{
  "$type": "site.standard.document",
  "description": "A vehicle control method causing a controller (16) to execute: vehicle speed determination processing (S2) of determining whether or not vehicle speed of an own vehicle is reduced to less than a predetermined speed threshold; lateral deviation detection processing (S10) of detecting lateral…",
  "path": "/patents/1391475",
  "publishedAt": "2025-11-19T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/09",
    "NISSAN MOTOR [JP]"
  ],
  "textContent": "A vehicle control method causing a controller (16) to execute: vehicle speed determination processing (S2) of determining whether or not vehicle speed of an own vehicle is reduced to less than a predetermined speed threshold; lateral deviation detection processing (S10) of detecting lateral deviation of the own vehicle with respect to a lane center or a lane boundary line; target trajectory generation processing (S13) of, when determining that the vehicle speed is reduced to less than the speed threshold, generating a first target travel trajectory of the own vehicle in such a way as to suppress change in the lateral deviation at and after a vehicle speed reduction time point, the vehicle speed reduction time point being a time point at which the vehicle speed is reduced to less than the speed threshold; avoidance target detection processing (S1) of detecting an avoidance target to be avoided by the own vehicle; and avoidance processing (S14) of avoiding the avoidance target by, after the vehicle speed reduction time point, adjusting deceleration of the own vehicle while the own vehicle travels along the first target travel trajectory.",
  "title": "VEHICLE CONTROL METHOD AND VEHICLE CONTROL APPARATUS"
}