US-12617402-B2 - Vehicle control method and vehicle control device
Abstract
A vehicle control device operates to: obtain road information of a subject vehicle traffic lane in which the subject vehicle travels and road information of a branching traffic lane branching from the subject vehicle traffic lane when the branching traffic lane is present in a traveling direction of the subject vehicle; determine whether driver operation information indicating an intention of traveling in a planned traveling lane on the planned traveling route has been obtained or not, with the branching traffic lane as the planned traveling lane; determine whether a road structure requiring deceleration of the subject vehicle is present in the planned traveling lane; and perform a deceleration control of the subject vehicle based on the road information when determining that the driver operation information has been obtained and determining that the road structure requiring deceleration of the subject vehicle in the planned traveling lane is present.
Inventors
- Shinya Saito
- Yasuhisa Taira
Assignees
- NISSAN MOTOR CO., LTD.
Dates
- Publication Date
- 20260505
- Application Date
- 20220309
Claims (5)
- 1 . A vehicle control method executed by a processor for controlling travel of a subject vehicle along a planned traveling route from a current position of the subject vehicle to a destination, the processor operating to: obtain road information of a subject vehicle traffic lane in which the subject vehicle travels and road information of a branching traffic lane branching from the subject vehicle traffic lane when the branching traffic lane is present in a traveling direction of the subject vehicle on the planned traveling route; determine whether driver operation information by a driver of the subject vehicle indicating an intention of traveling in a planned traveling lane on the planned traveling route has been obtained or not, with the branching traffic lane as the planned traveling lane; determine whether a road structure requiring deceleration of the subject vehicle is present or not in the planned traveling lane based on road information of the planned traveling lane; perform a deceleration control of the subject vehicle based on the road information of the planned traveling lane and vehicle information of the subject vehicle when determining that the driver operation information has been obtained and determining that the road structure requiring deceleration of the subject vehicle is present in the planned traveling lane; and perform a vehicle speed control of the subject vehicle based on the road information of the subject vehicle traffic lane and the vehicle information of the subject vehicle when determining that the driver operation information has not been obtained.
- 2 . The vehicle control method according to claim 1 , wherein the processor operates to: set an allowable deceleration speed and a deceleration starting point at which the deceleration control is started based on a distance from the current position of the subject vehicle to a branch point of the branching traffic lane and a distance from the branch point to a target point at which the road structure is located; calculate a deceleration speed of the subject vehicle based on the allowable deceleration speed; and perform the deceleration control for decelerating the subject vehicle at the deceleration speed from the deceleration starting point.
- 3 . The vehicle control method according to claim 1 , wherein the processor operates to: determine whether the road structure requiring deceleration of the subject vehicle is present or not in the planned traveling lane based on the road information of the planned traveling lane when approval operation information indicating an approval by the driver of traveling in the planned traveling lane or a turn indicator operation information indicating a turn indicator operation by the driver for traffic lane change to the planned traveling lane has been obtained as the driver operation information.
- 4 . The vehicle control method according to claim 1 , wherein the processor operates to: determine whether the road structure requiring deceleration of the subject vehicle is present or not in the planned traveling lane based on the road information of the planned traveling lane when steering control information indicating a steering control by the driver for traffic lane change to the planned traveling lane has been obtained as the driver operation information.
- 5 . A vehicle control device comprising a processor for controlling travel of a subject vehicle along a planned traveling route from a current position of the subject vehicle to a destination, wherein the processor is configured to: obtain road information of a subject vehicle traffic lane in which the subject vehicle travels and road information of a branching traffic lane branching from the subject vehicle traffic lane when the branching traffic lane is present in a traveling direction of the subject vehicle on the planned traveling route; determine whether driver operation information by a driver of the subject vehicle indicating an intention of traveling in a planned traveling lane on the planned traveling route has been obtained or not, with the branching traffic lane as the planned traveling lane; determine whether a road structure requiring deceleration of the subject vehicle is present or not in the planned traveling lane based on road information of the planned traveling lane; perform a deceleration control of the subject vehicle based on the road information of the planned traveling lane and vehicle information of the subject vehicle when determining that the driver operation information has been obtained and determining that the road structure requiring deceleration of the subject vehicle is present in the planned traveling lane; and perform a vehicle speed control of the subject vehicle based on the road information of the subject vehicle traffic lane and the vehicle information of the subject vehicle when determining that the driver operation information has not been obtained.
