US 12,246,710 B2
Path generation apparatus and path generation method
Kazuki Tomioka, Tokyo (JP); and Yasuhiko Tomokuni, Tokyo (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Jan. 18, 2023, as Appl. No. 18/098,692.
Claims priority of application No. 2022-008735 (JP), filed on Jan. 24, 2022.
Prior Publication US 2023/0234582 A1, Jul. 27, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 30/16 (2020.01); B60W 30/18 (2012.01); B60W 40/072 (2012.01); B60W 40/105 (2012.01)
CPC B60W 30/12 (2013.01) [B60W 30/16 (2013.01); B60W 30/18163 (2013.01); B60W 40/072 (2013.01); B60W 40/105 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2552/30 (2020.02); B60W 2554/802 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A path generation apparatus configured to generate a target travel path of an own vehicle traveling in a travel lane, comprising:
an external sensor mounted on the own vehicle and configured to detect an external situation centered on an advancing direction of the own vehicle;
a vehicle speed sensor configured to detect a travel speed of the own vehicle; and
an electronic control unit including a processor and a memory coupled to the processor, wherein
the electronic control unit is configured to perform:
setting a target passing point on the travel lane based on the external situation detected by the external sensor;
identifying the advancing direction with respect to the travel lane; and
generating a function passing through a current location point of the own vehicle and the target passing point with the current location point as an origin and the advancing direction as an x-axis as the target travel path from the current location point to the target passing point, wherein
the setting the target passing point includes setting the target passing point so that an x-axis coordinate representing a distance from the current location point to the target passing point in the advancing direction equals a product of the travel speed detected by the vehicle speed sensor and a predetermined time period when the travel speed detected by the vehicle speed sensor is equal to or higher than a predetermined vehicle speed, and setting the target passing point so that the x-axis coordinate equals a predetermined value when the travel speed detected by the vehicle speed sensor is lower than the predetermined vehicle speed.