Vehicle and method for controlling travel thereof

Abstract

The present invention relates to a vehicle and a travel control method thereof. A travel control method of one embodiment includes determining whether a turning section exists ahead along a travel route of a host vehicle; in response to determining that the turning section exists, determining a first turning radius with respect to a center of the host vehicle; determining a second turning radius required to prevent the host vehicle from deviating to an inner side in a turning direction from a lane based on the first turning radius; determining a third turning radius with respect to an inner rear wheel in consideration of an overall width of the host vehicle; and controlling the host vehicle to travel along the travel route or to travel along a corrected route generated by correcting the travel route based on a relative size of the second turning radius and the third turning radius.

Description

Technical Field

[0001] This invention relates to a vehicle and a method for controlling its movement. Background Technology

[0002] In recent years, methods for controlling autonomous vehicles based on high-definition maps have been actively researched. However, traditional methods for controlling autonomous vehicles are based on the dimensions of ordinary passenger vehicles. Therefore, when generating driving routes based on high-definition maps, the characteristics of commercial vehicles (such as large trucks or buses) with relatively long overall lengths are not taken into account.

[0003] Commercial vehicles require more turning space than passenger vehicles when turning left or right along a route with sharp bends. Therefore, if commercial vehicles are controlled along a driving path generated according to conventional methods, there is a possibility that part of the commercial vehicle may veer off the driving lane and collide with another vehicle or the curb that forms the road boundary. Summary of the Invention

[0004] This invention relates to a vehicle and a method for controlling its movement. A specific embodiment relates to a vehicle and a method for controlling its movement that takes into account the vehicle's dimensions to enable stable turning.

[0005] Therefore, embodiments of the present invention are intended to provide a vehicle and a method for controlling its driving that substantially avoids one or more problems attributable to the limitations and disadvantages of the prior art.

[0006] Embodiments of the present invention provide a vehicle and a driving control method thereof, which can generate a driving route along which a vehicle (e.g., a commercial vehicle) with a relatively long total length can turn stably.

[0007] Specifically, embodiments of the present invention provide a vehicle and a driving control method thereof that can predict potential collisions while turning along a route generated based on a high-definition map, and can avoid collisions when they are predicted to occur.

[0008] However, the embodiments of the present invention are not limited to the above embodiments, and those skilled in the art will clearly understand other embodiments not mentioned herein through the following description.

[0009] The driving control method according to an embodiment of the present invention may include: determining whether there is a turning section ahead along the driving route; when a turning section is determined to exist, determining a first turning radius relative to the center of the main vehicle; based on the first turning radius, determining a second turning radius required to prevent the main vehicle from deviating from the lane to the inside of the turning direction; determining a third turning radius relative to the inner rear wheel, taking into account the total width of the main vehicle; and controlling the main vehicle to drive along the driving route or along a corrected route according to the relative size of the second turning radius and the third turning radius, wherein the corrected route is generated by correcting the driving route.

[0010] Furthermore, the driving control device according to an embodiment of the present invention may include: an information acquisition unit, a route generator, and a driving controller. The information acquisition unit is configured to acquire information about the driving environment. The route generator is configured to: determine whether there is a turning segment ahead along the driving route based on the acquired information about the driving environment; when a turning segment is determined to exist, determine a first turning radius relative to the center of the main vehicle; based on the first turning radius, determine a second turning radius required to prevent the main vehicle from deviating from the lane to the inside of the turning direction; determine a third turning radius relative to the inner rear wheel considering the total width of the main vehicle; and correct the driving route according to the relative size of the second and third turning radii. The driving controller is configured to control the main vehicle to drive along the driving route or along the corrected route according to the determination of the route generator, wherein the corrected route is generated by correcting the driving route. Attached Figure Description

[0011] The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. In the drawings:

[0012] Figure 1 This is a diagram used to illustrate the turning radius of a vehicle;

[0013] Figure 2 This is a diagram used to illustrate a typical turning maneuver of a vehicle;

[0014] Figure 3 This is a diagram illustrating problems that occur when commercial vehicles turn.

