阅读说明：本技术 行驶路径设定装置、行驶路径设定方法以及存储介质 (Travel route setting device, travel route setting method, and storage medium ) 是由 田村祥 于 2021-03-10 设计创作，主要内容包括：本发明提供一种行驶路径设定装置,以实现更适当的驾驶辅助。设定移动体的行驶路径的行驶路径设定装置具备：获取单元,其获取地图数据所示的行驶环境作为第一行驶环境,并获取由所述移动体中搭载的传感器检测到的行驶环境作为第二行驶环境；以及设定单元,其基于所述第一行驶环境和所述第二行驶环境来设定所述移动体的行驶路径,在所述第一行驶环境与所述第二行驶环境的一致度不满足基准的情况下,当作为所述移动体当前能够行驶的行驶面的可行驶面且是由所述传感器检测到的可行驶面变窄时,所述设定单元基于该可行驶面的边界线来设定所述行驶路径。(The invention provides a travel route setting device to realize more appropriate driving assistance. A travel route setting device for setting a travel route of a mobile body is provided with: an acquisition unit that acquires a travel environment shown by map data as a first travel environment, and acquires a travel environment detected by a sensor mounted in the mobile body as a second travel environment; and a setting unit that sets a travel path of the mobile body based on the first travel environment and the second travel environment, the setting unit setting the travel path based on a boundary line of a travelable surface on which the mobile body can currently travel when the travelable surface is a travelable surface on which the mobile body can currently travel and the travelable surface detected by the sensor is narrowed, in a case where a degree of coincidence of the first travel environment and the second travel environment does not satisfy a reference.)

1. A travel route setting device for setting a travel route of a mobile body,

the travel route setting device includes:

an acquisition unit that acquires a travel environment shown by map data as a first travel environment, and acquires a travel environment detected by a sensor mounted in the mobile body as a second travel environment; and

a setting unit that sets a travel path of the mobile body based on the first travel environment and the second travel environment,

the setting unit sets the travel path based on a boundary line of a travelable surface that is a travelable surface on which the mobile body can currently travel when the travelable surface becomes narrow, in a case where a degree of coincidence of the first travel environment and the second travel environment does not satisfy a reference.

2. The travel path setting device according to claim 1,

the setting unit sets the travel path based on the first travel environment, in a case where the degree of coincidence satisfies the reference.

3. The travel path setting device according to claim 1,

the travel route setting device further includes:

an evaluation unit that evaluates a projecting form in which the boundary line projects inward in a width direction of a road ahead in a traveling direction of the mobile body; and

a determination unit that determines whether or not the travelable surface is narrowed, based on a result of the evaluation.

4. The travel path setting device according to claim 3,

the determination means determines that the travelable surface is narrowed when the boundary line protrudes so as to overlap the moving body from the viewpoint of the traveling direction.

5. The travel path setting device according to claim 1,

the acquisition unit acquires the second running environment by determining, by the sensor, a division line provided on a road ahead of a traveling direction of the mobile body and/or a physical boundary of the road,

the setting unit sets the travel path to be deviated to the determined dividing line side in a case where the dividing line is determined for one side in the width direction of the road and the physical boundary is determined for the other side.

6. The travel path setting device according to claim 1,

the setting unit sets the travel path based on the first travel environment in a case where dividing lines are determined for both sides of a road in a width direction and a distance between the determined dividing lines is smaller than a first reference value.

7. The travel path setting device according to claim 1,

the setting unit sets the travel path based on the first travel environment in a case where dividing lines are determined for both sides of a road in a width direction, a distance between the determined dividing lines is smaller than a second reference value, and a distance between the dividing lines shown by the first travel environment is larger than a distance between the determined dividing lines by a third reference value or more.

8. The travel path setting device according to claim 1,

the setting unit sets the travel path based on the determined dividing lines when the dividing lines are determined for both sides of the road in the width direction and the distance between the determined dividing lines is greater than the distance between the dividing lines indicated by the first travel environment by a fourth reference value or more.

