Patent ID: 8660778

Claim:
A running plan creating apparatus for creating a running plan including position information of a vehicle with which collision is supposed to be avoided; the apparatus comprising: a road information acquiring device configured to acquire road information concerning a running path for the vehicle to run; an action predicting device configured to predict positions and speeds of other vehicles running about the vehicle by utilizing the road information; a detecting device configured to detect a size and a vehicle type for each of the other vehicles; a characteristic learning device configured to learn at least one of acceleration and deceleration characteristics for each of the other vehicles; a data storage device configured to store at least one of maximum acceleration capability and maximum deceleration capability for each kind of vehicle size and type; a characteristic information acquiring device configured to acquire characteristic information in each of the other vehicles absent contact with each of the other vehicles, wherein the characteristic information is obtained based on the size and the vehicle type detected by the detecting device; a risk degree estimating device configured to estimate respective degrees of risk of the other vehicles by utilizing the characteristic information; a risk degree distribution setting device configured to set a risk degree distribution on the running path by utilizing the road information and the positions and degrees of risk of the other vehicles; and a running plan creating device configured to create the running plan of the vehicle by utilizing the risk degree distribution; wherein the characteristic information acquiring device extracts at least one of maximum acceleration capability and maximum deceleration capability for each of the other vehicles from the data storage device based on the vehicle size and type detected by the detecting device, and calculates a weight of at least one of the other vehicles as the characteristic information using the extracted at least one of maximum acceleration capability and maximum deceleration capability and the at least one of acceleration and deceleration characteristics learned by the characteristic learning device; and wherein the risk degree estimating device estimates the degree of risk to be higher as a kinetic energy based on the weight and speed of the at least one other vehicle is higher.