[0015] Figure 4 This is a schematic diagram illustrating the corrected vehicle route according to an embodiment of the present invention;

[0016] Figure 5 This is an example block diagram illustrating a vehicle configuration according to an embodiment of the present invention;

[0017] Figure 6This is an example flowchart of the process of controlling vehicle movement according to an embodiment of the present invention;

[0018] Figure 7 This is an example schematic diagram illustrating the determination of corrected route risk according to an embodiment of the present invention. Detailed Implementation

[0019] Hereinafter, embodiments of the invention will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement the embodiments. However, the invention can be implemented in many different forms and should not be construed as limited to the embodiments described herein. In the drawings, for clarity, portions unrelated to the description of embodiments of the invention will be omitted. Throughout the specification, the same reference numerals refer to the same elements.

[0020] Throughout this specification, when a component is described as "including" or "contains" a particular element, this does not exclude other components and may further include other components, unless otherwise stated. The same reference numerals used throughout this specification refer to the same constituent elements.

[0021] Before describing the vehicle and its driving control method according to an embodiment of the present invention, the concept of turning radius for vehicle turning, route generation method, and related issues will be described.

[0022] Figure 1 This is a diagram used to illustrate the turning radius of a vehicle.

[0023] Figure 1 The vehicle turning radius model shown is based on the Ackermann front wheel steering mechanism. The steering angle δ is the angle formed by the extension of the center line of the steering knuckle arm of the imaginary wheel 110 between the two front wheels and the extension of the center line of the steering knuckle arm of the imaginary wheel 120 between the two rear wheels. The point where the two extension lines intersect is the turning center.

[0024] In this case, the parallel distance R between the vehicle center and the turning center R The relationship between the vehicle wheelbase l and the steering angle δ is shown in Equation 1 below.

[0025] Equation 1

[0026]

[0027] Based on Equation 1 above, the distance between the vehicle center and the turning center, relative to the total width and total length of the vehicle, i.e. the turning radius R, can be expressed as Equation 2.

[0028] Equation 2

[0029]

[0030] In Equation 2, "a" represents the distance between the vehicle center and the rear axle. Equation 2 can be transformed into Equation 3 below.

[0031] Equation 3

[0032]

[0033] Based on Equation 3 above, the steering angle δ can be expressed as Equation 4 below.

[0034] Equation 4

[0035]

[0036] As a result, in Equation 4, since "l" and "a" are fixed values ​​for the vehicle, the steering angle δ can be obtained if the turning radius R is known.

[0037] Figure 2 This is a diagram used to illustrate a typical turning maneuver of a vehicle.

[0038] Reference Figure 2 When a vehicle 100 of normal size is traveling along a route in autonomous driving mode, if the route includes a sharp turn (e.g., a 90-degree right turn), the turning radius R of the turning segment can be obtained using the waypoint of the current driving lane and the waypoint of the target driving lane after the right turn. ControlPoint If the turning radius is obtained, the steering angle that follows the corresponding turning radius can be obtained as shown in Equation 4. At this point, when a normal vehicle 100 turns with the corresponding steering angle, the minimum turning radius R is... min (corresponding to) Figure 1 R in RR This means that the turning radius of the inner rear wheel is greater than the required turning radius R. Req_min (i.e. R) min >R Req_min Therefore, a regular vehicle can turn 100 degrees without any problem. Here, the required turning radius R... Req_min It is the minimum turning radius required to prevent the inner rear wheel (located at the center of the turn closest to the driving path) from deviating inward from the driving lane in the turning direction (i.e., to prevent movement beyond the inner boundary of the road). Required turning radius R Req_min It can be obtained from Equation 5 below.

[0039] Equation 5

[0040]

[0041] In Equation 5, "Road_width" refers to the value set to take into account lane width and road edge.

[0042] However, this method has problems with commercial vehicles that have a relatively long overall length (such as buses or trucks). (Refer to...) Figure 3 This will be described.

[0043] Figure 3 This is a diagram illustrating problems that occur when commercial vehicles turn.

[0044] Reference Figure 3 , should be with Figure 2 The turning radius R of the center control point of vehicle 200 relative to the total length and width of the vehicle is obtained in the same manner as shown. ControlPoint When, the required turning radius R Req_min The value "a" is a fixed value depending on the shape of the road, but increases for vehicles with a relatively longer total length. Therefore, according to Equation 2, for the same turning radius R... ControlPoint Minimum turning radius R min Decrease.

[0045] As a result, in "R" min <R Req_min In this situation, the vehicle's inner rear wheel will move beyond the inner boundary of the road.

