{
  "$type": "site.standard.document",
  "description": "A controller (16) executes processing including: before a lane change of an own vehicle (1) to an adjacent lane by autonomous driving is started, acquiring lane marking information in front of the own vehicle and first lane width information, the first lane width information being information about…",
  "path": "/patents/1388759",
  "publishedAt": "2026-04-29T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60Q1/40",
    "NISSAN MOTOR [JP]"
  ],
  "textContent": "A controller (16) executes processing including: before a lane change of an own vehicle (1) to an adjacent lane by autonomous driving is started, acquiring lane marking information in front of the own vehicle and first lane width information, the first lane width information being information about lane width, from a camera (11) and controlling a yaw angle of the own vehicle, based on the lane marking information and the first lane width information in such a way that the own vehicle travels within an own vehicle lane; when the lane change is started, acquiring second lane width information, the second lane width information being information about lane width, from map information (13) and controlling the yaw angle, based on the second lane width information in such a way that the own vehicle performs the lane change; and after the lane change is completed, controlling the yaw angle, based on the lane marking information and the first lane width information in such a way that the own vehicle travels within an own vehicle lane after lane change.",
  "title": "VEHICLE CONTROL METHOD AND VEHICLE CONTROL DEVICE"
}