US 12,466,400 B2
Vehicle travel control method and vehicle travel control device
Hirotaka Kamimura, Kanagawa (JP); Yuji Nagasawa, Kanagawa (JP); Katsuhiko Degawa, Kanagawa (JP); and Keiichi Yamamoto, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP)
Appl. No. 18/845,201
Filed by Nissan Motor Co., Ltd., Yokohama (JP)
PCT Filed Mar. 18, 2022, PCT No. PCT/JP2022/012837
§ 371(c)(1), (2) Date Sep. 9, 2024,
PCT Pub. No. WO2023/175966, PCT Pub. Date Sep. 21, 2023.
Prior Publication US 2025/0100552 A1, Mar. 27, 2025
Int. Cl. B60W 30/12 (2020.01)
CPC B60W 30/12 (2013.01) [B60W 2552/20 (2020.02); B60W 2552/30 (2020.02); B60W 2556/40 (2020.02)] 4 Claims
OG exemplary drawing
 
1. A vehicle travel control method for causing a vehicle to travel along a lane by automatic steering, based on map information representing a lane shape with a node and a link, the vehicle travel control method causing a controller to perform processing, the vehicle travel control method comprising:
determining whether or not a target travel route of the vehicle traveling on a first road is a route leading to a second road, the second road branching off from the first road ahead of the vehicle;
when the target travel route is a route leading to the second road, determining a point on a second link, the second link being the link representing a lane shape of a second lane on the second road that branches off from a first link at a branch point, the first link being the link representing a lane shape of a first lane on the first road, the point determined on the second link being located a predetermined distance away from the branch point along the second link;
calculating a first trajectory linking the branch point and the point determined on the second link;
setting a target travel trajectory based on the first trajectory;
determining whether or not the first trajectory crosses the first link;
when the first trajectory does not cross the first link, setting the target travel trajectory based on the first trajectory;
when the first trajectory crosses the first link, setting the target travel trajectory based on a second trajectory linking an intersection point of a tangent line to the first link at the branch point and the second link and the branch point; and
controlling the vehicle to travel along the target travel trajectory.