[0046] To address this problem, according to an embodiment of the invention, it is determined whether the minimum turning radius is greater than the required turning radius. If not, the vehicle's center control point, relative to the vehicle's total length and width, is moved in the lane width direction to make the minimum turning radius greater than the required turning radius, thereby generating a corrected route with a larger turning radius, and the vehicle is controlled to follow the corrected route. The following will refer to... Figure 4 This will be described.

[0047] Figure 4 This is a schematic diagram illustrating the correction of vehicle routes according to an embodiment of the present invention.

[0048] Reference Figure 4 In "R min <R Req_min In the case where vehicle 200 follows a route based on existing waypoints, the vehicle's center control point moves ΔR outward in the direction of turning in the width of the lane, thereby generating a turning radius R'. ControlPoint The corrected route thus satisfies condition "R' min >R Req_min ". Figure 4The diagram illustrates the state where the driving route before the turn and the target route after the turn each move by ΔR. However, in some implementations, only the driving lane or only the target route can be corrected. That is, the movement of the vehicle's center control point can be performed on at least one of the driving route or the target route.

[0049] In the following text, reference will be made to Figures 5 to 7 The description includes the configuration of an autonomous driving device and a driving control method using the device, the driving control method being used to generate the aforementioned reference. Figure 4 The corrected route is described and used to control the vehicle to follow the corrected route.

[0050] Figure 5 This is an example block diagram illustrating a vehicle configuration according to an embodiment of the present invention.

[0051] Reference Figure 5 The vehicle according to the implementation scheme may include a driving control device 500, and the driving control device 500 may include an information acquisition unit 510, a route generator 520, and a driving controller 530.

[0052] The information acquisition unit 510, route generator 520, and driving controller 530 can communicate via a vehicle network, which may include any of various in-vehicle communication systems, such as Controller Area Network (CAN), CAN-FD with flexible data rates, FlexRay, media-oriented systems transport (MOST), and time-triggered Ethernet (TT Ethernet). However, the above is given as an example only, and the implementation is not limited to this.

[0053] The information acquisition unit 510 may include a detector 511, a location identifier 512, and a high-definition map transmitter 513.

[0054] Detector 511 may include external sensors for sensing information about the vehicle's surrounding environment in real time and internal sensors for measuring vehicle status information. The external sensors may include an image sensor and a distance measurement sensor mounted at least at the front, side, or rear of the vehicle.

[0055] Image sensors can collect information about images of the vehicle's surroundings taken by optical systems and can perform image processing on the image information, such as noise removal, adjusting image quality and saturation, and file compression.

[0056] Distance measurement sensors can measure the distance between a vehicle and an object, or the relative speed of an object. They can be implemented as radio detection and ranging (RaDAR) sensors or light detection and ranging (LiDAR) sensors. Radar sensors use electromagnetic waves to measure the distance to objects near a vehicle, the object's heading, relative speed, and height, and can perform long-range identification and operation even in adverse weather conditions. LiDAR sensors radiate laser pulses towards the area in front of vehicles on the road and generate point-like LiDAR data based on the laser pulses reflected from objects. These LiDAR sensors have precise resolution and are therefore primarily used to detect objects near vehicles.

[0057] Internal sensors may include speed sensors, acceleration sensors, and steering angle sensors for measuring the vehicle’s current speed, acceleration, and steering angle respectively, and may periodically collect information about the status of various actuators.

[0058] The location identifier 512 can be used to identify the location of the main vehicle. For this purpose, the location identifier 512 may include a Global Positioning System (GPS) receiver. The GPS receiver is a sensor configured to estimate the vehicle's geographic location. The GPS receiver can receive navigation messages from GPS satellites located far from the Earth's surface and can use this information to collect information about the vehicle's current location in real time.

[0059] The high-definition map transmitter 513 can pre-store high-definition maps in the form of a database, which records road information (such as road shape, curvature, gradient and slope) and location information corresponding to the road information.

[0060] High-resolution maps can include road network data consisting of nodes and lane lines. Here, a node refers to a point where road properties change, such as an intersection or junction. Lane lines are the lines that linearly connect roads located between nodes; these are the centerlines of the lanes. Road network data includes information about the lanes, which is formed by pre-measuring and digitizing the physical characteristics (such as width, curvature, gradient, and slope) of each lane belonging to a road. Road network data can be automatically updated periodically via wireless communication or manually updated by the user.

