Trajectory design for autonomous vehicles Driving control verification method

摘要

PROBLEM TO BE SOLVED: To study a method in which an autonomous vehicle trying to pass a planned route, especially a signalized intersection, travels while grasping the positional relationship with other vehicles to judge safety and to drive the vehicle. It is necessary to have a tool for studying the area and studying the control law for traveling while avoiding contact with other vehicles. An apparatus for executing a trajectory design travel control verification method is a map creating means for creating a map of a travel area, and a drawing means for drawing a moving image of an outer shape of a vehicle geometrically and dynamically following a target trajectory. , A drawing means for drawing a moving image of the external shape of another vehicle that can create a target trajectory of another vehicle or the like geometrically along the path, and the relative position between the own vehicle and the other vehicle on the latitude/longitude coordinates. Includes confirmation means for kinematically and visually confirming the position change. [Selection diagram] Figure 1