# US 12,214,803 B2 · Travel assistance method and travel assistance device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,214,803 B2 - Document ID: US12214803B2 - Status: Granted - Kind: B2 - Application number: 17/618,070 - Filed: 2019-06-14 - Published: 2022-10-27 - Granted: 2025-02-04 - Earliest claimed: 2019-06-14 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Akinobu Gotou; Takashi Fukushige - Web page: https://patentgrep.com/patent/US12214803B2 ## CPC - B60W 60/0013: {specially adapted for occupant comfort} - B60W 2520/105: Longitudinal acceleration - B60W 2552/50: Barriers - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/20: Static objects - B60W 2554/4041: Position - B60W 2556/40: High definition maps - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2720/125: Lateral acceleration - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A travel assistance method is executed by a processor and comprises: 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 to travel along a traveling path including the static traveling path and the dynamic traveling path. ## Claims ### Claim 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. ### Claim 2 (depends on 1) The travel assistance method according to claim 1, wherein: the information on the static traveling path boundaries includes information outside a detection range of the sensor for detecting the dynamic traveling path boundaries, and the static traveling path is generated by using the information outside the detection range of the sensor for detecting the dynamic traveling path boundaries. ### Claim 3 (depends on 1) The travel assistance method according to claim 1, wherein: the information on the static traveling path boundaries includes information on a traveling lane on which the subject vehicle is travelling, and information on a traveling scheduled lane which is different from the traveling lane and on which the subject vehicle is scheduled to travel, and the static traveling path is generated by using the information on the traveling lane on which the subject vehicle is travelling, and the information on the traveling scheduled lane which is different from the traveling lane and on which the subject vehicle is scheduled to travel. ### Claim 4 (depends on 1) The travel assistance method according to claim 1, comprising: calculating a control command value for traveling the subject vehicle along the target traveling path; and controlling the subject vehicle based on the control command value. ### Claim 5 (depends on 4) The travel assistance method according to claim 4, 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 calculating the control command value. ### Claim 6 (depends on 4) The travel assistance method according to claim 4, wherein a calculation cycle of the processor in a process of generating the dynamic traveling path is longer than a calculation cycle of the processor in a process of calculating the control command value. ### Claim 7 (depends on 4) The travel assistance method according to claim 4, comprising: correcting, in a process of calculating the control command value, the target traveling path by reflecting a travel distance of the subject vehicle during a period for which the control command value is calculated in the target traveling path. ### Claim 8 (depends on 7) The travel assistance method according to claim 7, comprising: estimating a position of the subject vehicle on a map, based on the map information and detection results of the sensor; and performing, in a process of correcting the target traveling path, a coordinate transform process to transform a coordinate defining the target traveling path from a coordinate system based on a position of the subject vehicle to a coordinate system based on the position of the subject vehicle on the map, and then correcting the target traveling path using a calculation cycle of the processor in a process of calculating the control command value. ### Claim 9 (depends on 1) The travel assistance method according to claim 1, comprising: generating, in a process of generating the static traveling path, the static traveling path in which a change of lateral acceleration applied to the subject vehicle when the subject vehicle travels is less than a predetermined value, based on the information on the static traveling path boundaries. ### Claim 10 (depends on 1) The travel assistance method according to claim 1, comprising: generating, in a process of generating the dynamic traveling path, the dynamic traveling path in which a change of lateral acceleration applied to the subject vehicle when the subject vehicle travels is less than a predetermined value, based on the information on the static traveling path and the dynamic traveling path boundaries. ### Claim 11 (depends on 1) The travel assistance method according to claim 1, comprising: generating the target traveling path by combining the dynamic traveling path and the static traveling path so that an end point of the dynamic traveling path is placed on the static traveling path. ### Claim 12 (depends on 1) The travel assistance method according to claim 1, comprising: correcting, in a process of generating the dynamic traveling path, the static traveling path by reflecting a travel distance of the subject vehicle during a period for which the dynamic traveling path is generated in the static traveling path. ### Claim 13 (depends on 1) The travel assistance method according to claim 1, comprising: estimating a position of the subject vehicle on a map, based on the map information and detection results of the sensor; and performing, in a process of correcting the static traveling path, a coordinate transformation process to transform a coordinate defining the static traveling path from a coordinate system centered on a position of the subject vehicle to a coordinate system centered on the position of the subject vehicle on the map, and then correcting the static traveling path using a calculation cycle of the processor in a process of generating the dynamic traveling path. ### Claim 14 (depends on 1) The travel assistance method according to claim 1, comprising: generating the traveling path with a minimum change of curvature, as the static traveling path. ### Claim 15 (depends on 1) The travel assistance method according to claim 1, comprising: setting a path length of the static traveling path to include at least two corners. ### Claim 16 (depends on 1) The travel assistance method according to claim 1, comprising: setting a path length of the static traveling path to include a section of straight path for a predetermined distance or more after a corner. ### Claim 17 (depends on 1) The travel assistance method according to claim 1, comprising: setting a path length of the dynamic traveling path so that the dynamic traveling path is included within a detection range of the sensor. ### Claim 18 (depends on 1) The travel assistance method according to claim 1, comprising: identifying the dynamic traveling path boundaries as first dynamic traveling path boundaries, wherein the dynamic traveling path boundaries are road surface markings; and identifying the dynamic traveling path boundaries as second dynamic traveling path boundaries, wherein the second dynamic traveling path boundaries are obstacles existing around the subject vehicle. ### Claim 19 (depends on 18) The travel assistance method according to claim 18, comprising: generating the dynamic traveling path using a relationship of decreasing influence of the second dynamic traveling path boundaries on the dynamic traveling path, influence of the first dynamic traveling path boundaries on the dynamic traveling path, and influence of the static traveling path boundaries on the dynamic traveling path, in that order. ### Claim 20 A travel assistance device comprising a processor, the processor configured to: acquire, 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; acquire, from a sensor for detecting surrounding environment of the subject vehicle, information on dynamic traveling path boundaries different from the static traveling path boundaries; generate, based on the information on the static traveling path boundaries, a static traveling path on which the vehicle can travel; generate, 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 control 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.