US 12,214,803 B2
Travel assistance method and travel assistance device
Akinobu Gotou, Kanagawa (JP); and Takashi Fukushige, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP)
Appl. No. 17/618,070
Filed by Nissan Motor Co., Ltd., Yokohama (JP)
PCT Filed Jun. 14, 2019, PCT No. PCT/IB2019/000634
§ 371(c)(1), (2) Date Jun. 30, 2022,
PCT Pub. No. WO2020/249995, PCT Pub. Date Dec. 17, 2020.
Prior Publication US 2022/0340168 A1, Oct. 27, 2022
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/0013 (2020.02) [B60W 2520/105 (2013.01); B60W 2552/53 (2020.02); B60W 2554/20 (2020.02); B60W 2554/4041 (2020.02); B60W 2556/40 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A travel assistance method for a vehicle to be executed by a processor, comprising:
acquiring, from a device for storing map information, information on static traveling path boundaries between a traveling path of a subject vehicle and other than the traveling path;
acquiring, from a sensor for detecting surrounding environment of the subject vehicle, information on dynamic traveling path boundaries different from the static traveling path boundaries;
generating, based on the information on the static traveling path boundaries, a static traveling path on which the subject vehicle can travel;
generating, based on the information on the static traveling path and the dynamic traveling path boundaries, a dynamic traveling path which is shorter than the static traveling path and corresponds to the surrounding environment; and
controlling the subject vehicle to travel along a target traveling path including the static traveling path and the dynamic traveling path,
wherein a calculation cycle of the processor in a process of generating the static traveling path is longer than a calculation cycle of the processor in a process of generating the dynamic traveling path.