VEHICLE TRAVEL CONTROL METHOD AND TRAVEL CONTROL DEVICE
The travel control method comprises: detecting a travelable road area (TA) of the road area in which the subject vehicle (V) can travel; generating a potential field in a space of the travelable road area in which a potential value (+P) of a left-side boundary line and a potential value (-P) of a ri...
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Format: | Patent |
Sprache: | eng ; fre ; ger |
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Zusammenfassung: | The travel control method comprises: detecting a travelable road area (TA) of the road area in which the subject vehicle (V) can travel; generating a potential field in a space of the travelable road area in which a potential value (+P) of a left-side boundary line and a potential value (-P) of a right-side boundary line are set to different values from each other; calculating a travelable road area width (W) by applying the Potential Method; comparing the difference between a lateral position of a travel route set on the basis of the calculated travelable road area width and a lateral position of the travel route set in advance in the travelable road area on the basis of the left-side boundary line or the right-side boundary line; correcting the potential value when there is a difference; regenerating the potential field set to the corrected potential value; generating the travel route (TR) applying the Potential Method to the regenerated potential field; executing autonomous travel control of the subject vehicle according to the generated travel route. |
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