To provide an opportunity for a self-vehicle to change a lane to an adjacent lane even in a case where an inter-vehicle space for the self-vehicle to enter a destination for a lane change is not ensured in a scene where the self-vehicle requests to change a lane to the adjacent lane.SOLUTION: A travel assisting method uses a lane change controller 43 that executes lane change control for allowing a self-vehicle V traveling in a self-lane SL to change a lane to an adjacent lane NL and comprises the steps described below. During travel of the self-vehicle V intending to change a lane to the adjacent lane NL, it is detected whether there is another vehicle intending to change a lane to the self-lane SL among a plurality of other vehicles traveling in the adjacent lanes NL. If another vehicle intending to change a lane to the self-lane SL is detected, the other vehicle intending to change a lane is regarded as a target vehicle (a vehicle A) for lane replacement. When the target vehicle (the vehicle A) is specified, a lane change concession control is performed, in which prior to a lane change of the self-vehicle, the target vehicle (the vehicle A) is urged to change a lane by guiding the target vehicle (the vehicle A) to a position located ahead of the self-vehicle V.SELECTED DRAWING: Figure 2
【課題】自車が隣接車線へ車線変更を要求するシーンにおいて、自車の車線変更先に自車が入る車間スペースが確保されない場面であっても、自車が隣接車線へ車線変更する機会を作るようにすること。【解決手段】自車線SLを走行する自車Vが隣接車線NLへ車線変更する車線変更制御を行う車線変更コントローラ43を備え、以下の手順による走行支援方法としている。隣接車線NLへの車線変更意思が生成されている自車Vの走行中、隣接車線NLを走行する複数台の他車のうち自車線SLに向けた車線変更意思を有する他車の有無を検出する。自車線SLに向けた車線変更意思を有する他車が検出されると、車線変更意思を有する他車を入れ替え車線変更の対象車(車両A)とする。対象車(車両A)が特定されると、自車の車線変更に先行し、対象車(車両A)を自車Vの前方位置へ誘導することで対象車(車両A)の車線変更を促す車線変更譲歩制御を実行する。【選択図】図2
TRAVEL ASSISTING METHOD AND TRAVEL ASSISTING DEVICE
走行支援方法及び走行支援装置
2020-10-29
Patent
Electronic Resource
Japanese
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