Patent ID: 11938933
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 7:
8. A travel control method comprising:
recognizing, based on an image captured by a camera provided in a moving body, a lane on which the moving body is traveling;
performing, based on a recognition result obtained in the recognizing and map information of a periphery of the moving body, a lane maintenance control in which the moving body is controlled to travel in a center of the lane;
performing a first determination as to whether a first state, in which a first angular difference, between a lane recognized in the recognizing and a lane based on the map information, in a first range which is ahead of the moving body is not less than a first threshold, is set; and
performing a second determination as to whether a second state, in which a second angular difference, between a lane recognized in the recognizing and a lane based on the map information, in a second range which is ahead of the moving body and is closer to the side of the moving body than the first range is not less than a second threshold, is set,
wherein it is determined that the first state is set under a condition that the first angular difference is continuously not less than the first threshold within a predetermined time or within a predetermined travel distance of the moving body,
wherein when the second angular difference is not less than the second threshold, it is determined at once that the second state is set,
wherein in at least one of a case in which a state in which the first state is set is determined in the performing the first determination and a case in which a state in which the second state is set is determined in the performing the second determination, the lane maintenance control prioritizing the recognition result over the map information is performed,
wherein requesting an occupant in the moving body to grip a steering wheel of the moving body is performed when the lane maintenance control prioritizing the recognition result of the recognition unit over the map information is performed,
wherein in a case in which a state in which the first state is set is not determined in the performing the first determination and a state in which the second state is set is not determined in the performing the second determination, the lane maintenance control based on the map information and the recognition result in combination is performed, and
wherein the requesting the occupant in the moving body to grip the steering wheel of the moving body is not performed when the lane maintenance control based on the map information and the recognition result in combination is performed.