DRIVING ASSISTANCE METHOD AND DRIVING ASSISTANCE DEVICE Russian patent published in 2023 - IPC B60W30/10 

FIELD: driving assistance method and a driving assistance device.

SUBSTANCE: driving assistance method for controlling own vehicle with the controller includes obtaining level difference information for a height difference existing along a lane on which one's own vehicle is traveling. When it is determined from the level difference information that the own vehicle must overcome the level difference, generation of the target driving path occurs such that the angle (θs) of overcoming the level difference, which is the angle formed by the level difference and the target trajectory, is greater than a threshold value (Th). Moreover, a larger value is set as a threshold value when the level difference is higher or the slope of the level difference is larger.

EFFECT: reduced deviation from the target trajectory when the vehicle overcomes the level difference.

15 cl, 12 dwg