{
  "$type": "site.standard.document",
  "description": "When a future environment change causing a speed change of a moving object is predicted by an environment change prediction unit 38, a speed change prediction unit 39 modifies a future prediction speed of the moving object, on the basis of a maximum speed estimated by a maximum speed estimation…",
  "path": "/patents/939867",
  "publishedAt": "2016-07-27T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/09",
    "HITACHI LTD [JP]"
  ],
  "textContent": "When a future environment change causing a speed change of a moving object is predicted by an environment change prediction unit 38, a speed change prediction unit 39 modifies a future prediction speed of the moving object, on the basis of a maximum speed estimated by a maximum speed estimation unit 37. When it is determined that an own vehicle 81 is likely to collide with the moving object, on the basis of the speed change prediction unit 39, a travelling plan unit 40 modifies a speed plan to avoid a collision. A command value operation unit transmits a command value to each control device, such that a vehicle behavior follows a target travelling path and the speed plan acquired from the travelling plan unit 40.",
  "title": "VEHICLE TRAVELLING CONTROL DEVICE"
}