Vehicle cruise control device and cruise control method

A cruise control method by a vehicle cruise control device, the method comprising:

• a lateral position calculation step of calculating a lateral position that is a position in a vehicle width direction of a forward vehicle traveling ahead of an own vehicle;
• a vehicle determination step of performing cutting-in determination and deviation determination with regard to the forward vehicle, in which it is determined whether the forward vehicle traveling on an adjacent lane adjacent to an own lane that is a traveling lane of the own vehicle is a cutting-in vehicle that cuts into the own lane, and determined whether the forward vehicle traveling on the own lane is a deviating vehicle that deviates from the own lane, on the basis of the lateral position calculated by the lateral position calculation step;
• a turn determination step of determining whether or not the own vehicle is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning;
• a permission determination step of determining permission of performing of cutting-in determination and deviation determination on the basis of a determination result by the turn determination step;
• and
• a change determination step of determining whether or not the own vehicle is about to change lanes, wherein
• in the turn determination step, it is determined that the own vehicle is in the own vehicle turning state when it is determined that the own vehicle is about to change lanes.

A vehicle cruise control device comprising:

• a memory;
• a processor communicable to the memory;
• and
• a set of computer-executable instructions stored on the memory that cause the processor to implement:
• calculating a lateral position that is a position in a vehicle width direction of a forward vehicle traveling ahead of an own vehicle;
• performing cutting-in determination and deviation determination with regard to the forward vehicle, in which it is determined whether the forward vehicle traveling on an adjacent lane adjacent to an own lane that is a travel lane of the own vehicle is a cutting-in vehicle that cuts into the own lane, and determined whether the forward vehicle traveling on the own lane is a deviating vehicle that deviates from the own lane, on the basis of the lateral position calculated;
• determining whether or not the own vehicle is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning;
• determining permission of performing of cutting-in determination and deviation determination on the basis of a determination result;
• and
• determining whether or not the own vehicle is about to change lanes, wherein
• the own vehicle is determined to be in the own vehicle turning state when it is determined that the own vehicle is about to change lanes.

A vehicle cruise control device comprising:

• a lateral position calculating means calculating a lateral position that is a position in a vehicle width direction of a forward vehicle traveling ahead of an own vehicle;
• a vehicle determination means performing cutting-in determination and deviation determination with regard to the forward vehicle, in which it is determined whether the forward vehicle traveling on an adjacent lane adjacent to an own lane that is a travel lane of the own vehicle is a cutting-in vehicle that cuts into the own lane, and determined whether the forward vehicle traveling on the own lane is a deviating vehicle that deviates from the own lane, on the basis of the lateral position calculated by the lateral position calculating means;
• a turn determination means determining whether or not the own vehicle is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning;
• a permission determining means determining permission of performing of cutting-in determination and deviation determination on the basis of a determination result by the turn determination means;
• and
• an unsteadiness determination means determining whether or not traveling of the own vehicle is unsteady, wherein
• the turn determination means determines that the own vehicle is in the own vehicle turning state when the unsteadiness determination means determines that the traveling of the own vehicle is unsteady.

A cruise control method by a vehicle cruise control device, the method comprising:

• a lateral position calculation step of calculating a lateral position that is a position in a vehicle width direction of a forward vehicle traveling ahead of an own vehicle;
• a vehicle determination step of performing cutting-in determination and deviation determination with regard to the forward vehicle, in which it is determined whether the forward vehicle traveling on an adjacent lane adjacent to an own lane that is a traveling lane of the own vehicle is a cutting-in vehicle that cuts into the own lane, and determined whether the forward vehicle traveling on the own lane is a deviating vehicle that deviates from the own lane, on the basis of the lateral position calculated by the lateral position calculation step;
• a turn determination step of determining whether or not the own vehicle is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning;
• a permission determination step of determining permission of performing of cutting-in determination and deviation determination on the basis of a determination result by the turn determination step;
• and
• an unsteadiness determination step of determining whether or not traveling of the own vehicle is unsteady, wherein
• in the turn determination step, it is determined that the own vehicle is in the own vehicle turning state when it is determined that the traveling of the own vehicle is unsteady.

A vehicle cruise control device comprising:

• a memory;
• a processor communicable to the memory;
• and
• a set of computer-executable instructions stored on the memory that cause the processor to implement:
• calculating a lateral position that is a position in a vehicle width direction of a forward vehicle traveling ahead of an own vehicle;
• performing cutting-in determination and deviation determination with regard to the forward vehicle, in which it is determined whether the forward vehicle traveling on an adjacent lane adjacent to an own lane that is a travel lane of the own vehicle is a cutting-in vehicle that cuts into the own lane, and determined whether the forward vehicle traveling on the own lane is a deviating vehicle that deviates from the own lane, on the basis of the lateral position calculated;
• determining whether or not the own vehicle is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning;
• and
• determining permission of performing of cutting-in determination and deviation determination on the basis of a determination result,
• wherein the own vehicle is determined to be in the own vehicle turning state based at least in part on a determination that the own vehicle is in an unsteady state.