the configuration of a trajectory generation device 1 according to embodiment 1. The trajectory generation device 1 includes an application unit 11, a parameter acquisition unit 12, and a section data generation unit 13. By using the section data, it is possible to reduce the amount of information stored in the memory of the vehicle.

[0016] The application unit 11 divides the track on which the vehicle is scheduled to travel into a plurality of sections, and classifies each section into one of a curve section, a transition curve section, and a straight section.

[0017] The parameter acquisition unit 12 acquires a first parameter (e.g., a radius of curvature) that specifies the shape of the curve section, and a second parameter (e.g., a clothoid parameter or a transition curve length) that specifies the shape of the transition curve section.

[0018] The section data generator 13 generates section data indicating section information for each of a plurality of sections. The section information for curved sections includes a first parameter, and the section information for transition curve sections includes a second parameter. The section information may include position coordinates of the start point and the end point of each section.

[0019] The section data uniquely determines the shapes of curved sections and transition curve sections, allowing the vehicle to travel automatically based on the section data. The size of the section data is smaller than the size of the travel trajectory data corresponding to all routes the vehicle can travel, so the amount of data stored in the memory of the autonomous vehicle can be reduced.

[0020] The trajectory generation device 1 includes a processor, memory, and storage device (not shown). The storage device stores a computer program that implements the processing of the trajectory generation method according to this embodiment. The processor then loads the computer program from the storage device into the memory and executes the computer program. This allows the processor to implement the functions of an application unit 11, a parameter acquisition unit 12, and a section data generation unit 13.

[0021] Alternatively, the application unit 11, the parameter acquisition unit 12, and the section data generation unit 13 may each be realized by dedicated hardware. Furthermore, some or all of the components of each device may be realized by general-purpose or dedicated circuits, processors, etc., or a combination of these. These may be configured by a single chip, or by multiple chips connected via a bus. Some or all of the components of each device may be realized by a combination of the above-mentioned circuits, etc., and a program. Furthermore, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (Field-Programmable Gate Array), etc. may be used as the processor.

[0022] Furthermore, when some or all of the components of the trajectory generation device 1 are realized by multiple information processing devices, circuits, etc., the multiple information processing devices, circuits, etc. may be centrally or decentralized. For example, the information processing devices, circuits, etc. may be realized as a client-server system, a cloud computing system, or the like, in a form in which each is connected via a communication network. Furthermore, the functions of the trajectory generation device 1 may be provided in the form of SaaS (Software as a Service).

[0023] 2 is a block diagram showing the configuration of a trajectory generation device 2 according to embodiment 2. The trajectory generation device 2 includes a selection unit 21 and a traveling trajectory data generation unit 22. The trajectory generation device 2 may be an in-vehicle device.

[0024] The selection unit 21 selects one or more sections through which the vehicle will pass from among a plurality of sections obtained by dividing the track on which the vehicle is scheduled to travel. Each section is classified as either a curve section, a transition curve section, or a straight section.

[0025] The traveling trajectory data generating unit 22 generates traveling trajectory data that lists the position coordinates of multiple points included in one or more sections. The position coordinates of each point included in a curved section are generated based on a first parameter (e.g., curvature radius) that specifies the shape of the curved section. The position coordinates of each point included in a transition curve section are generated based on a second parameter (e.g., clothoid parameter, transition curve length) that specifies the shape of the transition curve.

[0026] The trajectory generation device 2 can generate the traveling trajectory data based on the first parameter and the second parameter. Therefore, it is not necessary to store in advance the traveling trajectory data corresponding to all routes that the vehicle can travel, and therefore the amount of data to be stored in the memory of the vehicle can be reduced.

