Vehicle control device
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United States of America Patent
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Dec 29, 2020
Grant Date -
Oct 17, 2019
app pub date -
Sep 1, 2017
filing date -
Oct 25, 2016
priority date (Note) -
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Abstract
A vehicle control device includes a mid-term trajectory generation unit and a short-term trajectory generation unit, one of which generates a travel trajectory on which a vehicle can travel without interfering with an obstacle. The mid-term trajectory generation unit or the short-term trajectory generation unit: generates a travel route that passes through a second potential-travelling region which is obtained by subtracting obstacle regions, indicating obstacles, from a vehicle first potential-travelling region that is defined by the road environment; and generates the travel trajectory on the basis of the generated travel route.
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