Travel control device, travel control method, and program

Abstract

To appropriately control traveling of a self vehicle according to a behavior of the following vehicle.SOLUTION: A travel control device 14 comprises: an acquisition unit 3A that acquires a detection result of a peripheral situation sensor 11 for detecting a peripheral situation of a self vehicle 1 including the following vehicle located within a fixed distance behind the self vehicle 1 traveling on a right side; a calculation unit 3B that calculates a change of travel behavior of the following vehicle in a time zone before and after a point of time when a left-turn indicator 15D of the self vehicle 1 is turned on, based on the detection result acquired by the acquisition unit 3A; and a prediction unit 3C that predicts the travel behavior of the following vehicle before or during left-turn of the self vehicle, based on the change of the travel behavior of the following vehicle in the time zone before and after the point of time when the left-turn indicator 15D of the self vehicle 1 is turned on, which is calculated by the calculation unit 3B.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a driving control device, a driving control method, and a program.

Background Art

[0002] Patent Document 1 describes checking whether a following vehicle can pass on the left side of the host vehicle when attempting to turn left the host vehicle at an intersection on a road where left-hand traffic is regulated.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the technique described in Patent Document 1, although recognition / identification of the type of the following vehicle, identification of the presence or absence of the following vehicle, calculation of the distance / relative speed between the host vehicle and the following vehicle, recognition of passing (cutting through) of the following vehicle, checking whether the following vehicle is attempting to turn left in the same manner as the host vehicle (confirmation of whether the left-turn indicator is blinking), and determination of whether the following vehicle is attempting to go straight by cutting through the left side of the host vehicle are performed, prediction of the driving behavior of the following vehicle before or during a left turn of the host vehicle based on a change in the driving behavior of the following vehicle in a time period before and after the time when the left-turn indicator of the host vehicle is turned on is not performed. That is, in the technique described in Patent Document 1, only the current behavior of the following vehicle is recognized, and the future behavior of the following vehicle is not predicted. Therefore, with the technique described in Patent Document 1, there is a possibility that the driving of the host vehicle cannot be appropriately controlled according to the behavior of the following vehicle. That is, with the technique described in Patent Document 1, there is a possibility that the control of the driving of the host vehicle may be delayed with respect to a change in the behavior of the following vehicle.

[0005] In view of the above points, an object of the present disclosure is to provide a driving control device, a driving control method, and a program that can appropriately control the driving of a host vehicle according to the behavior of a following vehicle.

Means for Solving the Problems

[0006] (1) One aspect of the present disclosure includes an acquisition unit that acquires a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle including a following vehicle located within a certain distance behind the host vehicle traveling on the left side, and based on the detection result acquired by the acquisition unit, a calculation unit that calculates a change in the driving behavior of the following vehicle in a time period before and after the time when the left turn indicator of the host vehicle is turned on, and a prediction unit that predicts the driving behavior of the following vehicle before or during a left turn of the host vehicle based on the change in the driving behavior of the following vehicle in the time period before and after the time when the left turn indicator of the host vehicle is turned on. It is a driving control device provided with.

[0007] (2) The driving control device of (1) may include a control unit that controls the driving of the host vehicle before a left turn of the host vehicle based on the driving behavior of the following vehicle before or during the left turn of the host vehicle predicted by the prediction unit.

[0008] (3) In the driving control device of (2), when the position in the lane width direction within the driving lane of the following vehicle does not change in the time period before and after the time when the left turn indicator is turned on, and the speed of the following vehicle in the time period after the time when the left turn indicator is turned on is lower than the speed of the following vehicle in the time period before the time when the left turn indicator is turned on, the prediction unit may predict that the following vehicle is waiting for the left turn of the host vehicle to end.

[0009] (4) In the driving control device of (3), when the prediction unit predicts that the following vehicle is waiting for the left turn of the host vehicle to end, the control unit may gradually move the position of the host vehicle in the lane width direction within the driving lane of the host vehicle to the left while decelerating the host vehicle.

[0010] In the traveling control device of (5)(2), when the position of the following vehicle in the lane width direction within the traveling lane does not change in the time period before and after the time when the left-turn indicator is turned on, or when the position of the following vehicle in the lane width direction within the traveling lane in the time period after the time when the left-turn indicator is turned on moves to the left of the position of the following vehicle in the lane width direction within the traveling lane in the time period before the time when the left-turn indicator is turned on, and when the speed of the following vehicle in the time period after the time when the left-turn indicator is turned on is higher than the speed of the following vehicle in the time period after the time when the left-turn indicator is turned on, the prediction unit may predict that the following vehicle may pass on the left side of the own vehicle.

[0011] In the traveling control device of (6)(5), when the prediction unit predicts that the following vehicle may pass on the left side of the own vehicle, the control unit may decelerate the own vehicle without changing the position of the own vehicle in the lane width direction within the traveling lane.

[0012] In the traveling control device of (7)(2), when the position of the following vehicle in the lane width direction within the traveling lane does not change in the time period before and after the time when the left-turn indicator is turned on, and when the speed of the following vehicle does not change in the time period before and after the time when the left-turn indicator is turned on, the prediction unit may predict that the following vehicle is waiting for the own vehicle to complete a left turn, or that the following vehicle may pass on the left side of the own vehicle.

[0013] In the traveling control device of (8)(7), when the prediction unit predicts that the following vehicle is waiting for the own vehicle to complete a left turn, or that the following vehicle may pass on the left side of the own vehicle, the control unit may execute control to decelerate the own vehicle without changing the position of the own vehicle in the lane width direction within the traveling lane.

[0014] In the travel control device of (9)(8), when the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in the time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed is lower than the speed of the following vehicle in the time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit may predict that the following vehicle is waiting for the host vehicle to complete a left turn.

[0015] In the travel control device of (10)(8), when the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in the time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed does not drop below the speed of the following vehicle in the time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit may predict that the following vehicle may pass by on the left side of the host vehicle.

[0016] In the travel control device of (11)(2), when the position of the following vehicle in the lane width direction within the travel lane in the time period after the time when the left turn indicator is turned on is shifted to the left of the position of the following vehicle in the lane width direction within the travel lane in the time period before the time when the left turn indicator is turned on, and the speed of the following vehicle in the time period after the time when the left turn indicator is turned on is lower than the speed of the following vehicle in the time period before the time when the left turn indicator is turned on, the prediction unit may predict that the following vehicle is waiting for the host vehicle to complete a left turn or that the following vehicle may pass by on the left side of the host vehicle.

[0017] In the traveling control device of (12)(11), when the prediction unit predicts that the following vehicle is waiting for the left turn of the host vehicle to end, or that the following vehicle may pass by on the left side of the host vehicle, the control unit may execute control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle.

[0018] In the traveling control device of (13)(12), when the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle, if the speed of the following vehicle in a time period after the time point when the control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle is executed is lower than the speed of the following vehicle in a time period before the time point when the control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle is executed, the prediction unit may predict that the following vehicle is waiting for the left turn of the host vehicle to end.

[0019] In the traveling control device of (14)(12), when the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle, if the speed of the following vehicle in a time period after the time point when the control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle is executed does not decrease compared to the speed of the following vehicle in a time period before the time point when the control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle is executed, the prediction unit may predict that the following vehicle may pass by on the left side of the host vehicle.

[0020] (15) In the traveling control device of (2), when the position of the following vehicle in the lane width direction within the traveling lane in the time period after the left-turn indicator is turned on is shifted to the left of the position of the following vehicle in the lane width direction within the traveling lane in the time period before the left-turn indicator is turned on, and the speed of the following vehicle does not change in the time periods before and after the left-turn indicator is turned on, the prediction unit may predict that the following vehicle is waiting for the end of the left turn of the host vehicle, or that the following vehicle may pass by on the left side of the host vehicle.

[0021] (16) In the traveling control device of (15), when the prediction unit predicts that the following vehicle is waiting for the end of the left turn of the host vehicle, or that the following vehicle may pass by on the left side of the host vehicle, the control unit may execute control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the traveling lane of the host vehicle.

[0022] (17) In the traveling control device of (16), when the control unit executes control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the traveling lane of the host vehicle, if the speed of the following vehicle in the time period after the time when the control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the traveling lane of the host vehicle is executed is lower than the speed of the following vehicle in the time period before the time when the control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the traveling lane of the host vehicle is executed, the prediction unit may predict that the following vehicle is waiting for the end of the left turn of the host vehicle.

