Right-left turn determination method and right-left turn determination device for drive-assisted vehicle

A right-left turn determination device for a drive-assisted vehicle, the right-left turn determination device comprising:

• an onboard sensor that acquires information about a periphery of a host vehicle and host vehicle information;
• and
• a controller that performs an allowance determination for right/left-turn travel across an oncoming traffic lane based on the information acquired by the onboard sensor,
• the controller comprises:
• a host vehicle stop determination unit that determines whether or not the host vehicle has stopped with the right/left-turn travel being intended;
• an oncoming vehicle determination unit that determines whether or not there is an oncoming vehicle in an intended travel trajectory of the host vehicle when the host vehicle is determined by the host vehicle stop determination unit to have stopped with the right/left-turn travel being intended;
• an oncoming vehicle stop determination unit that determines whether or not a far-side oncoming vehicle which is a first vehicle has stopped in the oncoming traffic lane when the oncoming vehicle is determined by the oncoming vehicle determination unit to not be present in the intended travel trajectory;
• a right/left turn allowance unit that allows the right/left-turn travel when the far-side oncoming vehicle is determined by the oncoming vehicle stop determination unit to have stopped while the host vehicle has stopped with the right/left-turn travel being intended;
• and
• a right/left-turn travel control unit that executes the right/left-turn travel.