PATH GENERATION APPARATUS

Path generation apparatus, includes: sensor mounted on vehicle and detecting external situation with advancing direction of vehicle as center; and ECU including processor and memory. ECU perform: acquiring location information of object in surrounding area of vehicle based on external situation detected by sensor; generating target path of vehicle based on location information; determining whether buffer area within predetermined range in width direction from vehicle-traveling-in-parallel in adjacent lane overlaps target path based on location information; offsetting target path in direction away from vehicle-traveling-in-parallel when buffer area overlaps target path; determining whether vehicle-traveling-in-parallel in left adjacent lane and vehicle-traveling-in-parallel in right adjacent lane are present within predetermined range based on location information; and prohibiting offsetting of target path when vehicle-traveling-in-parallel in left adjacent lane and vehicle-traveling-in-parallel in right adjacent lane are present within the predetermined range.