[0023] In the traveling control device of (18)(16), when the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle, if the speed of the following vehicle in the time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle is executed does not drop below the speed of the following vehicle in the time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle is executed, the prediction unit may predict that the following vehicle may pass by on the left side of the host vehicle.

[0024] In the traveling control device of (19)(2), when the position in the lane width direction within the traveling lane of the following vehicle in the time period after the time when the left-turn indicator is turned on moves to the right side of the position in the lane width direction within the traveling lane of the following vehicle in the time period before the time when the left-turn indicator is turned on, the prediction unit may predict that the following vehicle may overtake the host vehicle from the right side of the host vehicle.

[0025] In the traveling control device of (20)(19), when the prediction unit predicts that the following vehicle may overtake the host vehicle from the right side of the host vehicle, the control unit may gradually move the position in the lane width direction within the traveling lane of the host vehicle to the left while decelerating the host vehicle.

[0026] (21) One aspect of the present disclosure includes an acquisition step of acquiring a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle including a following vehicle located within a certain distance behind the host vehicle traveling on the left side; a calculation step in which the travel control device calculates a change in the travel behavior of the following vehicle in time periods before and after the time when the left turn indicator of the host vehicle is turned on, based on the detection result acquired in the acquisition step; and a prediction step in which the travel control device predicts the travel behavior of the following vehicle before or during a left turn of the host vehicle, based on the change in the travel behavior of the following vehicle in time periods before and after the time when the left turn indicator is turned on, which is calculated in the calculation step. This is a travel control method.

[0027] (22) One aspect of the present disclosure is a program for causing a processor to execute an acquisition step of acquiring a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle including a following vehicle located within a certain distance behind the host vehicle traveling on the left side; a calculation step of calculating a change in the travel behavior of the following vehicle in time periods before and after the time when the left turn indicator of the host vehicle is turned on, based on the detection result acquired in the acquisition step; and a prediction step of predicting the travel behavior of the following vehicle before or during a left turn of the host vehicle, based on the change in the travel behavior of the following vehicle in time periods before and after the time when the left turn indicator is turned on, which is calculated in the calculation step.

Advantages of the Invention

[0028] According to the present disclosure, the travel of the host vehicle can be appropriately controlled according to the behavior of the following vehicle.

Brief Description of the Drawings

[0029]

Figure 1

Figure 2

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Figure 8

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Figure 11

Embodiments for Carrying Out the Invention

[0030] Hereinafter, embodiments of the travel control device, travel control method, and program of the present disclosure will be described with reference to the drawings.

[0031] <First Embodiment> FIG. 1 is a diagram showing an example of host vehicle 1 to which travel control device 14 of the first embodiment is applied. In the example shown in FIG. 1, host vehicle 1 is configured to travel on a domestic road having a law that vehicles drive on the left side. Host vehicle 1 includes a surrounding situation sensor 11, a vehicle state sensor 12, an HMI (Human Machine Interface) 13, a travel control device 14, a steering actuator 15A, a braking actuator 15B, a driving actuator 15C, a left turn indicator 15D, and a right turn indicator 15E. The surrounding situation sensor 11 detects the surrounding situation of the host vehicle 1 (for example, a following vehicle FV (see FIG. 2), structures around the host vehicle 1, etc.), and transmits the detection result to the travel control device 14. Specifically, the surrounding situation sensor 11 detects a following vehicle FV located within a certain distance behind the host vehicle 1, and transmits the detection result to the travel control device 14. The "certain distance" is, for example, the inter-vehicle distance between the host vehicle 1 and the following vehicle FV such that if the host vehicle 1 starts to decelerate, the following vehicle FV can overtake the host vehicle 1 within several seconds. Specifically, for example, the surrounding situation sensor 11 detects the relative position and relative speed of the following vehicle FV with respect to the host vehicle 1, and transmits the detection result to the travel control device 14. The surrounding situation sensor 11 includes, for example, a camera that captures the rear of the host vehicle 1, LiDAR (Light Detection And Ranging), a radar, etc. The vehicle state sensor 12 detects the state of the host vehicle 1, and transmits the detection result to the travel control device 14. The vehicle state sensor 12 includes, for example, a vehicle speed sensor, an acceleration sensor, etc.

[0032] The HMI 13 has functions such as receiving various operations of the driver of the host vehicle 1, and outputting information such as guidance and warnings to the driver of the host vehicle 1 by display, voice, etc., and transmits a signal indicating the operation of the driver of the host vehicle 1 to the travel control device 14. Specifically, for example, the HMI 13 receives an operation in which the driver of the host vehicle 1 turns on the left turn indicator 15D, and transmits a signal indicating the operation to the travel control device 14. Also, the HMI 13 receives an operation in which the driver of the host vehicle 1 turns on the right turn indicator 15E, and transmits a signal indicating the operation to the travel control device 14. Furthermore, the HMI 13 receives, for example, an operation in which the driver of the host vehicle 1 operates the brake actuator 15B to decelerate the host vehicle 1, and transmits a signal indicating the operation to the travel control device 14. Also, the HMI 13 receives, for example, an operation in which the driver of the host vehicle 1 operates the steering actuator 15A to gradually move the position of the host vehicle 1 in the lane width direction (left - right direction in FIG. 2) within the travel lane LN (see FIG. 2) of the host vehicle 1 to the left, and transmits a signal indicating the operation to the travel control device 14.

[0033] The traveling control device 14 executes control of the traveling of the own vehicle 1. Specifically, the traveling control device 14 is constituted by a driving support ECU (Electronic Control Unit), and based on information (data, signals) transmitted from, for example, the surrounding situation sensor 11, the vehicle state sensor 12, and the HMI 13, controls the steering actuator 15A, the braking actuator 15B, the driving actuator 15C, the left turn indicator 15D, and the right turn indicator 15E. The traveling control device 14 is constituted by a microcomputer including a communication interface (I / F) 141, a memory 142, and a processor 143. The communication interface 141 has an interface circuit for connecting the traveling control device 14 to the surrounding situation sensor 11, the vehicle state sensor 12, the HMI 13, the steering actuator 15A, the braking actuator 15B, the driving actuator 15C, the left turn indicator 15D, and the right turn indicator 15E. The memory 142 stores programs and various data used in processes executed by the processor 143. The processor 143 has functions as an acquisition unit 3A, a calculation unit 3B, a prediction unit 3C, and a control unit 3D.

[0034] The acquisition unit 3A acquires the detection result of the surrounding situation sensor 11, the detection result of the vehicle state sensor 12, a signal indicating an operation of the driver of the own vehicle 1 received by the HMI 13, etc. Specifically, when a following vehicle FV (see FIG. 2) is located within a certain distance behind the own vehicle 1, the acquisition unit 3A acquires, as the detection result of the surrounding situation sensor 11, information indicating the following vehicle FV (for example, the relative position, relative speed, etc. of the following vehicle FV with respect to the own vehicle 1). When the following vehicle FV is located within a certain distance behind the own vehicle 1 and the HMI 13 has received an operation by the driver of the own vehicle 1 to turn on the left turn indicator 15D, the calculation unit 3B calculates a change in the traveling behavior of the following vehicle FV in time zones before and after the time when the left turn indicator 15D is turned on, based on the detection result of the surrounding situation sensor 11 (for example, the relative position, relative speed, etc. of the following vehicle FV with respect to the own vehicle 1) acquired by the acquisition unit 3A.

[0035] Based on the change in the driving behavior of the following vehicle FV in the time period before and after the left-turn indicator 15D calculated by the calculation unit 3B is turned on, the prediction unit 3C predicts the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1. The control unit 3D activates the steering actuator 15A, the braking actuator 15B, the driving actuator 15C, the left-turn indicator 15D, and the right-turn indicator 15E based on the information (data, signals) transmitted from, for example, the surrounding situation sensor 11, the vehicle state sensor 12, and the HMI 13. Specifically, the control unit 3D controls the driving of the host vehicle 1 before the left turn based on the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1 predicted by the prediction unit 3C.

