Travel control method and travel control apparatus
AssigneeNissan Motor Co., Ltd.
InventorYasuhiko Takae
Life of this patent
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Abstract
A travel control method comprises a step of determining, when the second range becomes small after initiating the lane change as compared with the second range before initiating the lane change, at least one of a method of presenting information to a driver of the subject vehicle when discontinuing or continuing the lane change, a control content after discontinuing or continuing the lane change, and a travel position of the subject vehicle in a road width direction on a basis of a positional relationship in the road width direction between a lane mark which the subject vehicle gets across in the lane change and the subject vehicle.
Claims24
A travel control method executed by a travel control apparatus, the travel control apparatus comprising:
- a first sensor configured to detect an obstacle around a subject vehicle traveling in a first lane;
- and
- a second sensor configured to detect a second lane adjacent to the first lane, the travel control apparatus being configured to:
- set a first range at a target position for lane change in the second lane, the first range having a size equal to or larger than a size which the subject vehicle occupies on a road surface;
- detect a range in the second lane as a second range, the range in the second lane being located at a side of the subject vehicle, the obstacle being absent in the range in the second lane;
- and
- execute lane change of the subject vehicle when the second range includes the first range,
- the travel control method comprising a step of determining, when the second range becomes small after initiating the lane change as compared with the second range before initiating the lane change, at least one of a method of presenting information to a driver of the subject vehicle when discontinuing or continuing the lane change, a control content after discontinuing or continuing the lane change, and a travel position of the subject vehicle in a road width direction on a basis of a positional relationship in the road width direction between a lane mark which the subject vehicle gets across in the lane change and the subject vehicle.
A travel control method executed by a travel control apparatus, the travel control apparatus comprising:
- a first sensor configured to detect an obstacle around a subject vehicle traveling in a first lane;
- and
- a second sensor configured to detect a second lane adjacent to the first lane, the travel control apparatus being configured to:
- set a first range at a target position for lane change in the second lane, the first range having a size equal to or larger than a size which the subject vehicle occupies on a road surface;
- detect a range in the second lane as a second range, the range in the second lane being located at a side of the subject vehicle, the obstacle being absent in the range in the second lane;
- and
- execute lane change of the subject vehicle when the second range includes the first range,
- the travel control method comprising a step of reducing a moving speed of the subject vehicle in a road width direction when the second range becomes small after initiating the lane change as compared with the second range before initiating the lane change.
A travel control apparatus comprising:
- a first sensor configured to detect an obstacle around a subject vehicle traveling in a first lane;
- a second sensor configured to detect a second lane adjacent to the first lane;
- and
- a controller configured to:
- set a first range at a target position for lane change in the second lane, the first range having a size equal to or larger than a size which the subject vehicle occupies on a road surface;
- detect a range in the second lane as a second range, the range in the second lane being located at a side of the subject vehicle, the obstacle being absent in the range in the second lane;
- and
- permit lane change of the subject vehicle when the second range includes the first range,
- wherein, when the second range becomes small after initiating the lane change as compared with the second range before initiating the lane change, the controller determines at least one of a method of presenting information to a driver of the subject vehicle when discontinuing or continuing the lane change, a control content after discontinuing or continuing the lane change, and a travel position of the subject vehicle in a road width direction on a basis of a positional relationship in the road width direction between a lane mark which the subject vehicle gets across in the lane change and the subject vehicle.
Dependencies are inferred from the claim text.