9. The travel path setting device according to claim 1,

the travel route setting device is a travel control device, and further includes a travel control means for causing the mobile body to travel along the travel route.

10. A method for setting a travel route of a moving object, comprising the steps of,

the travel route setting method includes:

a step of acquiring a travel environment shown by map data as a first travel environment and acquiring a travel environment detected by a sensor mounted in the mobile body as a second travel environment; and

a step of setting a travel path of the mobile body based on the first travel environment and the second travel environment,

in the step of setting the travel path, when the degree of coincidence between the first travel environment and the second travel environment does not satisfy a reference, the travel path is set based on a boundary line of a travelable surface that is a travel surface on which the mobile body can currently travel and on which the travelable surface detected by the sensor is narrowed.

11. A storage medium storing a program for causing a computer to execute each step of the travel route setting method according to claim 10.

Technical Field

The present invention mainly relates to a travel route setting device.

Background

As driving assistance, also referred to as automated driving or the like, for example, a plurality of sensors for detecting a running environment are provided in a vehicle, and a running route of the vehicle is set based on a detection result thereof. Patent document 1 describes the following: the detection results of the plurality of sensors are calculated based on the degree of deterioration of each sensor to specify the position of the vehicle, thereby performing driving assistance.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2013-36856

Disclosure of Invention

Problems to be solved by the invention

Patent document 1 describes that driving assistance is performed by further referring to a traveling environment indicated by map data. However, the driving assistance disclosed in patent document 1 still has room for improvement in terms of realizing more appropriate driving assistance using the driving environment detected by the plurality of sensors and the driving environment indicated by the map data, and this is the same for a plurality of mobile bodies.

An exemplary object of the present invention is to achieve more appropriate driving assistance.

Means for solving the problems

One aspect of the present invention relates to a travel route setting device that sets a travel route of a mobile body, the travel route setting device including: an acquisition unit that acquires a travel environment shown by map data as a first travel environment, and acquires a travel environment detected by a sensor mounted in the mobile body as a second travel environment; and a setting unit that sets a travel path of the mobile body based on the first travel environment and the second travel environment, the setting unit setting the travel path based on a boundary line of a travelable surface on which the mobile body can currently travel when the travelable surface is a travelable surface on which the mobile body can currently travel and the travelable surface detected by the sensor is narrowed, in a case where a degree of coincidence of the first travel environment and the second travel environment does not satisfy a reference.

Effects of the invention

According to the present invention, more appropriate driving assistance can be achieved.

Drawings

Fig. 1 is a diagram showing an example of a configuration of a vehicle according to an embodiment.

Fig. 2 is a flowchart showing an example of a method for setting a travel route of a vehicle.

Fig. 3A is a schematic diagram for explaining the contents of the travel environment.

Fig. 3B is a schematic diagram for explaining the contents of the travel environment.

Fig. 3C is a schematic diagram for explaining the contents of the travel environment.

Fig. 4 is a schematic diagram showing another example of the running environment.

Fig. 5 is a schematic diagram showing another example of the running environment.

Fig. 6 is a schematic diagram showing another example of the running environment.

Description of the reference numerals

1: a vehicle (moving body); 13: a driving environment detection unit; 15: a control unit (travel route setting device).

Detailed Description

Hereinafter, embodiments will be described in detail with reference to the drawings. The following embodiments do not limit the invention according to the claims, and all combinations of features described in the embodiments are not necessarily essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. The same or similar components are denoted by the same reference numerals, and redundant description thereof is omitted.

(example of vehicle construction)

Fig. 1 shows a configuration example of a vehicle 1 according to an embodiment. The vehicle 1 includes a traveling unit 11, a driving operation unit 12, a traveling environment detection unit 13, a storage unit 14, and a control unit 15. In the present embodiment, the vehicle 1 is a four-wheeled vehicle including a pair of front wheels and a pair of rear wheels as the traveling unit 11, but the number of wheels is not limited to this example, and the vehicle 1 may be a two-wheeled vehicle, a three-wheeled vehicle, or the like as another embodiment. Alternatively, the traveling unit 11 may be formed of an endless traveling body (crawler type).

