Title:
運転支援方法及び運転支援装置
Document Type and Number:
Japanese Patent JP7015091
Kind Code:
B2
Abstract:
A travel trajectory generation method including: detecting a plurality of risks (71, 72, 73) which are respectively present on one side of a left side and a right side of a host vehicle road that is a road on which a host vehicle (70) travels, the one side being close to the host vehicle, and which are at different front and rear positions ahead of a path of the host vehicle; determining, in accordance with types of the plurality of risks, each of lateral movement amounts (m1, m2, m3) of the host vehicle for avoiding and passing the plurality of risks with clearances from the plurality of risks; and generating a travel trajectory (75) avoiding and passing the plurality of risks at a lateral position moved by an amount equal to or more than a maximum lateral movement (m2) amount among the determined lateral movement amounts.
Inventors:
Machiko Hiramatsu
Tomohiro Yamamura
Tomohiro Yamamura
Application Number:
JP2020528522A
Publication Date:
February 08, 2022
Filing Date:
July 04, 2018
Export Citation:
Assignee:
Nissan Motor Co., Ltd
International Classes:
B60W60/00; G08G1/16
Domestic Patent References:
| JP201564786A | ||||
| JP201535165A | ||||
| JP2017224168A |
Attorney, Agent or Firm:
田中 秀▲てつ▼
Ryu Kobayashi
Tetsuya Mori
Ryu Kobayashi
Tetsuya Mori