# US 2016/0259338 A1 · Travel control device

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- Number: US 2016/0259338 A1
- Document ID: US20160259338A1
- Status: Published application
- Kind: A1
- Application number: 15/055,968
- Filed: 2016-02-29
- Published: 2016-09-08
- Earliest claimed: 2015-03-02
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Hiroshi NAKAMURA
- Web page: https://patentgrep.com/patent/US20160259338A1

## CPC

- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- B60W 30/095: Predicting travel path or likelihood of collision
- B60W 30/12: Lane keeping
- B60W 30/18145: {Cornering}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2520/10: Longitudinal speed
- B60W 2520/105: Longitudinal acceleration
- B60W 2520/125: Lateral acceleration
- B60W 2520/14: Yaw
- B60W 2552/00: Input parameters relating to infrastructure
- B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction
- B60W 2552/30: Road curve radius
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2720/24: Direction of travel
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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

## Abstract

A travel control device which allows a vehicle to travel along a lane of a travel path recognizes lane markers on the right and left of a lane, sets a travel area of the vehicle between the lane markers, selects a travel path candidate having high straightness among a plurality of travel path candidates with priority and determines the selected travel path candidate as a target travel path, and performs travel control according to the target travel path.

## Claims

### Claim 1

A travel control device which allows a vehicle to travel along a lane of a travel path, the travel control device comprising:
a detection unit which detects lane markers provided on the right and left of the lane;
a travel area setting unit which sets a travel area of the vehicle between the lane markers in front of the vehicle;
a path generation unit which generates a target travel path of the vehicle within the travel area set; and
a travel control unit which allows the vehicle to travel along the target travel path,
wherein the path generation unit selects a travel path candidate having high straightness among a plurality of travel path candidates with priority and determines the selected travel path candidate as the target travel path.

### Claim 2 (depends on 1)

The travel control device according to claim 1,
wherein, when the vehicle is turning, the path generation unit generates a returning path as a travel path candidate with priority over a steering maintaining path and an additional turning path, and
when the generated travel path candidate is generated within the travel area, the travel path candidate is determined as the target travel path.

### Claim 3 (depends on 1)

The travel control device according to claim 1,
wherein the travel area setting unit sets a lateral width of the travel area to be narrower with increasing distance from the vehicle while taking a center position of the travel area as a center position of the lane.

### Claim 4 (depends on 1)

The travel control device according to claim 1,
wherein the path generation unit generates a travel path candidate having high straightness with priority, and when the generated travel path candidate is generated within the travel area, determines the travel path candidate as the target travel path.

### Claim 5 (depends on 1)

The travel control device according to claim 1,
wherein the path generation unit determines that straightness is higher when the curvature of the travel path is smaller.