The driving operation unit 12 is a driving operation mechanism for performing driving operations (mainly acceleration, braking, and steering) of the vehicle 1, and includes, for example, an acceleration operation member, a brake operation member, a steering operation member, and the like. An accelerator pedal is typically used in the accelerator operation member, a brake pedal is typically used in the brake operation member, and a steering wheel is typically used in the steering operation member. The operation mode of these operation members is not limited to this example, and these operation members may be of other configurations such as a lever type and a switch type.

The running environment detection unit 13 is a detection device for detecting a running environment (or a monitoring device for monitoring a situation outside the vehicle). A known vehicle-mounted sensor necessary for realizing driving assistance described later is used in the running environment Detection unit 13, and examples thereof include a radar (millimeter wave radar), a light Detection and ranging (lidar), an imaging camera, and the like. The running environment detection unit 13 may be simply referred to as a detection unit or may be referred to as a monitoring unit. The running environment to be detected by the running environment detecting unit 13 includes, for example, a physical boundary of a road, a dividing line (for example, a white line) provided on the road, and the like, and details thereof will be described later.

The storage unit 14 stores map data necessary for implementing driving assistance described later. The map data is prepared in advance and stored in the storage unit 14 in the present embodiment, but may be acquired by external communication and stored in the storage unit 14 or updated in the storage unit 14 as another embodiment. In the present embodiment, for convenience of understanding of the following description, the map data is assumed to represent the traveling environment of the vehicle 1, for example, the physical boundaries of roads, dividing lines provided on roads, and the like, but as another embodiment, the map data may be indirect information that can be acquired from the traveling environment by predetermined arithmetic processing.

The control unit 15 is a system controller that controls the entire system of the vehicle 1, and typically may be constituted by an ECU (electronic control unit) including a CPU (central processing unit) and a memory. That is, the function of the control unit 15 can be realized by executing a program on a computer. In many cases, the control unit 15 is configured by a plurality of ECUs that can communicate with each other, but may be configured by a single ECU. A known semiconductor device such as an ASIC (application specific integrated circuit) may be used instead of the ECU. That is, the function of the control unit 15 can be realized by either software or hardware.

As an example, the control unit 15 can perform the driving assistance by performing the driving control of the driving operation unit 12 based on the detection result of the running environment detection unit 13 and the map data of the storage unit 14. The driving assistance here means that the control unit 15 performs a part or all of the driving operation.

That is, the vehicle 1 has, as the operation modes, a manual driving mode in which the subject of the driving operation is a user (driver), and a driving assistance mode (also referred to as an automatic driving mode or the like) in which the subject of the driving operation is the control unit 15. For example, in the manual driving mode, the user performs a driving operation using the driving operation portion 12.

On the other hand, in the driving assistance mode, the control unit 15 performs driving assistance based on the detection result of the running environment detecting unit 13 and the map data of the storage unit 14 to cause the vehicle 1 to run to the destination set by the user. Specifically, the control unit 15 sets the travel route of the vehicle 1 so as to avoid an obstacle (for example, an object to be avoided from contact with the vehicle 1, such as an installation, another vehicle, or a pedestrian) around the vehicle 1, and performs drive control of the travel unit 11 so that the vehicle 1 travels along the travel route. That is, the travel route referred to in the present specification includes not only a route to a destination (a broad travel route) but also a trajectory (a narrow travel route) that the vehicle 1 should draw on a road on which the vehicle 1 is currently traveling.

In order to allow the control unit 15 to appropriately refer to the corresponding map data from the storage unit 14, a sensor for a gps (global Positioning system) or the like may be provided in the vehicle 1.

From the above viewpoint, the control unit 15 functions as a driving assistance device, and may be said to include a travel route setting device, a travel control device, and the like in its concept. Here, for convenience of explanation, these functions are realized by the control unit 15, but some or all of the means for realizing these functions may be provided separately.