[0036] FIG. 2 is a diagram for explaining an example in which the prediction unit 3C predicts that the following vehicle FV is waiting for the host vehicle 1 to complete the left turn, and the control unit 3D gradually moves the position of the host vehicle 1 in the lane width direction within the driving lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1. In the example shown in FIG. 2, since the host vehicle 1 is scheduled to make a left turn at the intersection IS shown in FIG. 2, the left-turn indicator 15D is turned on. Also, the following vehicle FV is traveling within a certain distance behind the host vehicle 1, and the surrounding situation sensor 11 detects the following vehicle FV. In the example shown in FIG. 2, the calculation unit 3B calculates the change in the driving behavior of the following vehicle FV in the time period before and after the left-turn indicator 15D is turned on based on the detection results of the surrounding situation sensor 11 in the time period before and after the left-turn indicator 15D is turned on. Specifically, as the change in the driving behavior of the following vehicle FV, the calculation unit 3B calculates that the position in the lane width direction (the left-right direction position in FIG. 2) within the driving lane LN of the following vehicle FV does not change in the time period before and after the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV in the time period after the left-turn indicator 15D is turned on has decreased compared to the speed of the following vehicle FV in the time period before the left-turn indicator 15D is turned on. In the example shown in FIG. 2, the calculation unit 3B calculates (estimates) that the following vehicle FV has decelerated as a change in the driving behavior of the following vehicle FV based on the detection result of the surrounding situation sensor 11 (information indicating that the distance between the host vehicle 1 and the following vehicle FV has increased). However, in other examples, the calculation unit 3B may calculate that the following vehicle FV has decelerated as a change in the driving behavior of the following vehicle FV based on the detection result of the surrounding situation sensor 11 (relative speed of the following vehicle FV with respect to the host vehicle 1) and the detection result of the vehicle state sensor 12 (vehicle speed of the host vehicle 1).

[0037] In the example shown in FIG. 2, the prediction unit 3C predicts the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1 based on the change in the driving behavior of the following vehicle FV in the time period before and after the time when the left turn blinker 15D calculated by the calculation unit 3B is turned on (that is, the position in the lane width direction within the driving lane LN of the following vehicle FV does not change in the time period before and after the time when the left turn blinker 15D is turned on, and the speed of the following vehicle FV in the time period after the time when the left turn blinker 15D is turned on is lower than the speed of the following vehicle FV in the time period before the time when the left turn blinker 15D is turned on). Specifically, the prediction unit 3C predicts that the following vehicle FV is waiting for the left turn of the host vehicle 1 to end as the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1.

[0038] In the example shown in FIG. 2, the control unit 3D controls the driving of the host vehicle 1 before the left turn based on the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1 predicted by the prediction unit 3C (that is, the following vehicle FV is waiting for the left turn of the host vehicle 1 to end). Specifically, the control unit 3D gradually moves the position of the host vehicle 1 in the lane width direction (left - right direction in FIG. 2) within the driving lane LN of the host vehicle 1 to the left side (left side in FIG. 2) while decelerating the host vehicle 1. Specifically, in the example shown in FIG. 2, the control unit 3D outputs a guidance to the HMI 13 indicating that it is necessary to gradually move the position of the host vehicle 1 in the lane width direction within the driving lane LN of the host vehicle 1 to the left side while decelerating the host vehicle 1. After the HMI 13 outputs guidance, if the control unit 3D receives an operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1, the control unit 3D activates the steering actuator 15A and the braking actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the left turn of the host vehicle 1, while the host vehicle 1 decelerates, the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 gradually moves to the left. On the other hand, after the HMI 13 outputs guidance, if the control unit 3D does not receive an operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1, the control unit 3D causes the HMI 13 to output an alarm prompting the driver of the host vehicle 1 to perform the operation.

[0039] That is, in the example shown in FIG. 2, in order for the prediction unit 3C to predict the future behavior of the following vehicle FV (the following vehicle FV is waiting for the completion of the left turn of the host vehicle 1), the control unit 3D can appropriately control the travel of the host vehicle 1 (specifically, while decelerating the host vehicle 1, gradually move the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 to the left) without delay in response to the change in the behavior of the following vehicle FV. In the example shown in FIG. 2, the following vehicle FV is a motorcycle (two-wheeled vehicle), but in other examples, the following vehicle FV may be a vehicle other than a motorcycle (two-wheeled vehicle) such as a bicycle, kick scooter, electric scooter, etc.

[0040] FIG. 3 is a diagram for explaining an example in which the prediction unit 3C predicts that the following vehicle FV may pass through the left side of the host vehicle 1, and the control unit 3D decelerates the host vehicle 1 without changing the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1. In the example shown in FIG. 3, since the host vehicle 1 is scheduled to make a left turn at the intersection IS shown in FIG. 3, the left turn indicator 15D is in an on state. Also, the following vehicle FV is traveling within a certain distance behind the host vehicle 1, and the surrounding situation sensor 11 detects the following vehicle FV. In the example shown in FIG. 3, the calculation unit 3B calculates the change in the driving behavior of the following vehicle FV in the time period before and after the time when the left-turn blinker 15D is turned on, based on the detection results of the surrounding situation sensor 11 in the time period before and after the time when the left-turn blinker 15D is turned on. Specifically, as the change in the driving behavior of the following vehicle FV, the calculation unit 3B calculates that the position in the lane width direction (the left-right position in FIG. 3) within the driving lane LN of the following vehicle FV does not change in the time period before and after the time when the left-turn blinker 15D is turned on, and that the speed of the following vehicle FV in the time period after the time when the left-turn blinker 15D is turned on is higher than the speed of the following vehicle FV in the time period before the time when the left-turn blinker 15D is turned on. In the example shown in FIG. 3, the calculation unit 3B calculates (estimates) that the following vehicle FV has accelerated as a change in the driving behavior of the following vehicle FV, based on the detection result of the surrounding situation sensor 11 (information indicating that the inter-vehicle distance between the host vehicle 1 and the following vehicle FV has decreased). However, in other examples, the calculation unit 3B may calculate that the following vehicle FV has accelerated as a change in the driving behavior of the following vehicle FV, based on the detection result of the surrounding situation sensor 11 (the relative speed of the following vehicle FV with respect to the host vehicle 1) and the detection result of the vehicle state sensor 12 (the vehicle speed of the host vehicle 1).

[0041] In the example shown in FIG. 3, the prediction unit 3C predicts the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1, based on the change in the driving behavior of the following vehicle FV in the time period before and after the time when the left-turn blinker 15D is turned on, which is calculated by the calculation unit 3B (that is, the position in the lane width direction within the driving lane LN of the following vehicle FV does not change in the time period before and after the time when the left-turn blinker 15D is turned on, and that the speed of the following vehicle FV in the time period after the time when the left-turn blinker 15D is turned on is higher than the speed of the following vehicle FV in the time period before the time when the left-turn blinker 15D is turned on). Specifically, the prediction unit 3C predicts that the following vehicle FV may pass by the left side of the host vehicle 1 as the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1.

[0042] In the example shown in FIG. 3, the control unit 3D controls the driving of the host vehicle 1 before a left turn based on the driving behavior of the following vehicle FV (i.e., the possibility that the following vehicle FV may pass by on the left side of the host vehicle 1) before or during a left turn of the host vehicle 1 predicted by the prediction unit 3C. Specifically, the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction (the left-right direction in FIG. 3) within the driving lane LN of the host vehicle 1 (i.e., allows the following vehicle FV to pass by). Specifically, in the example shown in FIG. 3, the control unit 3D causes the HMI 13 to output a guidance indicating that it is necessary to decelerate the host vehicle 1 without changing the position in the lane width direction within the driving lane LN of the host vehicle 1. After the HMI 13 outputs the guidance, if the HMI 13 receives an operation of the driver of the host vehicle 1 to decelerate the host vehicle 1 without changing the position in the lane width direction within the driving lane LN of the host vehicle 1, the control unit 3D operates the steering actuator 15A and the braking actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the left turn of the host vehicle 1, the host vehicle 1 decelerates without changing the position in the lane width direction within the driving lane LN of the host vehicle 1. On the other hand, after the HMI 13 outputs the guidance, if the HMI 13 does not receive an operation of the driver of the host vehicle 1 to decelerate the host vehicle 1 without changing the position in the lane width direction within the driving lane LN of the host vehicle 1, the control unit 3D causes the HMI 13 to output a warning prompting the driver of the host vehicle 1 to perform the operation.

[0043] That is, in the example shown in FIG. 3, since the prediction unit 3C predicts the future behavior of the following vehicle FV (the possibility that the following vehicle FV may pass by on the left side of the host vehicle 1), the control unit 3D can appropriately control the driving of the host vehicle 1 (specifically, decelerate the host vehicle 1 without changing the position in the lane width direction within the driving lane LN of the host vehicle 1) without being delayed with respect to the change in the behavior of the following vehicle FV.

