{
  "$type": "site.standard.document",
  "description": "A controller (40) performs: processing (S9, S29) of determining presence or absence of a parked vehicle (65) ahead on a route of an own vehicle (63); processing (S5, S25) of determining whether or not turning of the own vehicle is to be performed; processing (S11, S31) of determining whether or not…",
  "path": "/patents/1416038",
  "publishedAt": "2023-05-31T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60R21/00",
    "RENAULT SAS [FR]"
  ],
  "textContent": "A controller (40) performs: processing (S9, S29) of determining presence or absence of a parked vehicle (65) ahead on a route of an own vehicle (63); processing (S5, S25) of determining whether or not turning of the own vehicle is to be performed; processing (S11, S31) of determining whether or not distance (D) between a turning position at which the turning is performed and the parked vehicle satisfies a predetermined condition; trajectory generation processing (S13, S34) of generating a target travel trajectory (68) in such a way that, when the distance (D) between the turning position and the parked vehicle satisfies the predetermined condition, the own vehicle passes beside the parked vehicle at a predetermined side position with a predetermined interval interposed between the parked vehicle and the own vehicle on one side of the parked vehicle and a turning end position in a case of turning at a position before a position of the parked vehicle or a turning start position in a case of turning after having passed beside the parked vehicle on the route coincides with the predetermined side position in a width direction of a road on which the parked vehicle is parked; and processing (S15, S36) of performing travel control, based on the target travel trajectory.",
  "title": "DRIVING ASSISTANCE METHOD AND DRIVING ASSISTANCE DEVICE"
}