(example of method for setting travel route)

Fig. 2 is a flowchart showing an example of a method for setting the travel route of the vehicle 1. The flowchart is executed mainly by the control unit 15 upon start of the driving assistance mode, and the outline thereof is to set the travel route of the vehicle 1 based on the travel environment indicated by the map data of the storage unit 14 and the travel environment indicated by the detection result of the travel environment detection unit 13.

In step S1000 (hereinafter, simply referred to as "S1000". the same applies to other steps described later), the running environment indicated by the map data (referred to as running environment 31.) is acquired with reference to the map data of the storage unit 14.

Fig. 3A shows the contents of the running environment 31 shown in the map data (for the sake of easy understanding, a schematic plan view). That is, the running environment 31 includes a physical boundary 311 relating to a road LD on which the vehicle 1 is currently running, that is, a road LD ahead of the vehicle 1 in the traveling direction, and a dividing line 312 provided on the road LD. In fact, it is conceivable that one of the physical boundary 311 and the dividing line 312 is not registered as the map data, or one of them is missing in the map data, but these cases are not considered here for convenience and ease.

In S1010, the running environment (referred to as running environment 32) detected by the running environment detection unit 13 is acquired. As described above, examples of the running environment detection unit 13 include known vehicle-mounted sensors such as a radar, an optical radar, and a camera, and the running environment 32 can be acquired by any of these sensors.

Fig. 3B shows the contents of the running environment 32 detected by the running environment detection unit 13 (for ease of understanding, a schematic plan view is shown in the same manner as in fig. 3A). That is, the running environment 32 includes a physical boundary 321 on the road LD and a dividing line 322 provided on the road LD. Fig. 3B shows a state in which snow is present on the road LD up to the inner side in the width direction of the road LD so as to cover the dividing line 322. In fact, although it is conceivable that the dividing line 322 is not provided on the road LD, or disappears from the road LD, it is assumed here that these cases are not considered for the sake of understanding.

In S1020, it is determined whether or not the degree of coincidence between running environment 31 and running environment 32 satisfies the criterion, and more specifically, the determination may be performed based on the degree of coincidence between physical boundary 311 and physical boundary 321 and the degree of coincidence between dividing line 312 and dividing line 322. The above reference may be set to 90%, for example, but may be arbitrarily adjusted and set to other values such as 85% and 95%. The reference of the degree of coincidence with the physical boundaries 311 and 321 and the reference of the degree of coincidence with the dividing lines 312 and 322 are set to the same values in the present embodiment, but may be set to different values in other embodiments.

Fig. 3C is a diagram showing a state in which the running environment 31 shown in fig. 3A and the running environment 32 shown in fig. 3B are superimposed (for the sake of distinction, the running environment 31 is shown by a broken line, and the running environment 32 is shown by a solid line). In this example, in the portion P1 and the portion P2 on the road LD, snow is present in the portion P2, and therefore the degree of matching between the running environment 31 and the running environment 32 satisfies the criterion in the portion P1 and does not satisfy the criterion in the portion P2.

If the determination result in S1020 is that the matching degree between running environment 31 and running environment 32 satisfies the criterion, the routine proceeds to S1030, and if not (if not) the routine proceeds to S1040.

In S1030, a travel route is set. Here, the travel route is set based on the travel environment 31. By using the running environment 31 (i.e., the map data) of the running environment 31 and the running environment 32, the calculation time required for setting the running route can be made relatively short, and the setting can be relatively easily realized. In S1020, since it is determined that the matching degree between running environment 31 and running environment 32 satisfies the criterion, the setting may be performed based on running environment 32.

In S1040, a running surface (hereinafter, referred to as a travelable surface) F1 on which the vehicle 1 can currently run is evaluated for the road LD based on the running environment 32 detected by the running environment detecting portion 13. This evaluation is performed based on the projecting form projecting inward in the width direction of the road LD with respect to the boundary line of the travelable surface F1. Here, since the travelable surface F1 is substantially defined based on the physical boundary 321, the boundary line of the travelable surface F1 corresponds to the physical boundary 321. That is, the boundary line of the travelable surface F1 is determined based on the physical boundary 321 regardless of the dividing line 322.