[0044] FIG. 4 is a diagram for explaining another example in which the prediction unit 3C predicts that the following vehicle FV may pass by on the left side of the host vehicle 1, and the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction within the driving lane LN of the host vehicle 1. In the example shown in FIG. 4, since the host vehicle 1 plans to turn left at the intersection IS shown in FIG. 4, the left-turn indicator 15D is in the ON state. Also, a following vehicle FV is traveling within a certain distance behind the host vehicle 1, and the surrounding situation sensor 11 has detected the following vehicle FV. In the example shown in FIG. 4, based on the detection results of the surrounding situation sensor 11 in the time periods before and after the time when the left-turn indicator 15D is turned on, the calculation unit 3B calculates the change in the driving behavior of the following vehicle FV in the time periods before and after the time when the left-turn indicator 15D is turned on. Specifically, as the change in the driving behavior of the following vehicle FV, the calculation unit 3B determines that the position of the following vehicle FV in the vehicle lane width direction (the left-right direction in FIG. 4) within the driving lane LN in the time period after the time when the left-turn indicator 15D is turned on has moved to the left side (the left side in FIG. 4) compared to the position of the following vehicle FV in the vehicle lane width direction within the driving lane LN in the time period before the time when the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV in the time period after the time when the left-turn indicator 15D is turned on has increased compared to the speed of the following vehicle FV in the time period before the time when the left-turn indicator 15D is turned on.

[0045] In the example shown in FIG. 4, based on the change in the driving behavior of the following vehicle FV in the time periods before and after the time when the left-turn indicator 15D is turned on, which is calculated by the calculation unit 3B (that is, the position of the following vehicle FV in the vehicle lane width direction within the driving lane LN in the time period after the time when the left-turn indicator 15D is turned on has moved to the left side compared to the position of the following vehicle FV in the vehicle lane width direction within the driving lane LN in the time period before the time when the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV in the time period after the time when the left-turn indicator 15D is turned on has increased compared to the speed of the following vehicle FV in the time period before the time when the left-turn indicator 15D is turned on), the prediction unit 3C predicts the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1. Specifically, the prediction unit 3C predicts that the following vehicle FV may pass by on the left side of the host vehicle 1 as the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1.

[0046] In the example shown in FIG. 4, the control unit 3D controls the running of the host vehicle 1 before a left turn based on the running behavior of the following vehicle FV (that is, the possibility that the following vehicle FV may pass by on the left side of the host vehicle 1) predicted by the prediction unit 3C during or before a left turn of the host vehicle 1. Specifically, the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction (the left - right direction in FIG. 4) within the running lane LN of the host vehicle 1 (that is, allows the following vehicle FV to pass by). Specifically, in the example shown in FIG. 4, the control unit 3D causes the HMI 13 to output a guidance indicating that it is necessary to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1. After the HMI 13 outputs the guidance, if the HMI 13 receives an operation of the driver of the host vehicle 1 to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1, the control unit 3D operates the steering actuator 15A and the braking actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the left turn of the host vehicle 1, the host vehicle 1 decelerates without changing the position in the lane width direction within the running lane LN of the host vehicle 1. On the other hand, after the HMI 13 outputs the guidance, if the HMI 13 does not receive an operation of the driver of the host vehicle 1 to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1, the control unit 3D causes the HMI 13 to output an alarm prompting the driver of the host vehicle 1 for that operation.

[0047] FIG. 5 is a diagram for explaining an example in which the prediction unit 3C predicts that the following vehicle FV is waiting for the host vehicle 1 to complete a left turn or that the following vehicle FV may pass by on the left side of the host vehicle 1, and the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1. In the example shown in FIG. 5, since the host vehicle 1 is scheduled to make a left turn at the intersection IS shown in FIG. 5, the left - turn indicator 15D is in an on state. Also, the following vehicle FV is running within a certain distance behind the host vehicle 1, and the surrounding - situation sensor 11 detects the following vehicle FV. In the example shown in FIG. 5, the calculation unit 3B calculates a change in the driving behavior of the following vehicle FV in the time period before and after the left-turn indicator 15D is turned on, based on the detection results of the surrounding situation sensor 11 in the time period before and after the left-turn indicator 15D is turned on. Specifically, as the change in the driving behavior of the following vehicle FV, the calculation unit 3B calculates that the position in the lane width direction (the left-right direction in FIG. 5) within the driving lane LN of the following vehicle FV does not change in the time period before and after the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV does not change in the time period before and after the left-turn indicator 15D is turned on.

[0048] In the example shown in FIG. 5, the prediction unit 3C predicts the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1, based on the change in the driving behavior of the following vehicle FV in the time period before and after the left-turn indicator 15D is turned on, which is calculated by the calculation unit 3B (that is, the position in the lane width direction (the left-right direction in FIG. 5) within the driving lane LN of the following vehicle FV does not change in the time period before and after the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV does not change in the time period before and after the left-turn indicator 15D is turned on). Specifically, as the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1, the prediction unit 3C predicts whether the following vehicle FV is waiting for the left turn of the host vehicle 1 to end, or whether the following vehicle FV may pass by on the left side of the host vehicle 1.

[0049] In the example shown in FIG. 5, the control unit 3D controls the driving of the host vehicle 1 before the left turn, based on the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1, which is predicted by the prediction unit 3C (that is, whether the following vehicle FV is waiting for the left turn of the host vehicle 1 to end, or whether the following vehicle FV may pass by on the left side of the host vehicle 1). Specifically, the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction (the left-right direction in FIG. 5) within the driving lane LN of the host vehicle 1. Specifically, in the example shown in FIG. 5, the control unit 3D causes the HMI 13 to output a guidance indicating that it is necessary to decelerate the host vehicle 1 without changing the position in the lane width direction within the traveling lane LN of the host vehicle 1. After the HMI 13 outputs the guidance, it receives an operation of the driver of the host vehicle 1 for decelerating the host vehicle 1 without changing the position in the lane width direction within the traveling lane LN of the host vehicle 1. The control unit 3D operates the steering actuator 15A and the braking actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the left turn of the host vehicle 1, the host vehicle 1 decelerates without changing the position in the lane width direction within the traveling lane LN of the host vehicle 1.

[0050] When the control unit 3D executes control to decelerate the host vehicle 1 without changing the position in the lane width direction within the traveling lane LN of the host vehicle 1 as shown in FIG. 5, as shown in FIG. 2, when the speed of the following vehicle FV in the time period after the time point when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the traveling lane LN of the host vehicle 1 is executed is lower than the speed of the following vehicle FV in the time period before the time point when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the traveling lane LN of the host vehicle 1 is executed, the prediction unit 3C predicts that the following vehicle FV is waiting for the left turn of the host vehicle 1 to end. Based on the traveling behavior of the following vehicle FV before or during the left turn of the host vehicle 1 predicted by the prediction unit 3C (that is, the fact that the following vehicle FV is waiting for the left turn of the host vehicle 1 to end), the control unit 3D gradually moves the position of the host vehicle 1 to the left in the lane width direction within the traveling lane LN of the host vehicle 1 while decelerating the host vehicle 1, similar to the example shown in FIG. 2.

[0051] On the one hand, when the control unit 3D executes control to decelerate the host vehicle 1 without changing the position in the lane width direction within the driving lane LN of the host vehicle 1 as shown in FIG. 5, if the speed of the following vehicle FV in the time period after the time when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the driving lane LN of the host vehicle 1 is executed does not drop below the speed of the following vehicle FV in the time period before the time when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the driving lane LN of the host vehicle 1 is executed (for example, when the following vehicle FV accelerates as shown in FIG. 3), the prediction unit 3C predicts that the following vehicle FV may pass by the left side of the host vehicle 1. Based on the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1 predicted by the prediction unit 3C (that is, the possibility that the following vehicle FV may pass by the left side of the host vehicle 1), the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction within the driving lane LN of the host vehicle 1 (that is, allows the following vehicle FV to pass by), similar to the example shown in FIG. 3.

