FIELD: control systems.
SUBSTANCE: invention relates to motion control method and device. Motion control method comprises the steps of: if the lane width for the lane increases, and determining that one of the boundary lines is a dotted line, movement of considered vehicle is controlled based on dotted boundary line. If it is impossible to determine that one of the boundary lines is a dotted line and it is determined that the considered vehicle is moving on the motorway, the motion of the considered vehicle is controlled only on the basis of the boundary line. If it is impossible to determine that one of the boundary lines is a dotted line, and determining that the vehicle in question is traveling on a local road, movement of considered vehicle is controlled only on the basis of boundary line. Motion control device, which recognizes lane and controls movement of considered vehicle so that considered vehicle is located in predetermined position relative to boundary line of lane.
EFFECT: corresponding movement within its strip for vehicle is achieved.
4 cl, 3 dwg
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