Vehicle control apparatus, vehicle control method, and vehicle control program
First Claim
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1. A vehicle control apparatus comprising:
- a detector that detects a nearby vehicle that travels near a host vehicle;
a processor configured to;
estimate a positional change of the nearby vehicle detected by the detector;
derive a lane changeable period during which lane change is possible to a lane change target position set as a relative position with respect to the nearby vehicle that travels in an adjacent lane that is adjacent to a host vehicle lane on the basis of a positional change of the nearby vehicle estimated; and
narrow down a previously set lane change target position to a lane change target position at which the lane changeable period derived is longer than a preset period.
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Abstract
A vehicle control apparatus includes a detecting unit configured to detect a nearby vehicle that travels near a host vehicle; an estimating unit configured to estimate a positional change of the nearby vehicle detected by the detecting unit; and a period deriving unit configured to derive a lane changeable period during which lane change is possible to a lane change target position set as a relative position with respect to the nearby vehicle that travels in an adjacent lane that is adjacent to a host vehicle lane on the basis of a positional change of the nearby vehicle estimated by the estimating unit.
25 Citations
19 Claims
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1. A vehicle control apparatus comprising:
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a detector that detects a nearby vehicle that travels near a host vehicle; a processor configured to; estimate a positional change of the nearby vehicle detected by the detector; derive a lane changeable period during which lane change is possible to a lane change target position set as a relative position with respect to the nearby vehicle that travels in an adjacent lane that is adjacent to a host vehicle lane on the basis of a positional change of the nearby vehicle estimated; and narrow down a previously set lane change target position to a lane change target position at which the lane changeable period derived is longer than a preset period. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A vehicle control apparatus comprising:
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a detector that detects a nearby vehicle that travels near a host vehicle; a processor configured to; estimate a positional change of the nearby vehicle detected by the detector; derive a lane changeable period during which lane change is possible to a lane change target position set as a relative position with respect to the nearby vehicle that travels in an adjacent lane that is adjacent to a host vehicle lane on the basis of a positional change of the nearby vehicle estimated; and narrow down a previously set lane change target position to a lane change target position corresponding to a predetermined number of lane changeable periods in order from long lane changeable periods among lane changeable periods derived.
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16. A vehicle control apparatus comprising:
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a detector that detects a nearby vehicle that travels near a host vehicle; a processor configured to; estimate a positional change of the nearby vehicle detected by the detector; derive a lane changeable period during which lane change is possible to a lane change target position set as a relative position with respect to the nearby vehicle that travels in an adjacent lane that is adjacent to a host vehicle lane on the basis of a positional change of the nearby vehicle estimated; and narrow down a previously set lane change target position to a lane change target position corresponding to the longest lane changeable period among lane changeable periods derived.
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17. A vehicle control method, using a processor, comprising:
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detecting a nearby vehicle that travels near a host vehicle; estimating a positional change of the detected nearby vehicle; deriving a lane changeable period during which lane change is possible to a lane change target position set as a relative position with respect to the nearby vehicle that travels in an adjacent lane that is adjacent to a host vehicle lane on the basis of a positional change of the estimated nearby vehicle; and narrowing down a previously set lane change target position to a lane change target position at which the derived lane changeable period is longer than a preset period.
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18. A non-transitory computer readable medium that stores a vehicle control program causing an on-board computer to execute:
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detecting a nearby vehicle that travels near a host vehicle; estimating a positional change of the detected nearby vehicle; deriving a lane changeable period during which lane change is possible to a lane change target position set as a relative position with respect to the nearby vehicle that travels in an adjacent lane that is adjacent to a host vehicle lane on the basis of a positional change of the estimated nearby vehicle; and narrowing down a previously set lane change target position to a lane change target position at which the derived lane changeable period is longer than a preset period.
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19. A vehicle control apparatus comprising:
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a processor configured to; detect a nearby vehicle that travels near a host vehicle; estimate a positional change of the nearby vehicle detected by the detector; and derive a lane changeable period during which lane change is possible to a lane change target position set in an adjacent lane as a relative position with respect to the nearby vehicle that travels in the adjacent lane that is adjacent to a host vehicle lane on the basis of a positional relation pattern where positional relations between the host vehicle and the nearby vehicle are classified and a positional change pattern where positional changes of the nearby vehicle estimated in the positional relation pattern are classified.
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Specification