[0061] The route generator 520 may include a road turning radius calculator 521, a vehicle turning radius calculator 522, a corrected route determiner 523, and a risk determiner 524.

[0062] The road turning radius calculator 521 determines whether a turning segment exists ahead along the driving route based on information obtained from the information acquisition unit 510. When a turning segment is determined to exist, the road turning radius calculator 521 calculates the turning radius according to the characteristics of the road. For example, the road turning radius calculator 521 can use the waypoint of the current lane and the waypoint of the target lane after the turn to obtain the turning radius R of the turning segment. ControlPoint and required turning radius R Req_min Because the turning radius R is obtained. ControlPoint and required turning radius R Req_min The method is the same as that described above with reference to Equations 1 to 5, so the repeated description of it will be omitted.

[0063] The vehicle turning radius calculator 522 can be based on the turning radius R calculated by the road turning radius calculator 521, taking into account the total length of the vehicle. ControlPoint To obtain the maximum turning radius R max and minimum turning radius R min Minimum turning radius R min Corresponding to Figure 1 R in RR (i.e., the turning radius of the inner rear wheel) and can be obtained in the following way: based on the turning radius R controlPoint The steering angle is used to obtain R. R Then R R Subtract half the total width of the vehicle. Additionally, the maximum turning radius R... max It is the distance from the center of the turn to the outer front wheel and can be based on R. R and half the total width of the vehicle (R) R The relationship between (half of the total width) and the wheelbase l is obtained.

[0064] The corrected route determiner 523 determines the minimum turning radius R. min Is it greater than the required turning radius R? Req_min Once the minimum turning radius R is determined... min Not greater than the required turning radius R Req_min At that time, the corrected route determiner 523 moves the vehicle's center control point ΔR outward in the lane width direction toward the turning direction for at least one of the driving route or the target route, thereby generating the corrected route, as described above. Figure 4 As stated above.

[0065] At this point, the correction amount ΔR can be obtained according to Equation 6 below.

[0066] Equation 6

[0067] ΔR=R min -R Req_min +Rmargin In equation 6, “R” margin "This is a margin value adjusted to take into account control error and vehicle movement prediction error."

[0068] As a result, the turning radius R' based on the corrected route is determined according to Equation 7 below. ControlPoint .

[0069] Equation 7

[0070] R′ ControlPoint =R ControlPoint +ΔR

[0071] When the vehicle follows the corrected route, the risk determiner 524 can set a collision determination zone based on the maximum and minimum turning radii, and can determine the probability of a collision occurring in the set zone based on information obtained from the information acquisition unit 510. (See below for further details.) Figure 7 Describe the specific process of setting up the collision determination area.

[0072] Meanwhile, the driving controller 530 can control the vehicle's steering system, power system, and braking system to make the vehicle follow the route generated by the route generator 520 or the corrected route.

[0073] The following will refer to Figure 6 This describes the driving control process used to ensure stable turning of the vehicle using the aforementioned driving control device 500.

[0074] Figure 6 This is an example flowchart of the process of controlling vehicle movement according to an embodiment of the present invention.

[0075] Reference Figure 6 The route generator 520 can determine whether there is a turning segment ahead along the driving route based on the information obtained from the information acquisition unit 510 (step S610). When a turning segment exists (yes in step S610), the route generator 520 can calculate the turning radius R based on the waypoints of the existing route. ControlPoint (Step S620).

[0076] In addition, the route generator 520 can be based on the turning radius R ControlPoint Set the required turning radius R Req_min (Step S630), and the maximum turning radius R can be calculated by taking into account the total length and total width of the vehicle. max and minimum turning radius R min (Step S640).

[0077] Route generator 520 can determine the minimum turning radius R min Is it greater than the required turning radius R? Req_min(Step S650). When the minimum turning radius R min Larger than the required turning radius R Req_min When (yes in step S650), the route generator 520 can determine the risk of the target route. Thereafter, the driving controller 530 can perform control over driving along the route (step S670). In some embodiments, risk determination can be omitted when the existing route is not corrected.