[0027] <Embodiment 3> Embodiment 3 is a specific example of Embodiments 1 and 2. Fig. 3 is a diagram illustrating the configuration of a trajectory generation system 10 according to Embodiment 3. The trajectory generation system 10 includes a server 3 and an on-board device 4. The on-board device 4 is mounted on a vehicle 5. The server 3 is a specific example of the trajectory generation device 1, and the on-board device 4 is a specific example of the trajectory generation device 2. The server 3 and the vehicle 5 may be connected so as to be able to communicate with each other.

[0028] Note that some or all of the functions of the server 3 may be provided in the in-vehicle device 4. A trajectory generation system 10 that does not include the server 3 is also included in the third embodiment.

[0029] The server 3 includes a survey map 31 , a center line calculation unit 32 , a trajectory determination unit 33 , an application unit 34 , a parameter acquisition unit 35 , a section data generation unit 36 ​​, and a connection determination unit 37 .

[0030] The survey map 31 is map data representing the results of a survey. The survey map 31 includes accurate information about the shape of the roadway. The survey map 31 may also include information about the width of the roadway. The survey map 31 may also include information about the shapes of obstacles (e.g., guardrails) that exist around the roadway.

[0031] The center line calculation unit 32 calculates the center line of the roadway along which the vehicle 5 is scheduled to travel, based on the survey map 31 .

[0032] The trajectory determination unit 33 determines the trajectory on which the vehicle 5 will travel based on the center line of the roadway. The travel trajectory of the vehicle 5 is determined as a trajectory on which the center of the rear wheel axle passes. If the vehicle 5 simply travels on the center line, there is a risk that the vehicle 5 will collide with an obstacle on the outside of a curve, etc. The trajectory determination unit 33 takes into account the shape of the vehicle 5 (e.g., the length and width of the vehicle body) and determines the trajectory based on the survey map 31 so that the vehicle 5 will not come into contact with surrounding obstacles.

[0033] In the related art, the vehicle 5 is driven while dripping food coloring dissolved in water, thereby determining the trajectory of the vehicle 5. In the third embodiment, the survey map 31 is used, so that the trajectory of the vehicle 5 can be easily determined.

[0034] The application unit 34 is a specific example of the application unit 11 described above. The application unit 34 first extracts straight sections from the trajectory determined by the trajectory determination unit 33. Then, the application unit 34 applies curved sections and transition curves (e.g., clothoid curves) between the straight sections. In this way, the application unit 34 divides the trajectory determined by the trajectory determination unit 33 into a plurality of sections.

[0035] The parameter acquisition unit 35 is a specific example of the parameter acquisition unit 12. The parameter acquisition unit 35 calculates a first parameter that specifies the shape of each curved section. Specifically, the first parameter is a radius of curvature R.

[0036] The parameter acquisition unit 35 also calculates second parameters that specify the shape of each transition curve section. The second parameters are clothoid elements related to the clothoid. The clothoid elements include the radius of curvature R, the transition curve length L, a clothoid parameter A, a tangent angle (also called the helix angle) τ, the intersection angle θ, the arc angle α, the projection length W, and the displacement ΔR. The relationship R*L=A holds between the radius of curvature R, the transition curve length L, and the clothoid parameter A. The relationship τ=L / 2R holds between the tangent angle τ, the transition curve length L, and the radius of curvature R. The relationship θ=2*τ+α holds between the intersection angle θ, the tangent angle τ, and the angle α. The relationship W=(R+ΔR)*tan(θ / 2) holds between the projection length W, the radius of curvature R, the displacement ΔR, and the intersection angle θ.

[0037] The second parameters are, for example, a clothoid parameter A and a transition curve length L. In a clothoid curve, the curvature increases at a constant rate according to the distance. The larger the clothoid parameter A, the greater the rate at which the curvature increases. The shape of the transition curve section is uniquely determined by the transition curve length L, which represents the length of the transition curve section, and the clothoid parameter A. However, the parameters that determine the shape of the transition curve section are not limited to the combination of the clothoid parameter A and the transition curve length L.