[0052] FIG. 6 is a diagram for explaining another example in which the following vehicle FV is waiting for the host vehicle 1 to complete a left turn, or the prediction unit 3C predicts that the following vehicle FV may pass by the left side of the host vehicle 1, and the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction within the driving lane LN of the host vehicle 1. In the example shown in FIG. 6, since the host vehicle 1 is scheduled to make a left turn at the intersection IS shown in FIG. 6, the left turn indicator 15D is in the on state. Also, the following vehicle FV is traveling within a certain distance behind the host vehicle 1, and the surrounding situation sensor 11 detects the following vehicle FV. In the example shown in FIG. 6, the calculation unit 3B calculates a change in the driving behavior of the following vehicle FV in the time period before and after the time when the left-turn indicator 15D is turned on, based on the detection results of the surrounding situation sensor 11 in the time period before and after the time when the left-turn indicator 15D is turned on. Specifically, as the change in the driving behavior of the following vehicle FV, the calculation unit 3B determines that the position of the following vehicle FV in the lane width direction (the left-right direction in FIG. 6) within the driving lane LN in the time period after the time when the left-turn indicator 15D is turned on has moved to the left side (the left side in FIG. 6) of the position of the following vehicle FV in the lane width direction within the driving lane LN in the time period before the time when the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV in the time period after the time when the left-turn indicator 15D is turned on has decreased compared to the speed of the following vehicle FV in the time period before the time when the left-turn indicator 15D is turned on.

[0053] In the example shown in FIG. 6, the prediction unit 3C predicts the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1, based on the change in the driving behavior of the following vehicle FV in the time period before and after the time when the left-turn indicator 15D is turned on, which is calculated by the calculation unit 3B (that is, the position of the following vehicle FV in the lane width direction within the driving lane LN in the time period after the time when the left-turn indicator 15D is turned on has moved to the left side of the position of the following vehicle FV in the lane width direction within the driving lane LN in the time period before the time when the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV in the time period after the time when the left-turn indicator 15D is turned on has decreased compared to the speed of the following vehicle FV in the time period before the time when the left-turn indicator 15D is turned on). Specifically, the prediction unit 3C predicts that the following vehicle FV is waiting for the left turn of the host vehicle 1 to end, or that the following vehicle FV may pass by the left side of the host vehicle 1, as the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1.

[0054] In the example shown in FIG. 6, the control unit 3D controls the running of the host vehicle 1 before and during a left turn based on the running behavior of the following vehicle FV (that is, whether the following vehicle FV is waiting for the host vehicle 1 to complete the left turn or whether the following vehicle FV may pass on the left side of the host vehicle 1) predicted by the prediction unit 3C. Specifically, the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction (the left-right direction in FIG. 6) within the running lane LN of the host vehicle 1. Specifically, in the example shown in FIG. 6, the control unit 3D outputs a guidance to the HMI 13 indicating that it is necessary to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1. After the HMI 13 outputs the guidance, it accepts the operation of the driver of the host vehicle 1 to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1, and the control unit 3D operates the steering actuator 15A and the braking actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the host vehicle 1 makes a left turn, the host vehicle 1 decelerates without changing the position in the lane width direction within the running lane LN of the host vehicle 1.

[0055] When the control unit 3D executes the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1 as shown in FIG. 6, as shown in FIG. 2, when the speed of the following vehicle FV in the time period after the time point when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1 is executed is lower than the speed of the following vehicle FV in the time period before the time point when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1 is executed, the prediction unit 3C predicts that the following vehicle FV is waiting for the host vehicle 1 to complete the left turn. Based on the running behavior of the following vehicle FV (that is, the fact that the following vehicle FV is waiting for the host vehicle 1 to complete the left turn) predicted by the prediction unit 3C before and during the left turn of the host vehicle 1, the control unit 3D gradually moves the position of the host vehicle 1 in the lane width direction within the running lane LN to the left while decelerating the host vehicle 1, similar to the example shown in FIG. 2.

[0056] On the other hand, when the control unit 3D executes control to decelerate the host vehicle 1 without changing the position in the lane width direction within the travel lane LN of the host vehicle 1 as shown in FIG. 6, if the speed of the following vehicle FV in the time period after the time when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the travel lane LN of the host vehicle 1 is executed does not drop below the speed of the following vehicle FV in the time period before the time when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the travel lane LN of the host vehicle 1 is executed (for example, when the following vehicle FV accelerates as shown in FIG. 3), the prediction unit 3C predicts that the following vehicle FV may pass by the left side of the host vehicle 1. Based on the driving behavior of the following vehicle FV during a left turn before or during a left turn of the host vehicle 1 predicted by the prediction unit 3C (that is, the possibility that the following vehicle FV may pass by the left side of the host vehicle 1), the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction within the travel lane LN of the host vehicle 1 (that is, allows the following vehicle FV to pass by), similar to the example shown in FIG. 3.

[0057] FIG. 7 is a diagram for explaining still another example in which the following vehicle FV is waiting for the host vehicle 1 to complete a left turn, or the prediction unit 3C predicts that the following vehicle FV may pass by the left side of the host vehicle 1, and the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction within the travel lane LN of the host vehicle 1. In the example shown in FIG. 7, since the host vehicle 1 is scheduled to make a left turn at the intersection IS shown in FIG. 7, the left turn indicator 15D is in the on state. Also, the following vehicle FV is traveling within a certain distance behind the host vehicle 1, and the surrounding situation sensor 11 detects the following vehicle FV. In the example shown in FIG. 7, the calculation unit 3B calculates the change in the driving behavior of the following vehicle FV in the time period before and after the left-turn indicator 15D is turned on, based on the detection results of the surrounding situation sensor 11 in the time period before and after the left-turn indicator 15D is turned on. Specifically, as the change in the driving behavior of the following vehicle FV, the calculation unit 3B calculates that the position of the following vehicle FV in the vehicle lane width direction (the left-right direction in FIG. 7) within the driving lane LN in the time period after the left-turn indicator 15D is turned on has moved to the left side (the left side in FIG. 7) of the position of the following vehicle FV in the vehicle lane width direction within the driving lane LN in the time period before the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV has not changed in the time period before and after the left-turn indicator 15D is turned on.

[0058] In the example shown in FIG. 7, the prediction unit 3C predicts the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1, based on the change in the driving behavior of the following vehicle FV in the time period before and after the left-turn indicator 15D is turned on, calculated by the calculation unit 3B (that is, the position of the following vehicle FV in the vehicle lane width direction within the driving lane LN in the time period after the left-turn indicator 15D is turned on has moved to the left side of the position of the following vehicle FV in the vehicle lane width direction within the driving lane LN in the time period before the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV has not changed in the time period before and after the left-turn indicator 15D is turned on). Specifically, as the driving behavior of the following vehicle FV before or during the left turn of the host vehicle 1, the prediction unit 3C predicts that the following vehicle FV is waiting for the host vehicle 1 to complete the left turn, or that the following vehicle FV may pass by on the left side of the host vehicle 1.

[0059] In the example shown in FIG. 7, the control unit 3D controls the running of the host vehicle 1 before a left turn or during a left turn based on the running behavior of the following vehicle FV predicted by the prediction unit 3C (that is, whether the following vehicle FV is waiting for the host vehicle 1 to complete the left turn or the following vehicle FV may pass by the left side of the host vehicle 1). Specifically, the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction (the left-right direction in FIG. 7) within the running lane LN of the host vehicle 1. Specifically, in the example shown in FIG. 7, the control unit 3D causes the HMI 13 to output a guidance indicating that it is necessary to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1. After the HMI 13 outputs the guidance, it accepts the operation of the driver of the host vehicle 1 to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1, and the control unit 3D operates the steering actuator 15A and the braking actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the left turn of the host vehicle 1, the host vehicle 1 decelerates without changing the position in the lane width direction within the running lane LN of the host vehicle 1.

[0060] When the control unit 3D executes the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1 as shown in FIG. 7, as shown in FIG. 2, when the speed of the following vehicle FV in the time period after the time point when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1 is executed is lower than the speed of the following vehicle FV in the time period before the time point when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the running lane LN of the host vehicle 1 is executed, the prediction unit 3C predicts that the following vehicle FV is waiting for the host vehicle 1 to complete the left turn. Based on the running behavior of the following vehicle FV predicted by the prediction unit 3C before a left turn or during a left turn of the host vehicle 1 (that is, the fact that the following vehicle FV is waiting for the host vehicle 1 to complete the left turn), the control unit 3D gradually moves the position of the host vehicle 1 in the lane width direction within the running lane LN to the left while decelerating the host vehicle 1, similar to the example shown in FIG. 2.

[0061] On the other hand, when the control unit 3D executes control to decelerate the host vehicle 1 without changing the position in the lane width direction within the travel lane LN of the host vehicle 1 as shown in FIG. 7, if the speed of the following vehicle FV in the time period after the time when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the travel lane LN of the host vehicle 1 is executed does not drop below the speed of the following vehicle FV in the time period before the time when the control to decelerate the host vehicle 1 without changing the position in the lane width direction within the travel lane LN of the host vehicle 1 is executed (for example, when the following vehicle FV accelerates as shown in FIG. 3), the prediction unit 3C predicts that the following vehicle FV may pass by the left side of the host vehicle 1. Based on the running behavior of the following vehicle FV before or during a left turn of the host vehicle 1 predicted by the prediction unit 3C (that is, the possibility that the following vehicle FV may pass by the left side of the host vehicle 1), the control unit 3D decelerates the host vehicle 1 without changing the position in the lane width direction within the travel lane LN of the host vehicle 1 (that is, allows the following vehicle FV to pass by), similar to the example shown in FIG. 3.

