Method and device for generating target path for autonomous vehicle

1. A target path generation method for generating a target path, in which a controller for generating a target path that can be tracked by a host vehicle, that does not deviate from a road, and that involves no contact with an obstacle is provided,

the target path generation method for generating the target path for the autonomous vehicle comprising:

acquiring travel path boundaries of a road in a host vehicle surroundings using data from a first vehicle sensor;

determining a presence or absence of an occupant based on information from a second vehicle sensor;

if it is determined that the occupant is present, generating a first target path with regards to the travel path boundaries; and

if it is determined that the occupant is absent, generating a second target path with regards to the travel path boundaries, wherein:

the first target path is different than the second target path when traveling on a curved road,

the first target path and the second target path are each determined based on a path curvature function and a margin function,

the first target path is determined by placing a greater weight on the path curvature function than the margin function, and

the second target path is determined by placing a greater weight on the margin function than the path curvature function.

2. The target path generation method according to claim 1 , wherein

for the second target path, a distance between the host vehicle and right and left boundaries defining a travel lane is longer than that of the first target path.

3. The target path generation method according to claim 1 , wherein

for the first target path, a path curvature calculated from individual points constituting the first target path is smaller than that of the second target path.

4. The target path generation method according to claim 1 , further comprising

setting a value of a target speed the target speed based on whether the first target path or the second target path is generated, wherein the target speed is set to a speed not exceeding at least one of a lateral acceleration limit and a yaw rate limit for the host vehicle.

5. The target path generation method according to claim 1 , wherein

in the determining of the presence or absence of the occupant, the occupant is determined to be present when a seating position of the occupant is a position at which an onboard operation device can be operated, and the occupant is determined to be absent when the seating position of the occupant is a position at which the onboard operation device cannot be operated.

6. The target path generation method according to claim 1 , wherein

in the determining of the presence or absence of the occupant, the occupant is determined to be present when the occupant has driving aptitude, and the occupant is determined to be absent when no occupant has the driving aptitude.

7. The target path generation method according to claim 1 , wherein

in the determining of the presence or absence of the occupant, the occupant is determined to be present when the occupant state is a state of paying attention to surroundings of the host vehicle, and the occupant is determined to be absent when the occupant state is a state of not paying attention to the surroundings of the host vehicle.

8. A target path generation device comprising:

a controller that generates a target path that can be tracked by a host vehicle, that does not deviate from a road, and that avoids contact with an obstacle;

a first vehicle sensor for recognizing travel path boundaries of a road in a host vehicle surroundings; and

a second vehicle sensor for determining a presence or absence of an occupant,

wherein the controller is configured to:

determine the presence or absence of the occupant based on information from the second vehicle sensor;

acquire the travel path boundaries using data from the first vehicle sensor;

if it is determined that the occupant is present, generate a first target path with regards to the travel path boundaries; and

if it is determined that the occupant is absent, generate a second target path with regards to the travel path boundaries and wherein:

the first target path is different than the second target path when traveling on a curved road,

the first target path and the second target path are each determined based on a path curvature function and a margin function,

the first target path is determined by placing a greater weight on the path curvature function than the margin function, and

the second target path is determined by placing a greater weight on the margin function than the path curvature function.