[0038] The parameter acquisition unit 35 may also acquire the first and second parameters from road design information. The road design information is, for example, information representing civil engineering drawings used when designing a road. The road design information may include information indicating parameters of each road (e.g., clothoid elements).

[0039] The section data generation unit 36 ​​generates section data indicating section information for each of a plurality of sections. The section data is a list of a plurality of sections, and is also called a list. The section information includes coordinate information for the start point and the end point of each section. Furthermore, the section information for curved sections includes a first parameter, and the section information for transition curve sections includes a second parameter.

[0040] 4 is a diagram illustrating an example of section data. The section data includes, for example, identification information 61, section type 62, start point coordinate information 63, end point coordinate information 64, and section parameters 65 for each section. The identification information 61 is an ID that can identify each section. The section type 62 indicates whether each section is a straight section, a curved section, or a transition curve section. The start point coordinate information 63 represents the latitude and longitude information of the start point of each section. The end point coordinate information 64 represents the latitude and longitude information of the end point of each section. The start point coordinate information 63 and the end point coordinate information 64 may also include information regarding height.

[0041] The section parameters 65 include a first parameter and a second parameter. The section parameters for section 2, which is a transition curve section, include a clothoid parameter A and a transition curve length L. They may also include information indicating which of the two ends of the transition curve is the straight side. The section parameters 65 for section 3, which is a curve section, include a radius of curvature R. They may also include information indicating the center coordinates of the circle and the length of the curve section. The section parameters for section 1 are left blank, but may include a parameter indicating the length of the straight section and a parameter indicating the direction in which the straight section extends.

[0042] The server 3 may further generate information that groups multiple sections. For example, a first straight section, a first transition curve section connected to the first straight section, a curve section connected to the first transition curve section, a second transition curve section connected to the curve section, and a second straight section connected to the second transition curve section may be grouped. The grouped information may represent, for example, a route that passes through the vicinity of a bus stop. Grouping multiple sections makes it easier to use the information and to analyze it.

[0043] That is, the server 3 may generate hierarchical information. For example, data corresponding to the above-mentioned section data is registered in the third layer. Information indicating which sections are included in the portions included in each route (route) (e.g., portions passing around bus stops) is registered in the second layer. That is, multiple sections are grouped and registered in the second layer. Information indicating which portions each route includes is registered in the first layer. Routes are registered, for example, divided according to which bus stops the bus stops at. Inbound routes (routes) and outbound routes (routes) may be registered in the first layer. When a route is identified, the sections included in that route are identified.

[0044] 3, the connection determination unit 37 determines the connection relationship between the sections based on the start point coordinate information 63 and the end point coordinate information 64. Based on the determination result of the connection determination unit 37, connection information may be added to the section data.

[0045] The in-vehicle device 4 is a locator that outputs travel trajectory data to an ECU (Electrical Control Unit) 51 of an automatically traveling vehicle 5 via a communication interface (not shown).

[0046] In addition to the function of generating driving trajectory data, the in-vehicle device 4 also has a function of outputting coordinate information indicating the current position of the vehicle 5 to the ECU 51. The current position of the vehicle 5 is determined based on a magnetic marker, RFID (radio frequency identification), etc. The ECU 51 automatically controls the steering, accelerator, and brake of the vehicle 5 based on the current position of the vehicle 5 and the driving trajectory data (also referred to as a target driving trajectory).

[0047] The in-vehicle device 4 includes section data 41 , a selection unit 42 , a travel path data generation unit 43 , and an output unit 44 .

[0048] The section data 41 corresponds to the section data generated by the section data generator 36 and the connection determiner 37. For example, the server 3 may transmit the section data to the in-vehicle device 4, which may then store the section data in its memory. Alternatively, the server 3 may register the section data in a storage device (not shown), and then store the data in the memory of the in-vehicle device 4 via an external storage medium or the like.

[0049] The selection unit 42 is a specific example of the above-mentioned selection unit 21. The selection unit 42 selects one or more sections from the sections registered in the section data 41 in accordance with the operation plan.

