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

Claim 7:
8. The vehicle control device according to claim 1, wherein the at least one processor is further configured to calculate the corrected target travel path using the following expression,

Path_collect(t)=dC(t)×X3+1/[2×{W_curv_map(t)+yl0_offset(t)}]×X2+el0(t)×X+{yl0(t)−yl0_offset(t)}  Math. 8

Herein, Path_collect(t) is a corrected 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,
yl0_offset(t) is an offset amount,
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.