[0078] On the other hand, when the minimum turning radius R min Not greater than the required turning radius R Req_min If (No) in step S650, the route generator 520 can correct the existing route (step S660). Accordingly, the route generator 520 can determine the risk of the corrected target route. Thereafter, the driving controller 530 can perform control on driving along the route (step S670).

[0079] Figure 7 This is an example schematic diagram illustrating the determination of corrected route risk according to an embodiment of the present invention.

[0080] Reference Figure 7 When commercial vehicle 200 turns along the corrected route, the maximum turning radius R max This will also increase, so a portion of the commercial vehicle 200 may deviate from the lane corresponding to the target route to an adjacent lane. Therefore, the risk determiner 524 can set a defined area based on the outer lane and maximum turning radius of the corrected target route, determine the risk of collision with obstacles in the defined area, and send a decision on whether to follow the corrected target route to the driving controller 530. At this time, it is necessary to consider the turning radius R' of the corrected route. ControlPoint The maximum turning radius is determined by the turning radius of the existing route, rather than the turning radius of the existing route.

[0081] According to the above implementation scheme, when a vehicle with a relatively long total length (such as a bus or truck) is driving in autonomous driving mode and making a large turning radius (e.g., a 90-degree right turn), the vehicle can follow the route without colliding with the boundary sections of the road. Furthermore, during the process of controlling the vehicle to follow the route including turning sections (where the vehicle makes a large turning radius), the risk of collision with obstacles in the area outside the target lane is determined, thereby ensuring vehicle safety.

[0082] Embodiments of the present invention can be implemented as code that can be written to a computer-readable recording medium and thus read by a computer system. Computer-readable recording media include various recording devices that store data that can be read by a computer system. Examples of computer-readable recording media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memory (ROM), random access memory (RAM), optical disc ROM (CD-ROM), magnetic tape, floppy disks, and optical data storage devices.

[0083] As is evident from the above description, a vehicle configured as described above and associated with at least one embodiment of the present invention is able to turn safely while following a route generated based on a high-definition map.

[0084] Specifically, when a vehicle turns along a route generated based on a high-definition map, the likelihood of a collision can be predicted. When a collision is predicted, the route is corrected by assessing the risk to provide more turning space to avoid a collision, thereby ensuring vehicle safety.

[0085] However, the effects that can be achieved through the embodiments of the present invention are not limited to the effects described above, and those skilled in the art will clearly understand other effects not mentioned herein through the above description.

[0086] It will be apparent to those skilled in the art that various changes in form and detail can be made without departing from the spirit and essential characteristics of the invention as described herein. Therefore, the above detailed description is not intended to be construed as limiting the invention in any respect, but rather to be considered by way of example. The scope of the invention should be determined by a reasonable interpretation of the appended claims, and all equivalent modifications made without departing from the invention should be included in the appended claims.

[0087] Although the invention has been described with reference to exemplary embodiments, this specification is not intended to be limited in meaning. By referring to the specification, those skilled in the art will clearly see various modifications and combinations of exemplary embodiments and other embodiments of the invention. Therefore, the appended claims are intended to cover any such modifications or embodiments.

Claims

1. A driving control method, the method comprising: Determine if there are any curves ahead along the main vehicle's route; In response to the determination of the existence of a turning section, the first turning radius relative to the center of the main vehicle is determined; Determine the steering angle based on the first turning radius; Based on the first turning radius, determine the second turning radius required to prevent the main vehicle from deviating from the lane to the inside of the turning direction; Determine the third turning radius relative to the inner rear wheel, taking into account the overall width of the main vehicle; The system controls the main vehicle to travel along the driving route or along the corrected route, which is generated by correcting the first turning radius based on the relative size of the second and third turning radii, thereby correcting the steering angle and thus the driving route. Controlling the movement of the main vehicle includes: When the third turning radius is greater than the second turning radius, control the main vehicle to travel along the driving route; When the radius of the third turn is not greater than the radius of the second turn, a corrected route is generated; The process of generating the corrected route includes: for the driving route before the turn or the target route after the turn at the turning section, shifting the center of the main vehicle towards the outside of the turning direction by a correction value in the width direction of the lane. The correction value is obtained by adding the value obtained by subtracting the second turning radius from the third turning radius to a predetermined margin value.

2. The method of claim 1, wherein, The process of generating the corrected route includes correcting the driving route so that the turning radius of the main vehicle's center is greater than the first turning radius.

