TARGET ROUTE GENERATING DEVICE AND DRIVING ACTUATION DEVICE Russian patent published in 2019 - IPC G08G1/16 G01C21/34 B60W30/08 

FIELD: physics.

SUBSTANCE: group of inventions relates to an apparatus for forming a target route and a motion control device. Target route forming device comprises map information obtaining unit, bending path determining unit, an obstacle determination unit, a virtual boundary setting unit and a target route forming unit. Curved path determining unit determines whether bending path is present on vehicle driving route, based on cartographic information from map information obtaining unit. When determining that the bend path is present, the obstacle determination unit determines whether or not the object to be avoided is present near the bend path. When determining that there is an object to be avoided, setting a virtual boundary from the object to be avoided, and the target route generation unit forms the target path for the vehicle in order to go around the predetermined area including the object to be avoided.

EFFECT: eliminating discomfort for users when an obstacle is detected.

13 cl, 6 dwg