In S1050, it is determined whether or not the travelable surface F1 is narrowed based on the result of the above evaluation in S1040. For example, when the above-described projecting form of the boundary line of the travelable surface F1 (projecting form projecting inward in the width direction of the road LD) satisfies the criterion, that is, when the magnitude of the projection inward in the width direction exceeds a predetermined amount, it can be determined that the travelable surface F1 is narrowed. As an example, when the boundary line of the travelable surface F1 protrudes so as to overlap the vehicle 1 from the viewpoint of the traveling direction of the vehicle 1 (when viewed in the traveling direction of the vehicle 1), it can be determined that the travelable surface F1 is narrowed. In other words, when the protruding front end of the boundary line is positioned on the vehicle 1 inner side of the one end portion of the vehicle 1 (the end portion on the physical boundary 321 side) or overlaps the one end portion, it can be determined that the travelable surface F1 is narrowed.

From S1050 described above, if it is determined that the travelable surface F1 is narrowed, the process proceeds to S1060, and if not, the process proceeds to S1070.

In S1060, the travel path is set based on the boundary line of the travelable surface F1 determined to be narrowed in S1050.

In S1070, the travel route is set based on the travel environment 31, as in S1030.

According to the present flowchart, the travel route of the vehicle 1 is set based on the travel environment 31 shown in the map data and the travel environment 32 detected by the travel environment detection unit 13. When the degree of matching between the running environment 31 and the running environment 32 satisfies the criterion, the setting can be relatively easily realized by setting the running route based on the running environment 31 (i.e., the map data). On the other hand, when the degree of coincidence between the running environment 31 and the running environment 32 does not satisfy the reference (in the case of non-coincidence), the setting of the running route is performed based on the boundary line (substantially the physical boundary 321) of the travelable surface F1 when the travelable surface F1 detected by the running environment detection unit 13 is narrowed. Thereby, the vehicle 1 can be caused to travel along an appropriate travel route (see arrow a11 in fig. 3C), that is, the control unit 15 can provide appropriate driving assistance.

In addition, according to the example of fig. 3C (incidentally, fig. 3A to 3B), the dividing line 322 is determined for one side in the width direction of the road LD and the physical boundary 321 is determined for the other side. As another mode in this example, the travel route may be set to be biased toward the determined dividing line 322 (see arrow a12 in fig. 3C) regardless of the travel environment 31. This enables the vehicle 1 to travel while being away from the physical boundary 321.

(Another example of the method for setting the travel route)

In a case where the running environment 31 shown in the map data of the storage unit 14 does not match the running environment 32 shown in the detection result of the running environment detection unit 13 (in a case where the degree of matching does not satisfy the reference), various cases are conceivable. That is, in the flowchart (see fig. 2), it is assumed that both the physical boundary 311 and the dividing line 312 are registered as map data in advance and the dividing line 322 is provided on the road LD in advance, but it is conceivable that this assumption does not actually hold.

For example, a case where one of the physical boundary 311 and the dividing line 312 is not registered as the map data, a case where one of them is missing from the map data, or the like is conceivable. Alternatively, the dividing line 322 may not be originally provided on the road LD, may disappear from the road LD, or the like.

Therefore, instead of S1070 (when running environment 31 and running environment 32 do not match and when it is determined that travelable surface F1 is not narrowed), the travel route may be set based on several arithmetic operations.

First example

Fig. 4 shows a travel environment 32b together with a corresponding travel environment (travel environment shown in map data) 31b as another example of the travel environment 32. According to the running environment 32b, the dividing lines 322 are determined for both sides in the width direction of the road LD, and the distance D52 between the determined dividing lines 322 is smaller than the reference value W1. As an example, a case may be considered where the dividing line 322 is newly provided in road construction or the like, and an old dividing line 322 (the dividing line 322x is illustrated for the purpose of distinction) remains. The reference value W1 can be set to, for example, 2.0[ m (meters) ], 2.5[ m ], or the like.

