VEHICLE CONTROL SYSTEM, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL PROGRAM
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Abstract
The invention provides a vehicle control system including a vehicle detector that detects a nearby vehicle with respect to an own-vehicle and an automated driving controller that automatically controls at least acceleration/deceleration of the own-vehicle such that the own-vehicle can travel along a route to a destination, wherein the automated driving controller acquires information indicating a position of a specific region in which the number of lanes decreases from map information and sets, if a relative relationship between the own-vehicle and a nearby vehicle detected by the vehicle detector satisfies a predetermined condition when the own-vehicle passes through the acquired specific region, a target speed of the own-vehicle to less than a speed of the nearby vehicle for which the relative relationship satisfies the predetermined condition.
30 Citations
21 Claims
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1-12. -12. (canceled)
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13. A vehicle control system comprising:
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a vehicle detector configured to detect a nearby vehicle with respect to an own-vehicle; a predictor configured to predict lane change of the nearby vehicle to an own-lane in which the own-vehicle travels; and an automated driving controller configured to automatically control at least acceleration/deceleration of the own-vehicle such that the own-vehicle can travel along a route to a destination, wherein the automated driving controller is configured to acquire information indicating a position of at least one of a first specific region in which the number of lanes decreases or a second specific region in which the number of lanes increases or a lane branches from map information and to perform at least one of a first process for the first specific region or a second process for the second specific region, the first process includes setting a speed of the own-vehicle to less than a speed of a nearby vehicle detected by the vehicle detector if a relative relationship between the own-vehicle and the nearby vehicle detected by the vehicle detector satisfies a predetermined condition when the own-vehicle passes through the first specific region, the second process includes setting the speed of the own-vehicle to less than a speed of a nearby vehicle detected by the vehicle detector if a relative relationship between the own-vehicle and the nearby vehicle detected by the vehicle detector satisfies a predetermined condition and the predictor has predicted that the nearby vehicle will change lanes to the own-lane when the own-vehicle passes through the second specific region, and the predetermined condition is at least that a position of the nearby vehicle be within a predetermined region lateral to the own-vehicle, wherein the predetermined region includes an entire longitudinal length of the own-vehicle and a front part of the predetermined region with respect to the own-vehicle is larger than a rear part of the predetermined region with respect to the own-vehicle. - View Dependent Claims (14, 16, 17)
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15. A vehicle control system comprising:
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a vehicle detector configured to detect a nearby vehicle with respect to an own-vehicle; a predictor configured to predict lane change of the nearby vehicle to an own-lane in which the own-vehicle travels; and an automated driving controller configured to automatically control at least acceleration/deceleration of the own-vehicle such that the own-vehicle can travel along a route to a destination, wherein the automated driving controller is configured to acquire information indicating a position of at least one of a first specific region in which the number of lanes decreases or a second specific region in which the number of lanes increases or a lane branches from map information and to perform at least one of a first process for the first specific region or a second process for the second specific region, the first process includes setting a speed of the own-vehicle to less than a speed of a nearby vehicle detected by the vehicle detector if a relative relationship between the own-vehicle and the nearby vehicle detected by the vehicle detector satisfies a predetermined condition when the own-vehicle passes through the first specific region, the second process includes setting the speed of the own-vehicle to less than a speed of a nearby vehicle detected by the vehicle detector if a relative relationship between the own-vehicle and the nearby vehicle detected by the vehicle detector satisfies a predetermined condition and the predictor has predicted that the nearby vehicle will change lanes to the own-lane when the own-vehicle passes through the second specific region, and the predetermined condition is at least that a relative speed between the nearby vehicle and the own-vehicle be within a predetermined speed range.
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18. A vehicle control system comprising:
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a vehicle detector configured to detect a nearby vehicle with respect to an own-vehicle; and an automated driving controller configured to automatically control at least acceleration/deceleration of the own-vehicle such that the own-vehicle can travel along a route to a destination, wherein the automated driving controller is configured to acquire information indicating a position of a specific region in which the number of lanes decreases from map information and to adjust a speed of the own-vehicle such that an inter-vehicle distance between the own-vehicle and a preceding vehicle that travels immediately in front of the own-vehicle among nearby vehicles detected by the vehicle detector is equal to or greater than a predetermined distance if a relative relationship between the own-vehicle and a side-traveling vehicle that travels in a lane adjacent to a lane in which the own-vehicle travels among the nearby vehicles detected by the vehicle detector satisfies a predetermined condition when the own-vehicle passes through the acquired specific region, and the predetermined condition is at least that a position of the nearby vehicle be within a predetermined region lateral to the own-vehicle, wherein the predetermined region includes an entire longitudinal length of the own-vehicle and a front part of the predetermined region with respect to the own-vehicle is larger than a rear part of the predetermined region with respect to the own-vehicle.
