Path generation apparatus and path generation method

Abstract

Path generation apparatus configured to generate target travel path of own vehicle traveling in travel lane, includes: external sensor mounted on own vehicle and configured to detect external situation centered on advancing direction of own vehicle; vehicle speed sensor configured to detect travel speed of own vehicle; and electronic control unit including processor and memory coupled to processor. Electronic control unit is configured to perform: setting target passing point on travel lane based on external situation; and generating target travel path from current location point of own vehicle to target passing point. Setting target passing point includes setting target passing point after predetermined time period when travel speed is equal to or higher than predetermined value, while setting target passing point to predetermined distance ahead from current location point when travel speed is lower than predetermined value.