In this case, the travel route may be set based on the travel environment 31b (see arrow a21 in the figure). This prevents a situation in which the driving assistance is performed following the inappropriate running environment 32b (see arrow a22 in the figure).

Second example

Fig. 5 shows a running environment 32c together with a corresponding running environment (running environment shown in map data) 31c as another example of the running environment 32. According to the driving environment 32c, the dividing lines 322 are determined for both sides in the width direction of the road LD, and the distance D62 between the determined dividing lines 322 is smaller than the reference value W2. In addition, according to the running environment 31c, the distance D61 between the division lines 312 is larger than the distance D62 between the division lines 322 by the reference value W3 or more. As this example, similarly to the first example, a case may be considered in which the dividing line 322 is newly provided in road construction or the like, and the old dividing line 322 (the dividing line 322x is illustrated for the purpose of distinction) remains. The reference value W2 may be set to a value equal to or greater than the reference value W1, for example, 2.5[ m ]. The reference value W3 can be set to 0.4 m, for example.

In this case, the travel route may be set based on the travel environment 31c (see arrow a31 in the figure). This prevents a situation in which the driving assistance is performed following the inappropriate running environment 32c (see arrow a32 in the figure).

Third example

Fig. 6 shows a travel environment 32d together with a corresponding travel environment (travel environment shown in map data) 31d as another example of the travel environment 32. According to the running environment 32D, the dividing lines 322 are determined for both sides in the width direction of the road LD, and the distance D72 between the determined dividing lines 322 is larger than the distance D71 between the dividing lines 312 shown in the running environment 31D by the reference value W4 or more. As an example, a case where the map data (i.e., the dividing line 312) is not updated because the dividing line 322 is newly provided in road construction or the like is conceivable. The reference value W4 can be set to 0.5 m, for example.

In such a case, the travel path can be set based on the determined dividing line 322 (see arrow a41 in the figure) regardless of the travel environment 31d shown in the map data. This can prevent a situation in which the driving assistance is performed following the inappropriate running environment 31d (see arrow a42 in the figure).

That is, when the traveling environment 31 and the traveling environment 32 do not match, the contents of S1070 may be changed by individually and specifically examining each case so that the traveling route is set based on the one of them which should be prioritized at present. The reference values W1 to W4 in this example need to be set as appropriate by specific examination of each case. Therefore, the reference value W1 and the like shown here are not limited to the values in this example.

In the above description, for the sake of easy understanding, each element is expressed as a name associated with its functional surface, but each element is not limited to having the content described in the embodiment as a main function, and may be provided with the content in an auxiliary manner. For example, in the present specification, the vehicle 1 is exemplified as a typical example to explain the embodiment, but the traveling unit 11 may be configured by a ring-shaped traveling body, that is, the contents of the embodiment can be said to be applicable to various moving bodies.

(summary of the embodiment)

A first aspect relates to a travel route setting device (e.g., 15) that sets a travel route of a mobile body (e.g., 1), the travel route setting device including: an acquisition unit (e.g., S1000 to S1010) that acquires a travel environment indicated by map data as a first travel environment (e.g., 31) and acquires a travel environment detected by a sensor (e.g., 13) mounted in the mobile body as a second travel environment (e.g., 32); and a setting unit (e.g., S1030, S1060 to S1070) that sets a travel path of the mobile body based on the first travel environment and the second travel environment, wherein when a degree of coincidence between the first travel environment and the second travel environment does not satisfy a reference, the setting unit sets the travel path based on a boundary line of a travelable surface (e.g., S1060) that is a travelable surface on which the mobile body can currently travel and on which the travelable surface (e.g., F1) detected by the sensor is narrowed.

This makes it possible to provide appropriate driving assistance and to cause the mobile body to travel along an appropriate travel route.