Description
TECHNICAL FIELD The present invention relates to a vehicle control method and a vehicle control device. BACKGROUND There has been known a technique that operates a deceleration controlled variable when a subject vehicle travels on a curve road, and decelerates the subject vehicle in accordance with the deceleration controlled variable (Japanese Unexamined Patent Application Publication No. 2020-69953). In Japanese Unexamined Patent Application Publication No. 2020-69953, a target vehicle speed is set so as to be decreased as an anticipated curvature increases based on the anticipated curvature of a subject vehicle lane in a location ahead by a predetermined distance of the current location of the subject vehicle, and a base deceleration controlled variable is corrected to be decreased as a vehicle speed deviation obtained by subtracting the current vehicle speed of the subject vehicle from the target vehicle speed is large, and thus, the deceleration controlled variable is calculated. SUMMARY For example, in a situation where a subject vehicle traffic lane in which a subject vehicle travels is branched and a planned traveling route of the subject vehicle is set to the subject vehicle traffic lane, a driver does not necessarily drive as the planned traveling route. The technique in Japanese Unexamined Patent Application Publication No. 2020-69953 is not a technique of obtaining information indicating an intention of the driver whether to drive as the planned traveling route or not in such a situation. Therefore, the technique in Japanese Unexamined Patent Application Publication No. 2020-69953 fails to perform a deceleration control of the subject vehicle corresponding to the intention of the driver when a road structure requiring deceleration of the subject vehicle is present in the traffic lane in the branch side. A problem to be solved by the present invention is to provide a vehicle control method and a vehicle control device that enables deceleration of a subject vehicle corresponding to an intention of a driver of driving on a planned traveling route when a road structure requiring deceleration of the subject vehicle is present in a traffic lane in a planned traveling route side in a situation where a branch side traffic lane branching from a subject vehicle traffic lane in which the subject vehicle travels is present. The present invention solves the above-described problem by: obtaining road information of a subject vehicle traffic lane in which the subject vehicle travels and road information of a branching traffic lane branching from the subject vehicle traffic lane when the branching traffic lane is present in a traveling direction of the subject vehicle on the planned traveling route; determining whether driver operation information by a driver of the subject vehicle indicating an intention of traveling in a planned traveling lane on the planned traveling route has been obtained or not, with the branching traffic lane as the planned traveling lane; determining whether a road structure requiring deceleration of the subject vehicle is present or not in the planned traveling lane based on road information of the planned traveling lane; and performing a deceleration control of the subject vehicle based on the road information of the planned traveling lane and vehicle information of the subject vehicle when determining that the driver operation information has been obtained and determining that the road structure requiring deceleration of the subject vehicle is present in the planned traveling lane. The present invention enables deceleration of a subject vehicle corresponding to an intention of a driver of driving on a planned traveling route when a road structure requiring deceleration of the subject vehicle is present in a traffic lane in a planned traveling route side in a situation where a branch side traffic lane branching from a subject vehicle traffic lane in which the subject vehicle travels is present. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a drawing illustrating an exemplary configuration of a vehicle control device according to an embodiment; FIG. 2 is a drawing illustrating an exemplary situation where a vehicle control method according to the embodiment is executed; FIG. 3 is a drawing illustrating a relation between an allowable deceleration speed and a distance to a branch point according to the embodiment; and FIG. 4 is a flowchart illustrating an exemplary procedure of executing the vehicle control method according to the embodiment. DETAILED DESCRIPTION The following describes an embodiment of the present invention based on the drawings. Note that the embodiment will be described with a vehicle control device mounted on a vehicle as an example. FIG. 1 is a block diagram illustrating an exemplary vehicle system 200 including a vehicle control device 100 according to the embodiment of the present invention. The vehicle system 200 of the embodiment is mounted on a vehicle. As illus