Travel Control Method and Travel Control Device for Vehicle

A travel control device for a vehicle for stopping a subject vehicle at a shoulder of a road when the subject vehicle arrives at a destination while the subject vehicle travels, or when a driver of the subject vehicle becomes unable to drive during travel of the subject vehicle or when a failure occurs that interferes with the travel of the subject vehicle during the travel of the subject vehicle,

• wherein the travel control device is configured to:
• generate a control plan for autonomous stop control comprising deceleration control for decreasing a speed of the subject vehicle without moving the subject vehicle to the shoulder of the road;
• pulling over control for moving the subject vehicle from a lane in which the subject vehicle travels to the shoulder of the road with maintaining the velocity of the subject vehicle at a constant velocity;
• and stop control for stopping the subject vehicle at the shoulder of the road;
• and
• perform the autonomous stop control for decelerating the subject vehicle and then moving the subject vehicle to the shoulder of the road by individually and sequentially performing each of the deceleration control, the pulling over control, and the stop control on a basis of the control plan.

A travel control method for a vehicle for stopping a subject vehicle at a shoulder of a road when the subject vehicle arrives at a destination while the subject vehicle travels, or when a driver of the subject vehicle becomes unable to drive during travel of the subject vehicle or when a failure occurs that interferes with the travel of the subject vehicle during the travel of the subject vehicle, comprising:

• generating a control plan for autonomous stop control comprising deceleration control for decreasing a speed of the subject vehicle without moving the subject vehicle to the shoulder of the road;
• pulling over control for moving the subject vehicle from a lane in which the subject vehicle travels to the shoulder of the road with maintaining the velocity of the subject vehicle at a constant velocity;
• and stop control for stopping the subject vehicle at the shoulder of the road;
• and
• performing the autonomous stop control for decelerating the subject vehicle and then moving the subject vehicle to the shoulder of the road by individually and sequentially performing each of the deceleration control, the pulling over control, and the stop control on a basis of the control plan, and
• for setting a pulling over speed that is the speed of the subject vehicle while performing the pulling over control,
• detecting a distance from the subject vehicle to an edge of the shoulder of the road;
• calculating an amount of pulling over required to move the subject vehicle to the shoulder of the road based on the distance from the subject vehicle to the edge of the shoulder of the road and a predetermined pulling over interval between the subject vehicle and the edge of the shoulder of the road after the pulling over control is performed;
• estimating a lateral speed and lateral acceleration caused in the subject vehicle while performing the pulling over control based on the amount of pulling over;
• and
• setting the pulling over speed based on the estimated lateral speed, the estimated lateral acceleration, and the pulling over interval.