[0050] 5 is a diagram illustrating the operation of the selection unit 42. The section data includes multiple sections Q1 to Q8. Each of points P1 to P8 represents a connection point between two sections. In reality, curved sections and transition curve sections are placed between straight sections, but for simplicity of explanation, only straight sections are shown.

[0051] 5 includes a plurality of branched routes. For example, there are two routes from point P2 to point P7: one that passes through sections Q2, Q3, and Q4, and another that passes through sections Q5, Q6, and Q7. In this case, the related art requires that travel trajectory data for the two routes be stored in memory in advance.

[0052] Furthermore, even when the vehicle 5 passes through sections Q2, Q3, and Q4, the vehicle may stop at different locations. For example, the vehicle may stop at both locations P4 and P6, or only at location P4. In such cases, the related art requires that travel trajectory data for all patterns be stored in memory.

[0053] Assume that the vehicle 5 receives an operation command to travel from point P2 to point P7, passing through points P4 and P6. In this case, the selection unit 42 selects sections Q2, Q3, and Q4 from all sections. The operation command may include information specifying the sections to be passed through. Because the connection relationships between sections can be determined, the selection unit 42 can select sections according to the operation plan.

[0054] For example, when traveling from point P2 to point P7 via points P4 and P6, it is sufficient to generate travel trajectory data for three sections Q2 to Q4. Compared to related technologies that require the travel trajectory data for sections Q2 to Q4 and the travel trajectory data for sections Q5 to Q7 to be prepared in advance, the amount of data stored in memory can be reduced. Note that when traveling from point P2 to point P7, it is not necessary to generate travel trajectory data for sections Q2 to Q4 all at once. For example, travel trajectory data for sections Q2 to Q3 may be generated first, and then travel trajectory data for section Q4 may be generated when arriving at point P4.

[0055] 3, the travel trajectory data generator 43 generates travel trajectory data that lists the position coordinates of multiple points included in the selected section. The distance between two adjacent points may be constant (e.g., 50 centimeters).

[0056] The output unit 44 outputs the generated driving trajectory data to the ECU 51. The ECU 51 automatically controls the steering wheel, accelerator, brake, etc. of the vehicle 5, thereby causing the vehicle 5 to drive automatically.

[0057] FIG. 6 is a diagram illustrating the flow of a trajectory generation method according to the third embodiment. First, the center line calculation unit 32 calculates the center line of the roadway based on the survey map 31 (step S101). Next, the trajectory determination unit 33 determines the trajectory of the vehicle 5 so that the vehicle 5 does not come into contact with surrounding obstacles (step S102). Next, the application unit 34 applies curved sections, transition curve sections, and straight sections to the determined trajectory (step S103), and the parameter acquisition unit 35 acquires first and second parameters (step S104). Next, the section data generation unit 36 ​​generates section data (list) (step S105). Next, the connection determination unit 37 determines the connection relationship between sections based on the position coordinates of the start point and the position coordinates of the end point (step S106). This updates the section data. Next, the selection unit 42 selects (determines) the section through which the vehicle 5 will pass based on the operation plan and the section data (step S107). Next, the travel trajectory data generation unit 43 generates travel trajectory data for the selected section (step S108). Next, the output unit 44 outputs the generated traveling trajectory data to the ECU 51 (step S109).

[0058] In the third embodiment, since the travel trajectory data is generated based on the section data, it is not necessary to store the travel trajectory data of the entire route in advance in the locator memory. According to the third embodiment, the amount of data to be stored in the locator memory can be reduced.

[0059] The above-described program includes a set of instructions (or software code) that, when loaded into a computer, causes the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0060] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the invention.

