A trajectory for a vehicle can be generated using a lateral offset bias. The vehicle, such as an autonomous vehicle (AV), may be directed to follow reference trajectory for through an environment. The AV may determine a segment associated with the reference trajectory based on curvatures of the reference trajectory, determine a lateral offset bias associated with the segment based at least in part on, for example, one or more of a speed or acceleration of the vehicle, and determine a candidate trajectory for the autonomous vehicle based at least in part on the lateral offset bias. The candidate trajectory may then be used to control the autonomous vehicle.

A trajectory for a vehicle can be generated using a lateral offset bias. The vehicle, such as an autonomous vehicle (AV), may be directed to follow reference trajectory for through an environment. The AV may determine a segment associated with the reference trajectory based on curvatures of the reference trajectory, determine a lateral offset bias associated with the segment based at least in part on, for example, one or more of a speed or acceleration of the vehicle, and determine a candidate trajectory for the autonomous vehicle based at least in part on the lateral offset bias. The candidate trajectory may then be used to control the autonomous vehicle.

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a method for navigating a user vehicle may include acquiring, using at least one image capture device, a plurality of images of an area in a vicinity of the user vehicle; determining from the plurality of images a first lane constraint on a first side of the user vehicle and a second lane constraint on a second side of the user vehicle opposite to the first side of the user vehicle; enabling the user vehicle to pass a target vehicle if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling; and causing the user vehicle to abort the pass before completion of the pass, if the target vehicle is determined to be entering the lane in which the user vehicle is traveling.

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a method for navigating a user vehicle may include acquiring, using at least one image capture device, a plurality of images of an area in a vicinity of the user vehicle; determining from the plurality of images a first lane constraint on a first side of the user vehicle and a second lane constraint on a second side of the user vehicle opposite to the first side of the user vehicle; enabling the user vehicle to pass a target vehicle if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling; and causing the user vehicle to abort the pass before completion of the pass, if the target vehicle is determined to be entering the lane in which the user vehicle is traveling.

A human machine interface control unit as an information presentation control device is used in a vehicle having an autonomous driving function to perform a driving action on behalf of a driver, and controls an information presentation device configured to present information to the driver. The human machine interface control unit includes a permissible action determination unit configured to determine a permissible action that a driver is permitted to take among actions, other than a driving action, to be possibly taken by the driver when the autonomous driving function is implemented, and an information presentation content control unit configured to cause an information presentation device to present information related to a determination result of the permissible action.

A human machine interface control unit as an information presentation control device is used in a vehicle having an autonomous driving function to perform a driving action on behalf of a driver, and controls an information presentation device configured to present information to the driver. The human machine interface control unit includes a permissible action determination unit configured to determine a permissible action that a driver is permitted to take among actions, other than a driving action, to be possibly taken by the driver when the autonomous driving function is implemented, and an information presentation content control unit configured to cause an information presentation device to present information related to a determination result of the permissible action.

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.

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.

Path generation apparatus configured to generate target travel path of vehicle, includes: external sensor mounted on vehicle and configured to detect external situation centered on advancing direction of vehicle; and electronic control unit including processor and memory coupled to processor. Electronic control unit is configured to perform: recognizing travel lane where vehicle travels based on external situation detected by external sensor; deriving first function representing travel path along center of travel lane; calculating curvature radius of travel lane; determining offset amount to be offset inward in turning direction from center of travel lane based on curvature radius; and deriving second function representing target travel path of vehicle that has been offset based on first function and offset amount.

Path generation apparatus configured to generate target travel path of vehicle, includes: external sensor mounted on vehicle and configured to detect external situation centered on advancing direction of vehicle; and electronic control unit including processor and memory coupled to processor. Electronic control unit is configured to perform: recognizing travel lane where vehicle travels based on external situation detected by external sensor; deriving first function representing travel path along center of travel lane; calculating curvature radius of travel lane; determining offset amount to be offset inward in turning direction from center of travel lane based on curvature radius; and deriving second function representing target travel path of vehicle that has been offset based on first function and offset amount.