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19. A vehicle control system comprising:
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a vehicle detector configured to detect a nearby vehicle with respect to an own-vehicle; and an automated driving controller configured to automatically control at least acceleration/deceleration of the own-vehicle such that the own-vehicle can travel along a route to a destination, wherein the automated driving controller is configured to acquire information indicating a position of a specific region in which the number of lanes decreases from map information and to adjust a speed of the own-vehicle such that an inter-vehicle distance between the own-vehicle and a preceding vehicle that travels immediately in front of the own-vehicle among nearby vehicles detected by the vehicle detector is equal to or greater than a predetermined distance if a relative relationship between the own-vehicle and a side-traveling vehicle that travels in a lane adjacent to a lane in which the own-vehicle travels among the nearby vehicles detected by the vehicle detector satisfies a predetermined condition when the own-vehicle passes through the acquired specific region, and the predetermined condition is at least that a relative speed between the nearby vehicle and the own-vehicle be within a predetermined speed range.
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20. A vehicle control method comprising:
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an in-vehicle computer detecting a nearby vehicle with respect to an own-vehicle; predicting lane change of the nearby vehicle to an own-lane in which the own-vehicle travels; automatically controlling at least acceleration/deceleration of the own-vehicle such that the own-vehicle can travel along a route to a destination; and acquiring information indicating a position of at least one of a first specific region in which the number of lanes decreases or a second specific region in which the number of lanes increases or a lane branches from map information and performing at least one of a first process for the first specific region or a second process for the second specific region, wherein the first process is a process of setting a speed of the own-vehicle to less than a speed of the detected nearby vehicle if a relative relationship between the own-vehicle and the detected nearby vehicle satisfies a predetermined condition when the own-vehicle passes through the first specific region, the second process is a process of setting the speed of the own-vehicle to less than a speed of the detected nearby vehicle if a relative relationship between the own-vehicle and the detected nearby vehicle satisfies a predetermined condition and the predictor has predicted that the nearby vehicle will change lanes to the own-lane when the own-vehicle passes through the second specific region, and the predetermined condition is at least that a position of the nearby vehicle be within a predetermined region lateral to the own-vehicle, wherein the predetermined region includes an entire longitudinal length of the own-vehicle and a front part of the predetermined region with respect to the own-vehicle is larger than a rear part of the predetermined region with respect to the own-vehicle.
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21. A non-transitory computer-readable storage medium that stores a vehicle control computer program to be executed by a computer to perform at least:
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detect a nearby vehicle with respect to an own-vehicle; predict lane change of the nearby vehicle to an own-lane in which the own-vehicle travels; automatically control at least acceleration/deceleration of the own-vehicle such that the own-vehicle can travel along a route to a destination; and acquire information indicating a position of at least one of a first specific region in which the number of lanes decreases or a second specific region in which the number of lanes increases or a lane branches from map information and perform at least one of a first process for the first specific region or a second process for the second specific region, wherein the first process is a process of setting a speed of the own-vehicle to less than a speed of the detected nearby vehicle if a relative relationship between the own-vehicle and the detected nearby vehicle satisfies a predetermined condition when the own-vehicle passes through the first specific region, the second process is a process of setting the speed of the own-vehicle to less than the speed of the detected nearby vehicle if a relative relationship between the own-vehicle and the detected nearby vehicle satisfies a predetermined condition and the predictor has predicted that the nearby vehicle will change lanes to the own-lane when the own-vehicle passes through the second specific region, and the predetermined condition is at least that a position of the nearby vehicle be within a predetermined region lateral to the own-vehicle, wherein the predetermined region includes an entire longitudinal length of the own-vehicle and a front part of the predetermined region with respect to the own-vehicle is larger than a rear part of the predetermined region with respect to the own-vehicle.
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Specification