[0061] Some or all of the above embodiments can be described as in the following supplementary notes, but are not limited to them. (Supplementary Note 1) A trajectory generation device comprising: application means for dividing a trajectory along which a vehicle is scheduled to travel into a plurality of sections and assigning each section to one of a curve section, a transition curve section, and a straight section; parameter acquisition means for acquiring a first parameter that specifies the shape of the curve section and a second parameter that specifies the shape of the transition curve section; and section data generation means for generating section data indicating section information for each of the plurality of sections, wherein the section information for the curve section includes the first parameter and the section information for the transition curve section includes the second parameter. (Supplementary Note 2) The trajectory generation device according to Supplementary Note 1, wherein the first parameter includes a radius of curvature, and the second parameter includes a clothoid element related to a clothoid. (Supplementary Note 3) The trajectory generation device according to any one of Supplementary Note 1 or 2, comprising: a selection means for selecting one or more sections through which the vehicle will pass from the plurality of sections; and a travel trajectory data generation means for generating travel trajectory data in which position coordinates of a plurality of points included in the one or more sections are arranged, wherein the travel trajectory data generation means generates position coordinates of each point included in the curved section based on the first parameter, and generates position coordinates of each point included in the transition curve section based on the second parameter. (Supplementary Note 4) The trajectory generation device according to Supplementary Note 3, comprising: an output means for outputting the travel trajectory data to an ECU (Electronic Control Unit) that controls travel of the vehicle. (Supplementary Note 5) The trajectory generation device according to any one of Supplementary Note 3 or 4, wherein the trajectory includes a plurality of routes, and the selection means selects the one or more sections according to an operation plan. (Supplementary Note 6) The trajectory generation device according to any one of Supplementary Note 1 to 5, wherein the trajectory generation device generates information in which a plurality of sections are grouped. (Supplementary Note 7) The trajectory generation device according to any one of Supplementary Notes 3 to 5, further comprising a connection determination means for determining a connection relationship between sections included in the section data based on coordinate information of a start point and coordinate information of an end point of each section.(Supplementary Note 8) The trajectory generation device according to any one of Supplements 1 to 7, comprising: center line calculation means for calculating a center line of a roadway from survey map information; and trajectory determination means for determining the trajectory based on the survey map information so as not to come into contact with obstacles around the roadway. (Supplementary Note 9) The trajectory generation device according to any one of Supplements 1 to 7, wherein the parameter acquisition means acquires the first parameter and the second parameter from road design information. (Supplementary Note 10) The trajectory generation device comprises: selection means for selecting one or more sections through which the vehicle will pass from a plurality of sections obtained by dividing a trajectory along which the vehicle is scheduled to travel, wherein each section is assigned to any of a curve section, a transition curve section, and a straight section; and travel trajectory data generation means for generating travel trajectory data listing position coordinates of a plurality of points included in the one or more sections, wherein the position coordinates of each point included in the curve section are generated based on a first parameter that specifies a shape of the curve section, and the position coordinates of each point included in the transition curve section are generated based on a second parameter that specifies the shape of the transition curve section. (Supplementary Note 11) The trajectory generation device according to Supplementary Note 8, wherein the first parameter includes a radius of curvature, and the second parameter includes a clothoid element related to a clothoid.(Supplementary Note 12) A trajectory generation system including a server and an on-board device, wherein the server comprises: application means for dividing a trajectory along which a vehicle is scheduled to travel into a plurality of sections, and for assigning each section to one of a curve section, a transition curve section, and a straight section; parameter acquisition means for acquiring a first parameter that specifies a shape of the curve section and a second parameter that specifies a shape of the transition curve section; and section data generation means for generating section data indicating section information for each section, wherein the section information for the curve section includes the first parameter and the section information for the transition curve section includes the second parameter; and the on-board device comprises: selection means for selecting one or more sections through which the vehicle will pass from the plurality of sections; and travel trajectory data generation means for generating travel trajectory data listing position coordinates of a plurality of points included in the one or more sections, wherein the position coordinates of each point included in the curve section are generated based on the first parameter and the position coordinates of each point included in the transition curve section are generated based on the second parameter. (Supplementary Note 13) The trajectory generation system according to Supplementary Note 12, wherein the first parameter includes a radius of curvature, and the second parameter includes a clothoid element related to a clothoid. (Supplementary Note 14) A trajectory generation method comprising: dividing a trajectory along which a vehicle is scheduled to travel into a plurality of sections, and classifying each section as either a curve section, a transition curve section, or a straight section; obtaining a first parameter that specifies a shape of the curve section and a second parameter that specifies a shape of the transition curve section; and generating section data indicating section information for each of the plurality of sections, wherein the section information for the curve section includes the first parameter and the section information for the transition curve section includes the second parameter.(Supplementary Note 15) A trajectory generation method comprising: selecting one or more sections through which a vehicle will pass from a plurality of sections obtained by dividing a trajectory along which the vehicle is scheduled to travel, wherein each section is assigned to either a curve section, a transition curve section, or a straight section; and generating travel trajectory data that lists position coordinates of a plurality of points included in the one or more sections, wherein the position coordinates of each point included in the curve section are generated based on a first parameter that specifies the shape of the curve section, and the position coordinates of each point included in the transition curve section are generated based on a second parameter that specifies the shape of the transition curve section. (Supplementary Note 16) A non-transitory computer-readable medium storing a program for causing a computer to execute a trajectory generation method, the method including: dividing a trajectory along which a vehicle is scheduled to travel into a plurality of sections, and assigning any one of a curve section, a transition curve section, and a straight section to each section; obtaining a first parameter that specifies the shape of the curve section and a second parameter that specifies the shape of the transition curve section; and generating section data that represents section information for each of the plurality of sections, wherein the section information for the curve section includes the first parameter and the section information for the transition curve section includes the second parameter. (Supplementary Note 17) A non-transitory computer-readable medium storing a program for causing a computer to execute a trajectory generation method, the method including: selecting one or more sections through which a vehicle will pass from a plurality of sections obtained by dividing a trajectory along which the vehicle is scheduled to travel, wherein each section is assigned to any one of a curve section, a transition curve section, and a straight section; and generating traveling trajectory data that lists position coordinates of a plurality of points included in the one or more sections, wherein the position coordinates of each point included in the curve section are generated based on a first parameter that specifies the shape of the curve section, and the position coordinates of each point included in the transition curve section are generated based on a second parameter that specifies the shape of the transition curve section.

