US-12617397-B2 - Traveling control device, traveling control method, and non-transitory recording medium

Abstract

A traveling control device determines whether a travel direction of an own lane in which a host vehicle is traveling and the travel direction of an adjoining lane adjoining the own lane are the same, determines whether structure of a road on which the host vehicle is traveling changes, and restricts movement of the host vehicle from the own lane to the adjoining lane when it is determined that the structure of the road on which the host vehicle is traveling changes after it is determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.

Inventors

• Masamichi OHSUGI

Assignees

• TOYOTA JIDOSHA KABUSHIKI KAISHA

Dates

Publication Date

20260505

Application Date

20241217

Priority Date

20231219

Claims (9)

1. 1 . A traveling control device comprising a processor configured to: determine whether a travel direction of an own lane in which a host vehicle is traveling and the travel direction of an adjoining lane adjoining the own lane are the same; determine whether structure of a road on which the host vehicle is traveling changes; and restrict movement of the host vehicle from the own lane to the adjoining lane when it is determined that the structure of the road on which the host vehicle is traveling changes after it is determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.
2. 2 . The traveling control device according to claim 1 , wherein the processor is configured to clear the determination result that the travel direction of the own lane and the travel direction of the adjoining lane are the same when it is determined that the structure of the road on which the host vehicle is traveling changes after it is determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.
3. 3 . The traveling control device according to claim 2 , wherein the processor is configured to again determine whether the travel direction of the own lane and the travel direction of the adjoining lane are the same based on the information obtained after it is determined that the structure of the road on which the host vehicle is traveling changes when it is determined that the structure of the road on which the host vehicle is traveling changes after it is determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.
4. 4 . The traveling control device according to claim 3 , wherein the processor is configured to allow the movement of the host vehicle from the own lane to the adjoining lane when it is determined that the structure of the road on which the host vehicle is traveling does not change after it is again determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.
5. 5 . The traveling control device according to claim 1 , wherein the processor is configured to determine that the structure of the road on which the host vehicle is traveling changes when the number of lanes included in the road on which the host vehicle is traveling increases.
6. 6 . The traveling control device according to claim 1 , wherein the processor is configured to determine that the structure of the road on which the host vehicle is traveling changes when the number of lanes included in the road on which the host vehicle is traveling decreases.
7. 7 . The traveling control device according to claim 1 , wherein the processor is configured to determine that the structure of the road on which the host vehicle is traveling changes when an intersecting road intersecting the road on which the host vehicle is traveling exists.
8. 8 . A traveling control method comprising: determining whether a travel direction of an own lane in which a host vehicle is traveling and the travel direction of an adjoining lane adjoining the own lane are the same; determining whether structure of a road on which the host vehicle is traveling changes; and restricting movement of the host vehicle from the own lane to the adjoining lane when it is determined that the structure of the road on which the host vehicle is traveling changes after it is determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.
9. 9 . A non-transitory recording medium having recorded thereon a computer program for causing a processor to perform a process comprising: determining whether a travel direction of an own lane in which a host vehicle is traveling and the travel direction of an adjoining lane adjoining the own lane are the same; determining whether structure of a road on which the host vehicle is traveling changes; and restricting movement of the host vehicle from the own lane to the adjoining lane when it is determined that the structure of the road on which the host vehicle is traveling changes after it is determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to Japanese Patent Application No. 2023-214070 filed Dec. 19, 2023, the entire contents of which are herein incorporated by reference. FIELD The present disclosure relates to traveling control device, traveling control method, and non-transitory recording medium. BACKGROUND PTL 1 (Japanese Unexamined Patent Publication No. 2019-015690) describes art in which lane changes are made as little as possible after passing through an intersection. In the art described in PTL 1, navigation is performed so that the lane changes are made as little as possible after passing through the intersection in order to lighten the burden on the driver. That is, in the art described in PTL 1, it is not confirmed whether a travel direction of an own lane in which a host vehicle is traveling and the travel direction of an adjoining lane adjoining the own lane are the same. For this reason, in the art described in PTL 1, the host vehicle is liable to end up moving from the own lane to the adjoining lane whose travel direction is opposite to the travel direction of the own lane and traveling in reverse. SUMMARY In consideration of the above-mentioned point, it is an object of the present disclosure to provide traveling control device, traveling control method, and non-transitory recording medium which can suppress reverse traveling of an own vehicle after road structure changes. (1) One aspect of the present disclosure is a traveling control device including a processor configured to: determine whether a travel direction of an own lane in which a host vehicle is traveling and the travel direction of an adjoining lane adjoining the own lane are the same; determine whether structure of a road on which the host vehicle is traveling changes; and restrict movement of the host vehicle from the own lane to the adjoining lane when it is determined that the structure of the road on which the host vehicle is traveling changes after it is determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.(2) In the traveling control device of the aspect (1), the processor may be configured to clear the determination result that the travel direction of the own lane and the travel direction of the adjoining lane are the same when it is determined that the structure of the road on which the host vehicle is traveling changes after it is determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.(3) In the traveling control device of the aspect (1) or (2), the processor may be configured to again determine whether the travel direction of the own lane and the travel direction of the adjoining lane are the same based on the information obtained after it is determined that the structure of the road on which the host vehicle is traveling changes when it is determined that the structure of the road on which the host vehicle is traveling changes after it is determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.(4) In the traveling control device of any one of the aspects (1) to (3), the processor may be configured to allow the movement of the host vehicle from the own lane to the adjoining lane when it is determined that the structure of the road on which the host vehicle is traveling does not change after it is again determined that the travel direction of the own lane and the travel direction of the adjoining lane are the same.(5) In the traveling control device of any one of the aspects (1) to (4), the processor may be configured to determine that the structure of the road on which the host vehicle is traveling changes when the number of lanes included in the road on which the host vehicle is traveling increases.(6) In the traveling control device of any one of the aspects (1) to (5), the processor may be configured to determine that the structure of the road on which the host vehicle is traveling changes when the number of lanes included in the road on which the host vehicle is traveling decreases.(7) In the traveling control device of any one of the aspects (1) to (6), the processor may be configured to determine that the structure of the road on which the host vehicle is traveling changes when an intersecting road intersecting the road on which the host vehicle is traveling exists.(8) Another aspect of the present disclosure is a traveling control method including: determining whether a travel direction of an own lane in which a host vehicle is traveling and the travel direction of an adjoining lane adjoining the own lane are the same; determining whether structure of a road on which the host vehicle is traveling changes; and restricting movement of the host vehicle from the own lane to the adjoining lane when it is determined that the structure of the road on which the host vehicle is traveling changes after it is deter