Patent ID: 11884276
Assignee: NISSAN MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 13:
14. A travel assistance method for performing a turning of a host vehicle using a determined route and vehicle speed, the travel assistance method comprising:
detecting an oncoming vehicle traveling in an opposite lane opposite to a travel lane when the host vehicle turns and enters the travel lane from a side road;
determining a crossing point between a virtual advancing route of the host vehicle and a linear advancing route in which the oncoming vehicle advances linearly, the virtual advancing route differing from the determined route and being a virtual extension of an advancing route of the host vehicle in an advancing direction thereof, the advancing route being based on the determined route at a start of the turning;
executing the turning using the determined route and the vehicle speed in a case where a time difference between a first predicted time when it is assumed that the host vehicle reaches the crossing point and a second predicted time until the oncoming vehicle reaches the crossing point is outside a predetermined range; and
when the time difference is within the predetermined range, executing the turning by changing at least one of the determined route or the vehicle speed such that the time difference is outside the predetermined range.