[0062] REFERENCE SIGNS LIST 1, 2 Trajectory generation device 11, 34 Application unit 12, 35 Parameter acquisition unit 13, 36 Section data generation unit 21, 42 Selection unit 22, 43 Traveling trajectory data generation unit 10 Trajectory generation system 3 Server 31 Survey map 32 Center line calculation unit 33 Trajectory determination unit 37 Connection determination unit 4 On-board device 41 Section data 44 Output unit 5 Vehicle 51 ECU 61 Identification information 62 Section type 63 Start point coordinate information 64 End point coordinate information 65 Section parameters P1 to P8 Points Q1 to Q8 Section R Curvature radius A Clothoid parameter L Transition curve length

Claims

1. an application means for dividing a track on which a vehicle is scheduled to travel into a plurality of sections, and applying each section to one of a curve section, a transition curve section, and a straight section; a parameter acquisition means for acquiring a first parameter that specifies the shape of the curved section and a second parameter that specifies the shape of the transition curve section; a section data generation means for generating section data indicating section information for each of the plurality of sections, the section information for the curved section including the first parameter and the section information for the transition curve section including the second parameter; A trajectory generation device comprising:

2. the first parameter includes a radius of curvature; The second parameter includes a clothoid element related to the clothoid. The trajectory generation device according to claim 1 .

