| CPC B60W 30/12 (2013.01) [B60W 30/16 (2013.01); B60W 60/001 (2020.02); G06V 20/56 (2022.01); B60W 2420/403 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/801 (2020.02)] | 7 Claims |
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1. A path generation apparatus, comprising:
an external sensor mounted on a subject vehicle and configured to detect an external situation with an advancing direction of the subject vehicle as a center; and
an electronic control unit including a processor and a memory coupled to the processor, wherein
the electronic control unit is configured to perform:
acquiring location information of an object in a surrounding area of the subject vehicle based on the external situation detected by the external sensor;
recognizing an own lane in which the subject vehicle is traveling based on the location information;
generating a reference path of the subject vehicle based on the own lane;
determining whether a buffer area within a predetermined range in a vehicle width direction from a vehicle traveling in parallel in an adjacent lane adjacent to the own lane overlaps the reference path based on the location information;
controlling a steering mechanism of the subject vehicle to travel along the reference path when it is not determined that the buffer area overlaps the reference path;
offsetting the reference path in a direction away from the vehicle traveling in parallel to generate an offset path when it is determined that the buffer area overlaps the reference path;
determining whether a vehicle traveling in parallel in a left adjacent lane adjacent to a left side of the own lane and a vehicle traveling in parallel in a right adjacent lane adjacent to a right side of the own lane are present within the predetermined range based on the location information;
when it is not determined that the vehicle traveling in parallel in the left adjacent lane and the vehicle traveling in parallel in the right adjacent lane are present within the predetermined range, controlling the steering mechanism to travel along the offset path; and
when it is determined that the vehicle traveling in parallel in the left adjacent lane and the vehicle traveling in parallel in the right adjacent lane are present within the predetermined range, calculating a cross-border amount by which the buffer area has moved across the reference path in the vehicle width direction based on the location information, narrowing the buffer area by the cross-border amount, and performing the determining whether the buffer area overlaps the reference path based on the location information after the narrowing.
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