{
  "$type": "site.standard.document",
  "description": "A vehicle control device recognizing a runway area in which a vehicle is to travel, generating a target trajectory such that the target trajectory follows a center of the recognized runway area in a lateral direction, causing the vehicle to travel along the target trajectory, and changing a drive…",
  "path": "/patents/1321346",
  "publishedAt": "2022-06-30T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/182",
    "HONDA MOTOR CO., LTD."
  ],
  "textContent": "A vehicle control device recognizing a runway area in which a vehicle is to travel, generating a target trajectory such that the target trajectory follows a center of the recognized runway area in a lateral direction, causing the vehicle to travel along the target trajectory, and changing a drive mode of the vehicle from a second drive mode to a first drive mode in a case in which a distance between the center and a reference point of the vehicle is equal to or longer than a reference distance.",
  "title": "VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM"
}