3. a selection means for selecting one or more sections through which the vehicle will pass from the plurality of sections; a travel trajectory data generating means for generating travel trajectory data in which position coordinates of a plurality of points included in the one or more sections are arranged; Equipped with The running trajectory data generating means generating position coordinates of each point included in the curved section based on the first parameters; Generate position coordinates of each point included in the transition curve section based on the second parameter.

3. The trajectory generation device according to claim 1 or 2.

4. output means for outputting the travel trajectory data to an ECU (Electronic Control Unit) that controls the travel of the vehicle; The trajectory generation device according to claim 3 , comprising:

5. a selection means for selecting one or more sections through which the vehicle will pass from a plurality of sections obtained by dividing a track along which the vehicle is scheduled to travel, wherein each section is classified as a curve section, a transition curve section, or a straight section; a travel trajectory data generating means for generating travel trajectory data in which position coordinates of a plurality of points included in the one or more sections are arranged, the travel trajectory data generating means generating position coordinates of each point included in the curved section based on a first parameter that specifies the shape of the curved section, and generating position coordinates of each point included in the transition curve section based on a second parameter that specifies the shape of the transition curve section; A trajectory generation device comprising:

6. A trajectory generation system including a server and an on-board device, The server an application means for dividing a track on which a vehicle is scheduled to travel into a plurality of sections, and applying each section to one of a curve section, a transition curve section, and a straight section; a parameter acquisition means for acquiring a first parameter that specifies the shape of the curved section and a second parameter that specifies the shape of the transition curve section; a section data generating means for generating section data indicating section information for each section, the section information for the curved section including the first parameter, and the section information for the transition curve section including the second parameter; Equipped with The in-vehicle device a selection means for selecting one or more sections through which the vehicle will pass from the plurality of sections; a travel trajectory data generating means for generating travel trajectory data in which position coordinates of a plurality of points included in the one or more sections are arranged, the travel trajectory data generating means generating position coordinates of each point included in the curved section based on the first parameter and generating position coordinates of each point included in the transition curve section based on the second parameter; Equipped with Trajectory generation system.

7. Dividing a track on which a vehicle is scheduled to travel into a plurality of sections, and classifying each section as either a curve section, a transition curve section, or a straight section; obtaining a first parameter that specifies a shape of the curved section and a second parameter that specifies a shape of the transition curve section; generating section data indicating section information for each of the plurality of sections, the section information for the curved section including the first parameter, and the section information for the transition curve section including the second parameter; A trajectory generation method including:

8. selecting one or more sections through which the vehicle will pass from a plurality of sections obtained by dividing a track along which the vehicle is scheduled to travel, each section being assigned to any one of a curve section, a transition curve section, and a straight section; generating travel trajectory data in which position coordinates of a plurality of points included in the one or more sections are arranged, wherein the position coordinates of each point included in the curved section are generated based on a first parameter that specifies the shape of the curved section, and the position coordinates of each point included in the transition curve section are generated based on a second parameter that specifies the shape of the transition curve section; A trajectory generation method including:

9. Dividing a track on which a vehicle is scheduled to travel into a plurality of sections, and assigning any one of a curve section, a transition curve section, and a straight section to each section; obtaining a first parameter that specifies a shape of the curved section and a second parameter that specifies a shape of the transition curve section; generating section data representing section information for each of the plurality of sections, the section information for the curved section including the first parameter and the section information for the transition curve section including the second parameter; A program for causing a computer to execute a trajectory generation method including the steps of:

10. selecting one or more sections through which the vehicle will pass from a plurality of sections obtained by dividing a track along which the vehicle is scheduled to travel, each section being assigned to any one of a curve section, a transition curve section, and a straight section; generating travel trajectory data in which position coordinates of a plurality of points included in the one or more sections are arranged, wherein the position coordinates of each point included in the curved section are generated based on a first parameter that specifies the shape of the curved section, and the position coordinates of each point included in the transition curve section are generated based on a second parameter that specifies the shape of the transition curve section; A program for causing a computer to execute a trajectory generation method including the steps of: