Travel control method and travel control apparatus
AssigneeNissan Motor Co., Ltd.
InventorsKo Sato, Masahiro Kobayashi, Yasuhisa Taira, Osamu Fukata
Life of this patent
Estimating the term…
Abstract
A travel control apparatus, when a lane line of the traffic lane that had been being detected is no longer detected, estimates an imaginary lane line based on the position of the lane line detected in the past and controls the travel of the host vehicle such that the host vehicle is at a predetermined position with respect to the imaginary lane line.
Claims7
A travel control method of controlling travel of a host vehicle such that the host vehicle is at a predetermined position with respect to a lane line of a traffic lane in which the host vehicle is traveling, the method comprising:
- when the lane line that had been being detected is no longer detected, estimating an imaginary lane line based on the position of the lane line detected in the past;
- and
- controlling the travel of the host vehicle such that the host vehicle is at a predetermined position with respect to the imaginary lane line, wherein
- when a preceding vehicle ahead of the host vehicle is being detected in the traffic lane, the imaginary lane line is estimated based on a relative position of the lane line to the preceding vehicle, detected in the past.
A travel control apparatus comprising:
- a vehicle control circuit that controls travel of a host vehicle such that the host vehicle is at a predetermined position with respect to a lane line of a traffic lane in which the host vehicle is traveling;
- and
- a lane line estimation circuit that, when the lane line that had been being detected is no longer detected, estimates an imaginary lane line based on the position of the lane line detected in the past, wherein
- when the lane line that had been being detected is no longer detected, the vehicle control circuit controls the travel of the host vehicle such that the host vehicle is at a predetermined position with respect to the imaginary lane line, and
- when a preceding vehicle ahead of the host vehicle is being detected in the traffic lane, the lane line estimation circuit estimates the imaginary lane line based on a relative position of the lane line to the preceding vehicle, detected in the past.
Dependencies are inferred from the claim text.