TARGET TRACK GENERATION DEVICE, VEHICLE CONTROL APPARATUS, TARGET TRACK GENERATION METHOD, AND VEHICLE CONTROL METHOD

摘要

In a target track generation device (10), a preceding vehicle position acquisition unit (1) acquires the relative position of a preceding vehicle. A host vehicle state amount acquisition unit (2) acquires the state amount of a host vehicle. A host vehicle movement amount calculation unit (3) calculates the movement amount of the host vehicle on the basis of the state amount of the host vehicle. A host-vehicle-based preceding vehicle position calculation unit (4) calculates, on the basis of the relative position of the preceding vehicle and the movement amount of the host vehicle, a point group of host-vehicle-based preceding vehicle positions representing the relative position history of the preceding vehicle by a coordinate system which uses the current position of the host vehicle as reference. A target track generation unit (5) generates a target track of the host vehicle on the basis of the point group of the host-vehicle-based preceding vehicle positions. A target track correction determination unit (6) determines whether correction of the target track is necessary on the basis of the point group of the host-vehicle-based preceding vehicle positions or the target track. When it is determined that the correction of the target track is necessary, a corrected target track generation unit (7) generates a corrected target track having undergone correction of the target track on the basis of the point group of the host-vehicle-based preceding vehicle positions or the target track.