[0062] FIG. 8 is a diagram for explaining an example in which the prediction unit 3C predicts that the following vehicle FV may overtake the host vehicle 1 from the right side of the host vehicle 1, and the control unit 3D gradually moves the position of the host vehicle 1 in the lane width direction within the travel lane LN to the left while decelerating the host vehicle 1. In the example shown in FIG. 8, since the host vehicle 1 is scheduled to make a left turn at the intersection IS shown in FIG. 8, the left turn indicator 15D is in the on state. Also, the following vehicle FV is traveling within a certain distance behind the host vehicle 1, and the surrounding situation sensor 11 detects the following vehicle FV. In the example shown in FIG. 8, the calculation unit 3B calculates a change in the driving behavior of the following vehicle FV in the time period before and after the left-turn indicator 15D is turned on, based on the detection results of the surrounding situation sensor 11 in the time period before and after the left-turn indicator 15D is turned on. Specifically, as the change in the driving behavior of the following vehicle FV, the calculation unit 3B determines that the position of the following vehicle FV in the vehicle lane width direction (the left-right direction in FIG. 8) within the driving lane LN in the time period after the left-turn indicator 15D is turned on has moved to the right side (the right side in FIG. 8) of the position of the following vehicle FV in the vehicle lane width direction within the driving lane LN in the time period before the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV in the time period after the left-turn indicator 15D is turned on has decreased compared to the speed of the following vehicle FV in the time period before the left-turn indicator 15D is turned on.

[0063] In the example shown in FIG. 8, the prediction unit 3C predicts the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1, based on the change in the driving behavior of the following vehicle FV in the time period before and after the left-turn indicator 15D is turned on, which is calculated by the calculation unit 3B (that is, the position of the following vehicle FV in the vehicle lane width direction within the driving lane LN in the time period after the left-turn indicator 15D is turned on has moved to the right side of the position of the following vehicle FV in the vehicle lane width direction within the driving lane LN in the time period before the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV in the time period after the left-turn indicator 15D is turned on has decreased compared to the speed of the following vehicle FV in the time period before the left-turn indicator 15D is turned on). Specifically, the prediction unit 3C predicts that the following vehicle FV may overtake the host vehicle 1 from the right side (the right side in FIG. 8) of the host vehicle 1 as the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1.

[0064] In the example shown in FIG. 8, the control unit 3D controls the running of the host vehicle 1 before a left turn or during a left turn of the host vehicle 1 based on the running behavior of the following vehicle FV (that is, the possibility that the following vehicle FV may overtake the host vehicle 1 from the right side (the right side in FIG. 8) of the host vehicle 1) predicted by the prediction unit 3C. Specifically, the control unit 3D gradually moves the position of the host vehicle 1 in the lane width direction (the left-right direction in FIG. 8) within the running lane LN of the host vehicle 1 to the left side while decelerating the host vehicle 1. Specifically, in the example shown in FIG. 8, the control unit 3D causes the HMI 13 to output a guidance indicating that it is necessary to gradually move the position of the host vehicle 1 in the lane width direction within the running lane LN of the host vehicle 1 to the left side while decelerating the host vehicle 1. After the HMI 13 outputs the guidance, when the HMI 13 receives an operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the running lane LN of the host vehicle 1 to the left side while decelerating the host vehicle 1, the control unit 3D operates the steering actuator 15A and the braking actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the left turn of the host vehicle 1, the host vehicle 1 decelerates and the position of the host vehicle 1 in the lane width direction within the running lane LN of the host vehicle 1 gradually moves to the left side. On the other hand, after the HMI 13 outputs the guidance, when the HMI 13 does not receive an operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the running lane LN of the host vehicle 1 to the left side while decelerating the host vehicle 1, the control unit 3D causes the HMI 13 to output a warning prompting the driver of the host vehicle 1 for the operation.

[0065] That is, in the example shown in FIG. 8, since the prediction unit 3C predicts the future behavior of the following vehicle FV (the possibility that the following vehicle FV may overtake the host vehicle 1 from the right side (the right side in FIG. 8) of the host vehicle 1), the control unit 3D can appropriately control the running of the host vehicle 1 (specifically, gradually move the position of the host vehicle 1 in the lane width direction within the running lane LN of the host vehicle 1 to the left side while decelerating the host vehicle 1) without delay in response to a change in the behavior of the following vehicle FV.

[0066] FIG. 9 is a diagram for explaining another example in which the prediction unit 3C predicts that the following vehicle FV may overtake the host vehicle 1 from the right side of the host vehicle 1, and the control unit 3D gradually moves the position of the host vehicle 1 in the lane width direction within the traveling lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1. In the example shown in FIG. 9, since the host vehicle 1 is scheduled to make a left turn at the intersection IS shown in FIG. 9, the left turn indicator 15D is in the ON state. Also, the following vehicle FV is traveling within a certain distance behind the host vehicle 1, and the surrounding situation sensor 11 has detected the following vehicle FV. In the example shown in FIG. 9, the calculation unit 3B calculates the change in the traveling behavior of the following vehicle FV in the time period before and after the time when the left turn indicator 15D is turned on, based on the detection results of the surrounding situation sensor 11 in the time period before and after the time when the left turn indicator 15D is turned on. Specifically, as the change in the traveling behavior of the following vehicle FV, the calculation unit 3B determines that the position of the following vehicle FV in the lane width direction (the left - right direction in FIG. 9) within the traveling lane LN in the time period after the time when the left turn indicator 15D is turned on has moved to the right side (the right side in FIG. 9) of the position of the following vehicle FV in the lane width direction within the traveling lane LN in the time period before the time when the left turn indicator 15D is turned on, and that the speed of the following vehicle FV in the time period after the time when the left turn indicator 15D is turned on has increased compared to the speed of the following vehicle FV in the time period before the time when the left turn indicator 15D is turned on.

[0067] In the example shown in FIG. 9, the prediction unit 3C predicts the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1 based on changes in the driving behavior of the following vehicle FV in the time period before and after the left-turn indicator 15D calculated by the calculation unit 3B is turned on (that is, the position in the lane width direction within the driving lane LN of the following vehicle FV in the time period after the left-turn indicator 15D is turned on is to the right of the position in the lane width direction within the driving lane LN of the following vehicle FV in the time period before the left-turn indicator 15D is turned on, and the speed of the following vehicle FV in the time period after the left-turn indicator 15D is turned on is higher than the speed of the following vehicle FV in the time period before the left-turn indicator 15D is turned on). Specifically, the prediction unit 3C predicts that the following vehicle FV may overtake the host vehicle 1 from the right side (right side in FIG. 9) of the host vehicle 1 as the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1.

[0068] In the example shown in FIG. 9, the control unit 3D controls the driving of the host vehicle 1 before a left turn based on the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1 predicted by the prediction unit 3C (that is, the possibility that the following vehicle FV may overtake the host vehicle 1 from the right side (right side in FIG. 9) of the host vehicle 1). Specifically, the control unit 3D gradually moves the position of the host vehicle 1 in the lane width direction (left-right direction in FIG. 9) within the driving lane LN to the left side (left side in FIG. 9) while decelerating the host vehicle 1. Specifically, in the example shown in FIG. 9, the control unit 3D outputs a guidance indicating that it is necessary to gradually move the position of the host vehicle 1 in the lane width direction within the driving lane LN to the left side while decelerating the host vehicle 1 to the HMI 13. After the HMI 13 outputs the guidance, when the control unit 3D receives an operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the driving lane LN to the left side while decelerating the host vehicle 1, the control unit 3D operates the steering actuator 15A and the brake actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the left turn of the host vehicle 1, the position of the host vehicle 1 in the lane width direction within the driving lane LN gradually moves to the left side while the host vehicle 1 decelerates. On the other hand, if the HMI 13 does not accept an operation by the driver of the host vehicle 1 to gradually move the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1 after outputting the guidance, the control unit 3D causes the HMI 13 to output an alarm prompting the driver of the host vehicle 1 to perform the operation.

