# US 2018/0024564 A1 · Target path generating device and driving control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0024564 A1 - Document ID: US20180024564A1 - Status: Published application - Kind: A1 - Application number: 15/541,382 - Filed: 2015-06-30 - Published: 2018-01-25 - Earliest claimed: 2015-01-05 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Takuro MATSUDA - Web page: https://patentgrep.com/patent/US20180024564A1 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60R 21/00: Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks (safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19) - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - B60W 30/18145: {Cornering} - B60W 60/001: {Planning or execution of driving tasks} - B60W 60/0015: {specially adapted for safety} - B62D 15/0265: {Automatic obstacle avoidance by steering} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G08G 1/04: using optical or ultrasonic detectors - G08G 1/052: with provision for determining speed or overspeed {(speed measuring in general G01P)} - G08G 1/096827: {where the route is computed onboard} - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2552/30: Road curve radius - B60W 2554/00: Input parameters relating to objects - B60W 2554/20: Static objects - B60W 2554/4026: Cycles - B60W 2554/4029: Pedestrians - B60W 2554/406: Traffic density - B60W 2554/60: Traversable objects, e.g. speed bumps or curbs - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A target pathway generating device is provided with a map information acquisition unit, a curved path determination unit, an obstacle determination unit and a target pathway generating unit. The map information acquisition unit acquires map information. The curved path determination unit determines whether or not a curved path is present on a driving pathway of a vehicle based on the map information. Upon determining that a curved path is present, the obstacle determination unit determines whether or not there is an object to be avoided in the vicinity of the curved path. Upon determining that there is an object to be avoided, the target path generating unit generates a target pathway of the vehicle in order to avoid a predetermined region including the object to be avoided. ## Claims ### Claim 1 A target pathway generating device comprising: a map information acquisition unit having acquired map information; a curved path determination unit configured to determine whether or not a curved path is present in a driving pathway of a vehicle based on the map information; an obstacle determination unit configured to determine whether or not there is an object to be avoided in a vicinity of the curved path upon determining that a curved path is present; a virtual boundary setting unit configured to set a virtual boundary that extends from the object to be avoided upon determining that the object to be avoided is present; and a target pathway generating unit configured to generate a target pathway for the vehicle that avoids a predetermined area including the object to be avoided upon determining that the object to be avoided is present, the virtual boundary setting unit being further configured to set the virtual boundary that extends from the object to be avoided toward at least one of a start position and an end position of the curved path. ### Claim 2 (canceled) ### Claim 3 (depends on 1) The target pathway generating device according to claim 1, wherein the obstacle determination unit is configured to determine whether or not the object to be avoided is present in a curve section of the curved path. ### Claim 4 (depends on 1) The target pathway generating device according to claim 1, wherein the obstacle determination unit is configured to determine whether or not the object to be avoided is present further on a front side of the vehicle than the curved path in the progress direction within a predetermined range from an end position of the curved path. ### Claim 5 (depends on 3) The target pathway generating device according to claim 3, wherein the virtual boundary setting unit is configured to set the virtual boundary that extends from the object to be avoided to a start position of the curved path and an end position of the curved path. ### Claim 6 (depends on 4) The target pathway generating device according to claim 4, wherein the virtual boundary setting unit is configured to set the virtual boundary that extends from the object to be avoided to at least the end position of the curved path. ### Claim 7 (depends on 1) The target pathway generating device according to claim 1, wherein the map information contains information relating to a range in which the vehicle can drive; and upon determining that an object to be avoided is present, the target pathway generating unit is further configured to generate the target pathway based on a new drivable range, which is different from a drivable range of the map information. ### Claim 8 (depends on 7) The target pathway generating device according to claim 7, wherein the target pathway generating unit is further configured to change a boundary that defines the drivable range of the map information to a boundary that defines the new drivable range such that the boundary that defines the new drivable range is separated more from the object to be avoided and the virtual boundary than the boundary that defines the drivable range of the map information. ### Claim 9 (depends on 1) The target pathway generating device according to claim 1, wherein the map information contains information relating to the object to be avoided, and the obstacle determination unit is configured to determine whether or not the object to be avoided is present in the vicinity of the curved path based on the map information. ### Claim 10 (depends on 1) The target pathway generating device according to claim 1, wherein the obstacle determination unit is configured to acquire ambient information of the vehicle that is detected and configured to determine whether or not the object to be avoided is present in the vicinity of the curved path. ### Claim 11 (depends on 9) The target pathway generating device according to claim 9, wherein the object to be avoided is fixed with respect to the curved path. ### Claim 12 (depends on 9) The target pathway generating device according to claim 9, wherein the object to be avoided is a moving body that is moving relative to the curved path. ### Claim 13 (depends on 1) A driving control device comprising the target pathway generating device according to claim 1, and further comprising: a drive control unit configured to control the driving of the vehicle based on the target pathway generated by the target pathway generating device. ### Claim 14 (depends on 13) The driving control device according to claim 13, further comprising: an object state detection unit configured to detect ambient information of the vehicle, the obstacle determination unit is further configured to acquire the ambient information of the vehicle that is detected by the object information detection unit, and configured to determine whether or not the obstacle is present in the vicinity of the curved path.