{
  "$type": "site.standard.document",
  "description": "A vehicle control system includes first to third prediction path generators, an assist travel controller, a divergence determining unit, a transition controller, and a travel path selector. The first prediction path generator generates a first prediction path of a vehicle based on map information…",
  "path": "/patents/1314729",
  "publishedAt": "2022-04-07T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/12",
    "SUBARU CORPORATION"
  ],
  "textContent": "A vehicle control system includes first to third prediction path generators, an assist travel controller, a divergence determining unit, a transition controller, and a travel path selector. The first prediction path generator generates a first prediction path of a vehicle based on map information and positional information of the vehicle. The second prediction path generator generates a second prediction path of the vehicle based on external environment information. The third prediction path generator generates a third prediction path based on the two prediction paths. The assist travel controller performs hands-off driving. The divergence determining unit determines whether a predetermined divergence has occurred between the two prediction paths. The transition controller performs a transition from the hands-off driving to hands-on driving in a case where the divergence has occurred. The travel path selector selects the third prediction path as a travel path of the vehicle during the transition.",
  "title": "VEHICLE CONTROL SYSTEM"
}