Travel control apparatus

A travel control apparatus comprising:

• a lane position recognition unit configured to recognize positions of lane boundary lines of a lane in which a vehicle travels in front of a vehicle in a plane coordinate system;
• a travelling position recognition unit configured to recognize a travelling position of the vehicle in the lane in the plane coordinate system;
• an object position recognition unit configured to recognize a position of an object present around the vehicle in the plane coordinate system;
• a transformation unit configured to project the lane boundary lines and the object recognized in the plane coordinate system on a lane coordinate system in which a center line of the lane is a first coordinate axis and an axis orthogonal to the first coordinate axis is a second coordinate axis by performing a coordinate transformation;
• an area calculation unit configured to calculate a travelable area in which the vehicle can travel in the lane coordinate system based on the lane boundary lines and the object in the lane coordinate system;
• a travel trajectory generation unit configured to generate a travel trajectory of the vehicle in the plane coordinate system based on the travelable area and the travelling position;
• and
• a control unit configured to perform a steering control on the vehicle based on the travel trajectory.