Path generation device and travel assistance control device

A vehicle comprising a path generation device and an electric control unit (ECU), wherein the path generation device comprises:

• a target route-path generator configured to produce a target route-path of a motor vehicle;
• a lateral position compensation-quantity setting device configured to:
• output a step input that becomes a first lateral position compensation-quantity before a specific point, jumps from the first lateral position compensation-quantity to a second lateral position compensation-quantity at the specific point, and becomes the second lateral position compensation-quantity after the specific point, and set a value obtained by filtering to the step input as a lateral position compensation-quantity that represents a compensation-quantity in a lateral direction with respect to the target route-path;
• and a target route-path correction device configured to calculate a correction route-path by correcting the target route-path, wherein the target route-path is expressed by a lateral position, an attitude angle, and a route-path curvature of the target route-path with respect to the motor vehicle, and the correction route-path is expressed by a lateral position, an attitude angle, and a route-path curvature of the correction route-path with respect to the motor vehicle, and wherein the target route-path correction device calculates a targeted lateral velocity by differentiating the lateral position compensation-quantity, calculates a targeted lateral acceleration by differentiating the lateral position compensation-quantity twice, calculates the lateral position of the correction route-path with respect to the motor vehicle by correcting the lateral position of the target route-path with respect to the motor vehicle using the lateral position compensation-quantity, calculates the attitude angle of the correction route-path with respect to the motor vehicle by correcting the attitude angle of the target route-path with respect to the motor vehicle using the targeted lateral velocity, and calculates the route-path curvature of the correction route-path by correcting the route-path curvature of the target route-path using the targeted lateral acceleration, and wherein the ECU is configured to activate driver assistance control or steering control based on the calculated correction route-path.