FIELD: control systems; transportation.
SUBSTANCE: present invention relates to movement control device and method for this, which control the vehicle movement. Movement control device (100) includes the object in question information acquiring module, objects information obtaining module, planning module, control module, and the admissible state information obtaining module. Object in question information acquiring module obtains information about the vehicle in question (V1) position. Objects information obtaining module receives information about the steering around object position, collision with which the vehicle in question (V1) should prevent. Planning module plans target path to prevent collisions with the object being steering around in accordance with the vehicle in question (V1) position and the object being steering around position. Control module outputs the commands information to ensure the vehicle in question (V1) movement along the target path. Planning function is used to reduce the distance from the vehicle in question (V1) to the turning point as the permissible distance decreases. Permissible distance is the distance between the vehicle in question (V1) and the dividing line on the road, along which the vehicle in question (V1) is moving. Permissible distance is set in the direction of the road width. Turning point is a point, at which the target path location in the width direction changes for the predetermined distance or more.
EFFECT: reduction of uncomfortable sensations among passengers when controlling the moving vehicle in question to prevent collisions with the object being steering around.
16 cl, 13 dwg
