TRAVEL CONTROL DEVICE, TRAVEL CONTROL METHOD AND COMPUTER PROGRAM FOR TRAVEL CONTROL

• Main Authors: AKAHANE SATORU, AOTANI YOSHIHIRO, KITAGAWA EIKI
• Format: Patent
• Language: English; Japanese
• Published: 08.02.2024
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; TRAFFIC CONTROL SYSTEMS; TRANSPORTING; VEHICLES IN GENERAL

To provide a travel control device which can perform yielding control without causing a driver and surrounding traveling participants a feeling of strangeness.SOLUTION: A travel control device determines whether or not a traveling lane in which a vehicle 1 is traveling is a merged lane into which a merging lane merges using peripheral data that represents a surrounding situation of the vehicle 1; and while the traveling lane is the merged lane, repeatedly performs yielding determination to detect a merging vehicle 10 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 10 to change the lane to the merged lane is necessary, the yielding determination at a first time being performed based on a relative positional relationship between the merging vehicle and the vehicle, the yielding determinations at a 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.SELECTED DRAWING: Figure 5 【課題】運転者や周辺の交通参加者に違和感を与えないように譲り制御を実行することができる走行制御装置を提供する。【解決手段】走行制御装置は、車両１の周辺の状況を表す周辺データを用いて、車両１が走行している走行車線が合流車線に合流される被合流車線であるか否かを判定し、走行車線が被合流車線であると判定されている間、周辺データから合流車線を走行する合流車両１０を検出し、合流車両１０が被合流車線に車線変更するためのスペースを広くするための譲り制御の要否を判定する譲り判定を繰り返し行い、１回目の譲り判定では合流車両と車両との相対位置関係を用い、２回目以降の譲り判定では以前の前記譲り判定の結果を少なくとも用い、譲り判定の結果に従って車両の走行を制御する。【選択図】図５