{
  "$type": "site.standard.document",
  "description": "An autonomous driving device is configured to set a target route to merge into a first main line L from a branch line L based on waypoints P set in a lane. If it is determined by the merge determination unit that the merge is not easy, the target route setting unit is configured to select the…",
  "path": "/patents/1233398",
  "publishedAt": "2019-05-09T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G08G1/167",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "An autonomous driving device is configured to set a target route to merge into a first main line L from a branch line L based on waypoints P set in a lane. If it is determined by the merge determination unit that the merge is not easy, the target route setting unit is configured to select the waypoint P on the branch line L set at the position on an end edge E side of the branch line L as the end edge waypoint Pa closest to the end edge E side on the branch line L to be selected for setting the target route, compared to a case where it is determined that the merge is easy.",
  "title": "AUTONOMOUS DRIVING DEVICE"
}