To provide a target travel path capable of achieving safe and smooth vehicle behavior, on the basis of a lane center line and a clothoid curve, when a vehicle turns.SOLUTION: A vehicle drive support system 100 including a travel path generating system comprises: an ECU 10 which acquires travel path information acquired by a camera 21 and a radar 22 and the like, and generates a target travel path on which a vehicle 1 is caused to travel on a travel path. The ECU 10 generates a plurality of clothoid curves in which, a start point and an end point are provided on a lane center line L0 of the travel path on which the vehicle 1 turns, on the basis of the travel path information, and for the plurality of clothoid curves, calculates an error integration value obtained by integrating an error between the clothoid curve and the lane center line L0, and determines the clothoid curve in which, the error integration value is minimum, out of the plurality of clothoid curves, then, on the basis of the clothoid curve, generates a target travel path on which the vehicle 1 is caused to travel when the vehicle turns.SELECTED DRAWING: Figure 7
【課題】車両が旋回する場合に、車線中心線及びクロソイド曲線に基づき、安全でスムーズな車両挙動を実現可能な目標走行経路を生成する。【解決手段】走行経路生成システムを含む車両運転支援システム100は、カメラ21及びレーダ22などによって取得された走行路情報を取得し、走行路において車両1に走行させる目標走行経路を生成するECU10を有する。ECU10は、走行路情報に基づき、車両1が旋回する走行路の車線中心線L0上に始点及び終点が位置する複数のクロソイド曲線を生成し、複数のクロソイド曲線のそれぞれについて、クロソイド曲線と車線中心線L0との誤差を積分した誤差積分値を算出し、複数のクロソイド曲線の中で誤差積分値が最小となるクロソイド曲線を決定し、このクロソイド曲線に基づき、車両1が旋回するときに走行させる目標走行経路を生成する。【選択図】図7
TRAVEL ROUTE GENERATING SYSTEM AND VEHICLE DRIVE SUPPORT SYSTEM
走行経路生成システム及び車両運転支援システム
2021-10-11
Patent
Elektronische Ressource
Japanisch
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