Title:
DRIVING ASSISTANCE METHOD AND DRIVING ASSISTANCE DEVICE
Document Type and Number:
WIPO Patent Application WO/2021/205191
Kind Code:
A1
Abstract:
Provided is a driving assistance method whereby a host vehicle (1) is controlled by a controller (16) such that the host vehicle (1) travels along a target travel trajectory. In this driving assistance method, level difference information regarding a level difference (24) present along a vehicle lane (20) in which the host vehicle (1) is traveling is acquired, and if it is determined from the level difference information that the host vehicle (1) can pass over the level difference (24), a target travel trajectory is generated such that a level difference pass-over angle (θs), which is an angle formed between the level difference (24) and the target travel trajectory, is greater than a threshold (Th).
Inventors:
GOTO AKINOBU (JP)
FUKUSHIGE TAKASHI (JP)
FUKUSHIGE TAKASHI (JP)
Application Number:
PCT/IB2020/000325
Publication Date:
October 14, 2021
Filing Date:
April 06, 2020
Export Citation:
Assignee:
NISSAN MOTOR (JP)
RENAULT SAS (FR)
RENAULT SAS (FR)
International Classes:
B60W30/10
Domestic Patent References:
| WO2018193577A1 | 2018-10-25 |
Foreign References:
| JP2014101101A | 2014-06-05 | |||
| JP2016060240A | 2016-04-25 | |||
| JP2020040515A | 2020-03-19 | |||
| JP2017102638A | 2017-06-08 |
Other References:
See also references of EP 4134286A4
Attorney, Agent or Firm:
TANAKA Hidetetsu et al. (JP)
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