Patent ID: 11926320
Assignee: NISSAN MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 5:
6. A travel control method for controlling travel of a vehicle using a processor, the travel control method comprising:
autonomously controlling the vehicle through operating an autonomous speed control function for autonomously controlling a traveling speed of the vehicle and an autonomous steering control function for autonomously controlling steering of the vehicle;
executing first autonomous control in which when an external situation of the vehicle is recognizable from a captured image by a camera provided on the vehicle, the vehicle is autonomously controlled using information recognized from the captured image;
executing second autonomous control in which information indicating the external situation of the vehicle is acquired from map information stored in a storage medium provided in the vehicle and the vehicle is autonomously controlled using the acquired information;
specifying an unrecognizable area in which the external situation of the vehicle is unrecognizable from the captured image; and
when the unrecognizable area is present on a travel route of the vehicle, switching from the first autonomous control to the second autonomous control at a position of intersection between right and left lane marks recognized from the captured image and a center line of a lane included in the map information before the vehicle enters the unrecognizable area.