To appropriately set a target speed even when the position of an own vehicle is deviated from a target travel trajectory set so as to allow the own vehicle to travel on a lane where the own vehicle is to travel.SOLUTION: A travel control method includes: generating a first target travel trajectory on the basis of a lane where an own vehicle is to travel (S1); calculating a correction amount for correcting the first target travel trajectory so that the current position of the own vehicle is set to be a starting point, and that the current travel direction of the own vehicle is set to be a tangential direction at the starting point (S3, S4); correcting the first target travel trajectory with the correction amount, thereby generating a second target travel trajectory (S5); setting a target vehicle speed for allowing the own vehicle to travel along the second target travel trajectory (S6); and controlling the own vehicle so that the own vehicle travels at the target vehicle speed along the second target travel trajectory (S7).SELECTED DRAWING: Figure 7
【課題】自車両が走行する車線上を走行するように設定した目標走行軌道から自車両の位置が外れている場合であっても目標速度を適切に設定する。【解決手段】自車両が走行する車線に基づいて第1目標走行軌道を生成し(S1)、自車両の現在位置が起点となり且つ自車両の現在の進行方向が起点における接線方向となるように第1目標走行軌道を補正する補正量を算出し(S3、S4)、補正量で第1目標走行軌道を補正することにより第2目標走行軌道を生成し(S5)、第2目標走行軌道に沿って自車両を走行させる目標車速を設定し(S6)、第2目標走行軌道に沿って目標車速で走行するように自車両を制御する(S7)。【選択図】図7
TRAVEL CONTROL METHOD AND TRAVEL CONTROL APPARATUS
走行制御方法及び走行制御装置
2023-11-09
Patent
Elektronische Ressource
Japanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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