Let be a category, let be a functor. Then there is a cocartesian fibration which is related to by the Grothendieck construction. is called the relative nerve of relative .
Let be a linear order. A map consists of the following data:
(1) A functor .
(2) For every nonempty subset with maximal element , a map .
(3) Coherence in the obvious way: For nonempty subsets with maximal elements resp. , the diagram
is required to commute.
If (considered as a category), then any corresponds to a composable sequence , and there is a map over to the mapping simplex .
If is constant on there is a canonical isomorphism to the nerve of , since the nerve is just a (covariant) functor from the category of linear orders to composed with the coYoneda embedding which is encoded in condition (1) above (and (2) and (3) are empty in this case).
Jacob Lurie, Higher Topos Theory, §3.2.5
Jacob Lurie, Derived Algebraic Geometry II, Noncommutative Algebra, §3.1, p.94-97
The relative nerve appears en passant also in
Jacob Lurie, Higher Algebra, Construction 2.2.5.12
Jacob Lurie, -Categories and the Goodwillie Calculus, Theorem 0.0.3 (B5)