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

Claim 2:
3. The travel control method according to claim 1, comprising:
calculating a first target point positioned on a target trajectory of the vehicle using the information recognized from the captured image;
executing the first autonomous control so that a position of the vehicle passes the first target point;
calculating a second target point positioned on the target trajectory of the vehicle using the information acquired from the map information;
executing the second autonomous control so that the position of the vehicle passes the second target point; and
when a state in which a difference between the first target point and the second target point is larger than a predetermined value continues for a predetermined time or more after switching from the first autonomous control to the second autonomous control, turning off the autonomous steering control function.