[0069] That is, in the example shown in FIG. 9, since the prediction unit 3C predicts the future behavior of the following vehicle FV (the possibility that the following vehicle FV may overtake the host vehicle 1 from the right side of the host vehicle 1 (the right side in FIG. 9)), the control unit 3D can appropriately control the travel of the host vehicle 1 (specifically, gradually move the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1) without being delayed in response to a change in the behavior of the following vehicle FV.

[0070] FIG. 10 is a diagram for explaining still another example in which the prediction unit 3C predicts that the following vehicle FV may overtake the host vehicle 1 from the right side of the host vehicle 1, and the control unit 3D gradually moves the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1. In the example shown in FIG. 10, since the host vehicle 1 is scheduled to turn left at the intersection IS shown in FIG. 10, the left-turn indicator 15D is in an on state. Also, the following vehicle FV is traveling within a certain distance behind the host vehicle 1, and the surrounding situation sensor 11 has detected the following vehicle FV. In the example shown in FIG. 10, the calculation unit 3B calculates a change in the traveling behavior of the following vehicle FV in the time period before and after the time when the left-turn indicator 15D is turned on, based on the detection results of the surrounding situation sensor 11 in the time period before and after the time when the left-turn indicator 15D is turned on. Specifically, as a change in the traveling behavior of the following vehicle FV, the calculation unit 3B calculates that the position of the following vehicle FV in the lane width direction (the left-right direction in FIG. 10) within the travel lane LN in the time period after the time when the left-turn indicator 15D is turned on has moved to the right side (the right side in FIG. 10) of the position of the following vehicle FV in the lane width direction within the travel lane LN in the time period before the time when the left-turn indicator 15D is turned on, and that the speed of the following vehicle FV has not changed in the time period before and after the time when the left-turn indicator 15D is turned on.

[0071] In the example shown in FIG. 10, the prediction unit 3C predicts the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1 based on the change in the driving behavior of the following vehicle FV in the time period before and after the left turn blinker 15D calculated by the calculation unit 3B is turned on (that is, the position in the lane width direction within the driving lane LN of the following vehicle FV in the time period after the left turn blinker 15D is turned on is to the right of the position in the lane width direction within the driving lane LN of the following vehicle FV in the time period before the left turn blinker 15D is turned on, and the speed of the following vehicle FV in the time period before and after the left turn blinker 15D is turned on has not changed). Specifically, the prediction unit 3C predicts that the following vehicle FV may overtake the host vehicle 1 from the right side (the right side in FIG. 10) of the host vehicle 1 as the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1.

[0072] In the example shown in FIG. 10, the control unit 3D controls the driving of the host vehicle 1 before a left turn based on the driving behavior of the following vehicle FV before or during a left turn of the host vehicle 1 predicted by the prediction unit 3C (that is, the following vehicle FV may overtake the host vehicle 1 from the right side (the right side in FIG. 10) of the host vehicle 1). Specifically, the control unit 3D gradually moves the position of the host vehicle 1 in the lane width direction (the left - right direction in FIG. 10) within the driving lane LN to the left side (the left side in FIG. 10) while decelerating the host vehicle 1. Specifically, in the example shown in FIG. 10, the control unit 3D causes the HMI 13 to output a guidance indicating that it is necessary to gradually move the position of the host vehicle 1 in the lane width direction within the driving lane LN to the left side while decelerating the host vehicle 1. After the HMI 13 outputs the guidance, when the operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the driving lane LN to the left side while decelerating the host vehicle 1 is received, the control unit 3D operates the steering actuator 15A and the braking actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the left turn of the host vehicle 1, the host vehicle 1 decelerates while the position of the host vehicle 1 in the lane width direction within the driving lane LN gradually moves to the left side. On the other hand, after the HMI 13 outputs guidance, if the control unit 3D does not receive an operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1, the control unit 3D causes the HMI 13 to output an alarm prompting the driver of the host vehicle 1 to perform the operation.

[0073] That is, in the example shown in FIG. 10, since the prediction unit 3C predicts the future behavior of the following vehicle FV (the possibility that the following vehicle FV may overtake the host vehicle 1 from the right side (the right side in FIG. 10) of the host vehicle 1), the control unit 3D can appropriately control the travel of the host vehicle 1 (specifically, while decelerating the host vehicle 1, gradually move the position of the host vehicle 1 in the lane width direction within the travel lane LN to the left) without being delayed in response to a change in the behavior of the following vehicle FV.

[0074] FIG. 11 is a flowchart for explaining an example of processing executed by the processor 143 of the travel control device 14 according to the first embodiment when the left turn blinker 15D of the host vehicle 1 scheduled to turn left at the intersection IS is in the ON state. In the example shown in FIG. 11, in step S10, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11. In step S11, the calculation unit 3B calculates a change in the travel behavior of the following vehicle FV in the time period before and after the time when the left turn blinker 15D of the host vehicle 1 is turned on based on the detection result of the surrounding situation sensor 11 acquired in step S10. In step S12, the prediction unit 3C predicts the travel behavior of the following vehicle FV before or during the left turn of the host vehicle 1 based on the change in the travel behavior of the following vehicle FV in the time period before and after the time when the left turn blinker 15D calculated in step S11 is turned on. In step S13, the control unit 3D controls the travel of the host vehicle 1 before the left turn based on the travel behavior of the following vehicle FV before or during the left turn of the host vehicle 1 predicted in step S12.

[0075] <Second Embodiment> The host vehicle 1 to which the travel control device 14 of the second embodiment is applied is configured in the same manner as the host vehicle 1 to which the travel control device 14 of the first embodiment described above is applied, except as described later.

[0076] In the example shown in FIG. 2 of the host vehicle 1 to which the travel control device 14 of the first embodiment is applied as described above, the control unit 3D outputs a guidance to the HMI 13 indicating that it is necessary to gradually move the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1. After the HMI 13 outputs the guidance, when the HMI 13 receives an operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1, the control unit 3D operates the steering actuator 15A and the braking actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the host vehicle 1 makes a left turn, the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 gradually moves to the left while the host vehicle 1 decelerates. On the other hand, in the example shown in FIG. 2 of the host vehicle 1 to which the travel control device 14 of the second embodiment is applied, when the HMI 13 does not receive an operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1, the control unit 3D operates the steering actuator 15A and the braking actuator 15B so that the position of the host vehicle 1 in the lane width direction within the travel lane LN of the host vehicle 1 gradually moves to the left while the host vehicle 1 decelerates without the HMI 13 needing to receive an operation of the driver of the host vehicle 1.

[0077] <Third Embodiment> The host vehicle 1 to which the travel control device 14 of the third embodiment is applied is configured in the same manner as the host vehicle 1 to which the travel control device 14 of the first embodiment described above is applied, except as described later.

[0078] In the example shown in FIG. 2 of the host vehicle 1 to which the traveling control device 14 of the third embodiment is applied, similar to the example shown in FIG. 2 of the host vehicle 1 to which the traveling control device 14 of the first embodiment is applied, the control unit 3D outputs a guidance to the HMI 13 indicating that it is necessary to gradually move the position of the host vehicle 1 in the lane width direction within the traveling lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1. After the HMI 13 outputs the guidance, when the HMI 13 receives an operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the traveling lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1, the control unit 3D operates the steering actuator 15A and the braking actuator 15B according to the operation of the driver of the host vehicle 1. As a result, before the host vehicle 1 makes a left turn, the position of the host vehicle 1 in the lane width direction within the traveling lane LN of the host vehicle 1 gradually moves to the left while the host vehicle 1 decelerates. On the other hand, in the example shown in FIG. 2 of the host vehicle 1 to which the traveling control device 14 of the third embodiment is applied, different from the example shown in FIG. 2 of the host vehicle 1 to which the traveling control device 14 of the first embodiment is applied, when the HMI 13 does not receive an operation of the driver of the host vehicle 1 for gradually moving the position of the host vehicle 1 in the lane width direction within the traveling lane LN of the host vehicle 1 to the left while decelerating the host vehicle 1 after outputting the guidance, the control unit 3D does not necessarily output an alarm to the HMI 13 to prompt the driver of the host vehicle 1 for the operation.

[0079] <Fourth Embodiment> The host vehicle 1 to which the traveling control device 14 of the fourth embodiment is applied is configured in the same manner as the host vehicle 1 to which the traveling control device 14 of the first embodiment described above is applied, except for the points described later.

