To appropriately control an interval between one's own vehicle and the other vehicle traveling in an adjacent lane.SOLUTION: A travel control device is provided. First recognition means recognizes the other vehicle present in a second lane adjacent to a first lane where one's own vehicle travels. Second recognition means recognizes a boundary of the first lane. Control means that acquires a first predetermined interval between the one's own vehicle and the other vehicle when the one's own vehicle and the other vehicle travel in parallel and controls a position in a width direction of the one's own vehicle so as to acquire a second predetermined interval between the one's own vehicle and the boundary of the first lane. The control means controls the position in the width direction of the one's own vehicle so as to preferentially secure the first predetermined interval when the other vehicle exceeds a first boundary, and to preferentially secure the second predetermined interval when the other vehicle does not exceed the first boundary between the first vehicle and the second vehicle, in a case where both of the first predetermined interval and the second predetermined interval cannot be secured.SELECTED DRAWING: Figure 4
【課題】自車両と隣接車線を走行する他車両との間隔をより適切に制御すること。【解決手段】走行制御装置が提供される。第1認識手段は、自車両が走行する第1車線に隣接する第2車線に存在する他車両を認識する。第2認識手段は、第1車線の境界を認識する。制御手段は、自車両及び他車両が並走している場合に、自車両及び他車両の間に第1所定間隔を確保し、かつ、自車両及び第1車線の境界の間に第2所定間隔を確保するように自車両の幅方向の位置を制御する。制御手段は、第1所定間隔及び第2所定間隔の両方を確保できない場合において、他車両が第1境界を超えているときは第1所定間隔の確保を優先し、他車両が第1車線及び第2車線の間の第1境界を超えていないときは第2所定間隔の確保を優先するように、自車両の幅方向の位置を制御する。【選択図】図4
TRAVEL CONTROL DEVICE, VEHICLE, TRAVEL CONTROL METHOD, AND PROGRAM
走行制御装置、車両、走行制御方法及びプログラム
2021-09-02
Patent
Electronic Resource
Japanese
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 / B62D MOTOR VEHICLES , Motorfahrzeuge |
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