To provide an automatic driving technique capable of accelerating an own vehicle at a timing that does not give an occupant uncomfortable feeling when a preceding vehicle changes a lane during own vehicle's travel following a preceding vehicle.SOLUTION: While an own vehicle is traveled following a preceding vehicle traveling in the same lane as the own vehicle, a display of intention of changing a lane to an adjacent lane transmitted from the preceding vehicle is detected. When the display of intention of changing the lane is detected, it is detected that the preceding vehicle has departed toward the adjacent lane from an occupied area occupied by the own vehicle traveling in the lane. Then, when the departure of the preceding vehicle from the occupied area is detected, acceleration restriction for causing the own vehicle to follow the preceding vehicle is cancelled.SELECTED DRAWING: Figure 7
【課題】先行車両への追従走行中に先行車両がレーンチェンジする場合に、乗員にとって違和感のないタイミングで自車両を加速させることを可能にした自動運転技術を提供する。【解決手段】自車両を自車両と同一のレーンを走行する先行車両に追従走行させながら、先行車両から発せられる隣接レーンへのレーンチェンジの意思表示を検知する。レーンチェンジの意思表示が検知された場合、自車両がレーンを走行するときに占有する占有領域から隣接レーンに向けて先行車両が離脱したことを検知する。そして、先行車両の占有領域からの離脱が検知された場合、自車両を先行車両に追従走行させるための加速抑制を解除する。【選択図】図7
AUTOMATIC DRIVING METHOD, AUTOMATIC DRIVING SYSTEM, AND AUTOMATIC DRIVING PROGRAM
自動運転方法、自動運転システム、及び自動運転プログラム
2023-01-20
Patent
Electronic Resource
Japanese
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