Autonomous driving vehicle

An autonomous driving vehicle comprising:

• an electronic control unit (ECU);
• and
• an in-vehicle external sensor;
• wherein the ECU is configured to:
• recognize a lighting state of a traffic light at an intersection ahead of a host vehicle on an own lane based on a detection result of the in-vehicle external sensor;
• recognize a space between a vehicle ahead located beyond the intersection in a straight traveling direction of the host vehicle and the intersection based on the detection result of the external sensor;
• determine, based on the space, whether the host vehicle can pass through the intersection;
• and
• stop the host vehicle in front of the intersection when the lighting state is green lighting and the host vehicle cannot pass through the intersection, and
• wherein the ECU is configured to, when the lighting state is green lighting and a state has changed from a state where the host vehicle cannot pass the intersection to a state where the host vehicle can pass the intersection:
• cause the host vehicle that has stopped in front of the intersection to start moving and cause the host vehicle to continue traveling through the intersection with an acceleration or a vehicle speed of the host vehicle limited to a second upper limit value smaller than a first upper limit value when there is a crossing oncoming vehicle that is about to turn right or left at the intersection in such a manner as to cross the own lane, the first upper limit value being used when there is no crossing oncoming vehicle;
• and
• cause the host vehicle to continue traveling through the intersection with the acceleration or the vehicle speed of the host vehicle limited to a third upper limit value smaller than the second upper limit value when the crossing oncoming vehicle is a two-wheeled vehicle, the second upper limit value being used when the crossing oncoming vehicle is not a two-wheeled vehicle, wherein the third upper limit value is greater than zero.