Path generation apparatus configured to generate target path of own vehicle, includes: sensor configured to detect objects in forward area of own vehicle; and electronic control unit including processor and memory coupled to processor. Electronic control unit is configured to perform: recognizing adjacent vehicle traveling in adjacent lane adjacent to travel lane in which own vehicle travels from among objects detected by sensor; generating reference path of own vehicle in travel lane; setting safe area from side end portion of adjacent vehicle toward travel lane; and generating target path of own vehicle based on reference path. Generating target path includes: setting reference path to target path in predetermined section on forward side of own vehicle; and modifying reference path to ensure safe area between own vehicle and adjacent vehicle on forward side of predetermined section to generate target path.
PATH GENERATION APPARATUS AND PATH GENERATION METHOD
2023-07-27
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |