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TRAVELING PATH GENERATION APPARATUS AND TRAVELING PATH GENERATION METHOD

  • US 20190308621A1
  • Filed: 12/02/2016
  • Published: 10/10/2019
  • Est. Priority Date: 12/04/2015
  • Status: Abandoned Application
First Claim
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1. A traveling path generation apparatus comprising:

  • an information acquisition section that sets, as an object lane, a lane in which an object vehicle is traveling along a traveling path set in advance, and acquires road line shape information representing a line shape of a lane traveling path indicating a middle position of the object lane;

    a road determination section that determines, on the basis of the road line shape information acquired by the information acquisition section, whether there are one or more curved paths within a path range set in advance in a traveling direction from a current position of the object vehicle on the lane traveling path, each of the curved paths being defined by a radius of curvature; and

    a path generation section that generates, in response to the road determination section determining that there are one or more curved paths, an expected traveling path of the object vehicle within the path range, whereinthe path generation section causes a radius of curvature of each cornering line corresponding to each of the curved paths on the expected traveling path to exceed a radius of curvature of the corresponding curved path, andin response to the road determination section determining that there is the curved path within the path range and that a subsequent traveling path subsequent to the curved path is a straight path that is a straight line path having a length equal to or longer than a length set in advance, the path generation section is further adapted to set an entrance point of the cornering line corresponding to the curved path on a width-directional curve outer side inside the lane in which the object vehicle is traveling, and set an exit point of the cornering line at in width-directional curve middle inside the lane in which the object vehicle is traveling.

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