A travel controller determines whether a traveling lane in which a vehicle is traveling is a merged lane into which a merging lane merges using peripheral data that represents a surrounding situation of the vehicle, and while the traveling lane is the merged lane, repeatedly performs yielding determination to detect a merging vehicle traveling in the merging lane from the peripheral data, and to determine whether or not yielding control for securing a larger space for the merging vehicle to change the lane to the merged lane is necessary, the yielding determination at the first time being performed based on a relative positional relationship between the merging vehicle and the vehicle, the yielding determinations at the second and subsequent times being performed based at least on a result of a previous yielding determination, and controls travel of the vehicle according to the result of the yielding determination.
TRAVEL CONTROLLER AND TRAVEL CONTROL METHOD
01.02.2024
Patent
Elektronische Ressource
Englisch
TRAVEL CONTROLLER, TRAVEL CONTROL METHOD, AND TRAVEL CONTROL PROGRAM
Europäisches Patentamt | 2020
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