In the second aspect, when the matching degree satisfies the reference, the setting unit sets the travel path based on the first travel environment (e.g., S1030).

This makes it possible to set the travel route relatively easily.

Incidentally, the travel route setting device may further include a determination unit (e.g., S1040) that determines the boundary line based on a physical boundary (e.g., 321) of a road (e.g., LD) regardless of a dividing line (e.g., 322) provided on the road. This makes it possible to appropriately realize the first aspect and the like.

In a third aspect, the travel route setting device further includes: an evaluation means (e.g., S1040) for evaluating a projecting form in which the boundary line projects inward in the width direction of the road ahead in the traveling direction of the mobile body; and a determination unit (e.g., S1050) that determines whether the travelable surface is narrowed, based on a result of the evaluation.

This makes it possible to appropriately realize the first aspect and the like.

In a fourth aspect, the determination unit determines that the travelable surface is narrowed when the boundary line protrudes so as to overlap with the moving body from the viewpoint of the traveling direction.

This makes it possible to perform the determination relatively easily.

In a fifth aspect, the acquisition unit acquires the second running environment by determining, by the sensor, a dividing line (for example, 322) provided on a road (for example, LD) ahead in a traveling direction of the mobile body and/or a physical boundary (for example, 321) of the road, and the setting unit sets the running path to be biased toward the determined dividing line when the dividing line is determined for one side in a width direction of the road and the physical boundary is determined for the other side.

This makes it possible to appropriately set the travel route in the above-described case.

In a sixth aspect, the setting unit sets the travel path based on the first travel environment when dividing lines (e.g., 322) are determined for both sides of a road (e.g., LD) in a width direction and a distance (e.g., D52) between the determined dividing lines is smaller than a first reference value (e.g., W1).

This makes it possible to appropriately set the travel route in the above-described case.

In a seventh aspect, the setting unit sets the travel path based on the first travel environment when dividing lines (e.g., 322) are determined for both sides of a road (e.g., LD) in a width direction, a distance between the determined dividing lines (e.g., D62) is smaller than a second reference value (e.g., W2), and a distance between the dividing lines indicated by the first travel environment (e.g., D61) is greater than or equal to a third reference value (e.g., W3) than the determined distance between the dividing lines.

This makes it possible to appropriately set the travel route in the above-described case.

In an eighth aspect, the setting unit sets the travel path based on a determined dividing line (e.g., 322) when the dividing line is determined for both sides of a road (e.g., LD) in a width direction and a distance between the determined dividing lines (e.g., D72) is greater than a distance between the dividing lines shown in the first travel environment (e.g., D71) by a fourth reference value (e.g., W4).

This makes it possible to appropriately set the travel route in the above-described case.

In a ninth aspect, the travel route setting device is a travel control device (e.g., 15), and further includes a travel control means (e.g., 11) for causing the mobile body to travel along the travel route.

This enables appropriate driving assistance along the set travel route.

A tenth aspect relates to a method for setting a travel path of a moving object, the method including: a step (for example, S1000 to S1010) of acquiring a travel environment indicated by map data as a first travel environment (for example, 31) and acquiring a travel environment detected by a sensor (for example, 13) mounted on the mobile body as a second travel environment (for example, 32); and a step (e.g., S1030, S1060 to S1070) of setting a travel path of the mobile body based on the first travel environment and the second travel environment, wherein in the step of setting the travel path, when a degree of coincidence between the first travel environment and the second travel environment does not satisfy a reference, when a travelable surface that is a travel surface on which the mobile body can currently travel and a travelable surface (e.g., F1) detected by the sensor becomes narrow, the travel path is set based on a boundary line of the travelable surface (e.g., S1060).

This can achieve the same effect as the first aspect.

An eleventh aspect relates to a program that causes a computer to execute each step of the above-described method. This can achieve the same effect as the first aspect.

The present invention is not limited to the above-described embodiments, and various modifications and changes can be made within the scope of the present invention.