VEHICLE TRAVEL PATH GENERATING APPARATUS

摘要

When a travel path is to be generated for a vehicle, road surface lines (white lines, etc.) delimiting the traffic lane of the vehicle, and also external objects in the vehicle environment, are detected and registered as respective obstacles. Specific points are defined at appropriate locations on each obstacle, and the travel path is generated by connecting respective mid-point positions between opposed pairs of specific points, each pair defined on respective ones of an opposed (left-side, right-side) pair of the registered obstacles.

主权项

1. A travel path generation apparatus for installation on a host vehicle, comprising:
lane boundary line recognition means for identifying straight or curved lane boundary lines delimiting a traffic lane of the host vehicle; obstacle registering means for registering, as respective obstacles, the lane boundary lines identified by the lane boundary line recognition means; specific point setting means for defining specific points at respective positions on the registered obstacles, the specific points being located at positions which must be avoided by the host vehicle; and travel path generating means for generating a travel path for the host vehicle as a path connecting successive mid-point positions or other inter-point positions between opposed pairs of the specific points, each of the pairs being respectively located on mutually opposed ones of the obstacles.