Patent ID: 11939015
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 14:
15. The vehicle control method according to claim 9, wherein the second step calculates the target travel path using the following expression,

Path_map(t)=dC(t)×X3+1/{2×W_curv_map(t)}×X2+el0(t)×X+yl0(t)  Math. 10

Herein, Path_map(t) is a target travel path,
dC(t) is a path curvature change,
X is a travel direction distance,
W_curv_map(t) is a path curvature radius,
el0(t) is an angle deviation at a forward point-of-gaze, and
yl0(t) is a lateral position deviation between a host vehicle position and a target travel path.