Control method and control system

A control method for causing a vehicle to travel along a target path, the vehicle including a magnetic unit that measures a deviation in a lateral direction with respect to a magnetic marker disposed on a traveling road, a circuit that obtains a vehicle azimuth, which is an orientation of the vehicle in a longitudinal direction, and a circuit that controls a steered angle of a steered wheel of the vehicle so that a deviation of a control point in the lateral direction with respect to the target path is brought closer to zero,

• the control method comprising:
• a process of measuring the deviation in the lateral direction with respect to the magnetic marker;
• a process of obtaining the vehicle azimuth;
• a process of calculating, for the control point set at a position different from a position of the magnetic unit in the longitudinal direction of the vehicle, the deviation of the control point in the lateral direction with respect to the target path, based on the deviation in the lateral direction with respect to the magnetic marker and the vehicle azimuth;
• a process of calculating a designated steered angle as a control target of the steered angle for bringing the deviation of the control point in the lateral direction closer to zero;
• and
• a process of controlling the steered angle of the steered wheel by taking the designated steered angle as the control target.