3. The method according to claim 1, wherein, The determination of the first turning radius is based on waypoints that constitute the driving route.

4. The method according to claim 1, wherein, Determining the third turning radius includes: the parallel distance between the turning center and the center of the main vehicle minus half the total width of the main vehicle.

5. The method according to claim 1, wherein, Determining the second turning radius includes: the first turning radius minus half of the lane width determined taking into account the margin.

6. The method according to claim 1, wherein, Controlling the main vehicle to travel along the corrected route includes: The sensing area is set based on the outer lane of the target route after turning according to the corrected route and based on the maximum turning radius of the corrected route. Determine the risk of the sensing area.

7. A non-volatile computer-readable recording medium configured to store a program for executing the driving control method according to claim 1.

8. A driving control device, the device comprising: An information acquisition unit configured to acquire information about the driving environment; The route generator is configured as follows: Based on the information obtained about the driving environment, determine whether there are any curves ahead along the main vehicle's driving route; Once a turning section is identified, determine the first turning radius relative to the center of the main vehicle. Based on the first turning radius, determine the second turning radius required to prevent the main vehicle from deviating from the lane to the inside of the turning direction; Determine the third turning radius relative to the inner rear wheel of the main vehicle, taking into account the total width of the main vehicle. The driving route is corrected based on the relative size of the second and third turning radii; as well as A driving controller is configured to control the master vehicle to travel along a driving route or along a corrected route based on a decision made by a route generator, the corrected route being generated by correcting the driving route; The driving controller is further configured to: determine the steering angle based on the first turning radius; correct the first turning radius by adjusting the steering angle based on the relative size of the second and third turning radii, thereby correcting the driving route; The route generator is configured to generate a corrected route when the third turning radius is not greater than the second turning radius. The route generator is configured to: for the driving route before the turn or the target route after the turn at a turning section, move the center of the main vehicle outward in the width direction of the lane by a correction value to correct the driving route. The route generator is configured to obtain the correction value by adding the value obtained by subtracting the second turning radius from the third turning radius to a predetermined margin value.

9. The driving control device according to claim 8, wherein, The route generator is configured to correct the driving route so that the turning radius of the main vehicle center is greater than the first turning radius.

10. The driving control device according to claim 8, wherein, The route generator is configured to determine the first turning radius based on waypoints that constitute the driving route.

11. The driving control device according to claim 8, wherein, The route generator is configured to determine the third turning radius by subtracting half the total width of the main vehicle from the parallel distance between the turning center and the center of the main vehicle.

12. The driving control device according to claim 8, wherein, The route generator is configured to determine the second turning radius by subtracting half of the lane width, which is determined by taking into account the margin, from the first turning radius.

13. The driving control device according to claim 8, wherein, The route generator is configured as follows: The sensing area is set based on the outer lane of the target route after turning according to the corrected route and based on the maximum turning radius of the corrected route. Determine the risk in the sensing area; The decision on whether to follow the corrected route is sent to the driving controller.

14. A vehicle comprising: Body; Multiple wheels connected to the vehicle body; as well as The driving control device includes: An information acquisition unit configured to acquire information about the driving environment; A route generator is configured to: determine whether a turning segment exists ahead along the vehicle's driving route based on acquired information about the driving environment; when a turning segment is determined, determine a first turning radius relative to the vehicle's center; based on the first turning radius, determine a second turning radius required to prevent the vehicle from veering inward from the lane towards the turning direction; determine a third turning radius relative to the inner rear wheel of the multiple wheels, taking into account the vehicle's total width; and correct the driving route based on the relative magnitudes of the second and third turning radii; and A driving controller configured to control the vehicle to travel along a driving route or along a corrected route based on a decision made by a route generator, the corrected route being generated by correcting the driving route; The driving controller is further configured to: determine the steering angle based on the first turning radius; correct the first turning radius by adjusting the steering angle based on the relative size of the second and third turning radii, thereby correcting the driving route; The route generator is configured to generate a corrected route when the third turning radius is not greater than the second turning radius. The route generator is configured to: for the driving route before the turn or the target route after the turn at a turning section, move the center of the main vehicle outward in the width direction of the lane by a correction value to correct the driving route. The route generator is configured to obtain the correction value by adding the value obtained by subtracting the second turning radius from the third turning radius to a predetermined margin value.

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