To provide a surrounding vehicle behavior prediction method, a vehicle control method, and a surrounding vehicle behavior prediction device, for predicting a lane change of a first other vehicle at an early stage, if running stability of a second other vehicle is low, in a scene where the second other vehicle is traveling in front of a traveling lane of the first other vehicle.SOLUTION: In a surrounding vehicle behavior prediction method including a behavior prediction controller 010 that predicts the behavior of other vehicles when the other vehicles are detected around a self vehicle V, the behavior prediction controller 010 identifies a plurality of other vehicles in front of the self vehicle V and traveling in the same traveling lane L2, as prediction target vehicles. It is determined whether or not there is a vehicle B whose traveling stability is equal to or lower than predetermined stability in the traveling direction or the lane width direction, and whose traveling is unstable, among the plurality of other vehicles. When it is determined that there is the vehicle B whose traveling is unstable, it is determined whether or not there is a vehicle A behind the vehicle B. When it is determined that the vehicle A is behind the vehicle B, it is determined whether or not a degree of approach between the vehicle A and the vehicle B is equal to or greater than a predetermined value that is predefined. When it is determined that the degree of approach is equal to or higher than the predetermined value that is predefined, the lane change of the vehicle A is predicted.SELECTED DRAWING: Figure 12

    【課題】第一他車両の走行車線上の前方を第二他車両が走行しているシーンにおいて、第二他車両の走行安定性が低い場合、第一他車両の車線変更を早期に予測すること。【解決手段】自車両Vの周囲に他車両が検出されると他車両の挙動を予測する挙動予測コントローラ010を備える周囲車両挙動予測方法において、挙動予測コントローラ010は、自車両Vの前方であって、同一の走行車線L2を走行している複数の他車両を予測対象車両として特定する。複数の他車両のうち、進行方向もしくは車線幅方向における走行安定性が所定の安定性以下である走行不安定な車両Bがあるか否かを判断する。走行不安定な車両Bがあると判断されると、車両Bの後方に車両Aがあるか否かを判断する。車両Bの後方に車両Aがあると判断されると、車両Aと車両Bの接近度が予め定められた所定値以上であるか否かを判断する。接近度が予め定められた所定値以上と判断されると、車両Aの車線変更を予測する。【選択図】図12


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    Title :

    SURROUNDING VEHICLE BEHAVIOR PREDICTION METHOD, VEHICLE CONTROL METHOD, AND SURROUNDING VEHICLE BEHAVIOR PREDICTION DEVICE


    Additional title:

    周囲車両挙動予測方法、車両制御方法及び周囲車両挙動予測装置


    Contributors:
    FANG FANG (author) / NANRI TAKUYA (author)

    Publication date :

    2021-04-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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