VEHICLE TRAFFIC CONTROL METHOD AND TRAFFIC CONTROL DEVICE Russian patent published in 2022 - IPC B60W30/10 B60W30/12 B60W30/16 B60W40/02 G08G1/16 B60R21/00 

FIELD: motion control.

SUBSTANCE: invention relates to a motion control method. The traffic control method for a vehicle comprises the steps of obtaining information about the left-side border of a trafficable road area and information about the right-hand border of a trafficable road area, generating a potential field in the space of a trafficable road area. The left-hand boundary line of the left-hand boundary information of the trafficable road area is set to the first potential value, and the right-hand boundary line of the right-hand boundary information of the trafficable road area is set to the second potential value different from the first potential value in the potential field, the first potential value is corrected and/or a second potential value such that the absolute value of the difference between the lateral position of the travel path and the lateral position of the travel path is equal to or less than a predetermined value. At the same time, an adjusted potential field is generated in the space of a road area suitable for movement, a movement route is generated, and autonomous control of the movement of the vehicle in question is performed in accordance with the generated movement route.

EFFECT: increased smoothness of autonomous motion control.

11 cl, 16 dwg