{
  "$type": "site.standard.document",
  "description": "There is provided a travel reference line determination system and an automatic driving system capable of determining a travel reference line of a vehicle appropriately even under conditions where information representing the track environment of the vehicle is hard to get. An ECU of an automatic…",
  "path": "/patents/1239624",
  "publishedAt": "2019-07-25T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/10",
    "HONDA MOTOR CO., LTD."
  ],
  "textContent": "There is provided a travel reference line determination system and an automatic driving system capable of determining a travel reference line of a vehicle appropriately even under conditions where information representing the track environment of the vehicle is hard to get. An ECU of an automatic driving system calculates a model y coordinate value ymw_i using a map in FIG. (Step ), calculates an estimated y coordinate value y_i using track environment data D_info (Step ), calculates curvature C so that an error between the model y coordinate value ymw_i and the estimated y coordinate value y_i may be minimized (Step ), calculates a travel trajectory Xf using the curvature C (Step ), and executes automatic driving control using the travel trajectory Xf (Steps to ).",
  "title": "TRAVEL REFERENCE LINE DETERMINATION SYSTEM AND AUTOMATIC DRIVING SYSTEM"
}