To provide a travel path generating system for setting a target travel path using an avoidance region in the surrounding of an obstacle, capable of properly setting the target travel path even when a vehicle enters the avoidance region.SOLUTION: There is provided a vehicle drive system 100 including a travel path generating system, the system sets a plurality of travel path candidates on the basis of travel path information and obstacle information by a camera 21 and a radar 22, then evaluates them by an evaluation function, for setting the target travel path. An ECU 10 sets not only a travel path candidate in which the vehicle 1 does not enter an avoidance region 42, but also a travel path candidate in which the vehicle 1 enters the avoidance region 42. The travel path candidate, in which the vehicle enters the avoidance region 44, has a worse evaluation degree by the evaluation function, relative to the travel path candidate in which the vehicle enters the avoidance region 44. In addition, in the travel path candidate in which the vehicle enters the avoidance region 44, as an entry amount of the vehicle 1 to the avoidance region 44 is greater, the evaluation degree by the evaluation function is worse.SELECTED DRAWING: Figure 8
【課題】障害物周囲の回避領域を用いて目標走行経路を設定する走行経路生成システムにおいて、たとえ車両が回避領域に進入しても目標走行経路を適切に設定する。【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による走行路情報及び障害物情報に基づき複数の走行経路候補を設定し、これらを評価関数によって評価することで目標走行経路を設定する。ECU10は、車両1が回避領域42に進入しない走行経路候補だけでなく、車両1が回避領域42に進入する走行経路候補も設定する。回避領域44に進入する走行経路候補は、回避領域44に進入しない走行経路候補よりも、評価関数による評価の度合いが悪くなり、更に、回避領域44に進入する走行経路候補では、回避領域44への車両1の進入量が大きくなるほど、評価関数による評価の度合いが悪くなる。【選択図】図8
TRAVEL PATH 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
Electronic Resource
Japanese
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