[0080] As described above, in an example (the example shown in FIG. 1) of the host vehicle 1 to which the traveling control device 14 of the first embodiment is applied, the traveling control device 14 is configured by the driving support ECU. On the other hand, in an example of the host vehicle 1 to which the traveling control device 14 of the fourth embodiment is applied, the traveling control device 14 is configured by the automatic driving ECU. In the example shown in FIG. 2 of the host vehicle 1 to which the travel control device 14 according to the fourth embodiment is applied, the calculation unit 3B calculates that the position in the lane width direction (the left - right direction in FIG. 2) within the travel lane LN of the following vehicle FV does not change in the time period before and after the time when the left - turn indicator 15D is turned on, and that the speed of the following vehicle FV in the time period after the time when the left - turn indicator 15D is turned on is lower than the speed of the following vehicle FV in the time period before the time when the left - turn indicator 15D is turned on. When the prediction unit 3C predicts that the following vehicle FV is waiting for the host vehicle 1 to complete a left - turn, the travel control device 14 (automatic driving ECU) generates a travel plan for the host vehicle 1 to gradually move the position of the host vehicle 1 in the lane width direction (the left - right direction in FIG. 2) within the travel lane LN to the left side (the left side in FIG. 2) while decelerating the host vehicle 1. The control unit 3D operates the steering actuator 15A, the brake actuator 15B, and the drive actuator 15C based on the travel plan.

[0081] <Fifth Embodiment> The host vehicle 1 to which the travel control device 14 according to the fifth embodiment is applied is configured in the same manner as the host vehicle 1 to which the travel control device 14 according to the first embodiment described above is applied, except for the points described later.

[0082] In an example of the host vehicle 1 to which the travel control device 14 according to the fifth embodiment is applied, similar to an example of the host vehicle 1 to which the travel control device 14 according to the fourth embodiment described above is applied, the travel control device 14 is configured by an automatic driving ECU. In an example of the host vehicle 1 to which the travel control device 14 according to the fifth embodiment is applied, the control unit 3D of the travel control device 14 according to the fifth embodiment uses a model obtained by performing learning using teacher data which is a combination of the prediction results of the prediction unit 3C and the control contents of the control unit 3D in each of the examples shown in FIGS. 1 to 10 described above. Based on the prediction results of the prediction unit 3C of the travel control device 14 according to the fifth embodiment, the steering actuator 15A, the brake actuator 15B, the drive actuator 15C, the left - turn indicator 15D, and the right - turn indicator 15E are operated.

[0083] As described above, embodiments of the travel control device, travel control method, and program of the present disclosure have been described with reference to the drawings. However, the travel control device, travel control method, and program of the present disclosure are not limited to the above-described embodiments, and appropriate changes can be made without departing from the spirit of the present disclosure. The configurations of the examples of the above-described embodiments may be combined as appropriate. In each example of the above-described embodiments, the processing performed in the travel control device 14 has been described as software processing performed by executing a program. However, the processing performed in the travel control device 14 may be processing performed by hardware. Alternatively, the processing performed in the travel control device 14 may be processing that combines both software and hardware. Further, a program (a program that realizes the functions of the processor 143 of the travel control device 14) stored in the memory 142 of the travel control device 14 may be recorded, provided, distributed, etc. on a computer-readable storage medium such as a semiconductor memory, a magnetic recording medium, an optical recording medium, etc.

[0084] As described above, the travel control device 14 according to the first to fifth embodiments applied to the host vehicle 1 configured to travel on a domestic road having a law stating that vehicles drive on the left side has been described. However, a travel control device (not shown) applied to a host vehicle (not shown) configured to travel on a domestic road having a law stating that vehicles drive on the right side can be realized by reversing the reading of "left" and "right" in the above description. Specifically, one aspect of the travel control device, travel control method, and program applied to a host vehicle configured to travel on a domestic road having a law stating that vehicles drive on the right side is as shown in Supplementary Notes 1 to 22 below.

[0085] <Supplementary Note 1> An acquisition unit that acquires the detection result of a surrounding situation sensor that detects the surrounding situation of the host vehicle including a following vehicle located within a certain distance behind the host vehicle that drives on the right side, Based on the detection result obtained by the acquisition unit, a calculation unit that calculates a change in the driving behavior of the following vehicle in the time period before and after the right-turn indicator of the host vehicle is turned on; A driving control device comprising: a prediction unit that predicts the driving behavior of the following vehicle before or during a right turn of the host vehicle based on the change in the driving behavior of the following vehicle in the time period before and after the right-turn indicator is turned on, which is calculated by the calculation unit. <Supplementary Note 2> The driving control device according to Supplementary Note 1, further comprising a control unit that controls the driving of the host vehicle before a right turn based on the driving behavior of the following vehicle before or during a right turn of the host vehicle predicted by the prediction unit. <Supplementary Note 3> The prediction unit predicts that the following vehicle is waiting for the completion of the right turn of the host vehicle when the position in the lane width direction within the driving lane of the following vehicle does not change in the time period before and after the right-turn indicator is turned on, and the speed of the following vehicle in the time period after the right-turn indicator is turned on is lower than the speed of the following vehicle in the time period before the right-turn indicator is turned on. The driving control device according to Supplementary Note 2. <Supplementary Note 4> When the prediction unit predicts that the following vehicle is waiting for the completion of the right turn of the host vehicle, the control unit gradually moves the position of the host vehicle in the lane width direction within the driving lane of the host vehicle to the right while decelerating the host vehicle. The driving control device according to Supplementary Note 3. <Supplementary Note 5> When the prediction unit determines that the position of the following vehicle in the vehicle width direction within the driving lane does not change in the time period before and after the right-turn indicator is turned on, or when the position of the following vehicle in the vehicle width direction within the driving lane moves to the right of the position of the following vehicle in the vehicle width direction within the driving lane in the time period before the right-turn indicator is turned on, and the speed of the following vehicle in the time period after the right-turn indicator is turned on is higher than the speed of the following vehicle in the time period after the right-turn indicator is turned on, the prediction unit predicts that the following vehicle may pass on the right side of the host vehicle. The driving control device according to Supplementary Note 2. <Supplementary Note 6> When the prediction unit predicts that the following vehicle may pass on the right side of the host vehicle, the control unit decelerates the host vehicle without changing the position of the host vehicle in the vehicle width direction within the driving lane. The driving control device according to Supplementary Note 5. <Supplementary Note 7> When the position of the following vehicle in the vehicle width direction within the driving lane does not change in the time period before and after the right-turn indicator is turned on, and the speed of the following vehicle does not change in the time period before and after the right-turn indicator is turned on, the prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a right turn or that the following vehicle may pass on the right side of the host vehicle. The driving control device according to Supplementary Note 2. <Supplementary Note 8> When the prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a right turn or that the following vehicle may pass on the right side of the host vehicle, the control unit executes control to decelerate the host vehicle without changing the position of the host vehicle in the vehicle width direction within the driving lane. The driving control device according to Supplementary Note 7. <Supplementary Note 9> When the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in the time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed is lower than the speed of the following vehicle in the time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a right turn. The travel control device according to Supplementary Note 8. <Supplementary Note 10> When the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in the time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed does not drop below the speed of the following vehicle in the time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit predicts that the following vehicle may pass by the right side of the host vehicle. The travel control device according to Supplementary Note 8. <Supplementary Note 11> If the position of the following vehicle in the lane width direction within the travel lane in the time period after the time when the right turn indicator is turned on is shifted to the right of the position of the following vehicle in the lane width direction within the travel lane in the time period before the time when the right turn indicator is turned on, and the speed of the following vehicle in the time period after the time when the right turn indicator is turned on is lower than the speed of the following vehicle in the time period before the time when the right turn indicator is turned on, the prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a right turn or that the following vehicle may pass by the right side of the host vehicle. The travel control device according to Supplementary Note 2. <Supplementary Note 12> When the prediction unit predicts that the following vehicle is waiting for the end of the right turn of the host vehicle or that the following vehicle may pass by on the right side of the host vehicle, the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle. The travel control device according to Supplementary Note 11. <Supplementary Note 13> When the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in the time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed is lower than the speed of the following vehicle in the time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit predicts that the following vehicle is waiting for the end of the right turn of the host vehicle. The travel control device according to Supplementary Note 12. <Supplementary Note 14> When the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in the time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed does not drop below the speed of the following vehicle in the time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit predicts that the following vehicle may pass by on the right side of the host vehicle. The travel control device according to Supplementary Note 12. <Supplementary Note 15> The prediction unit predicts that when the position of the following vehicle in the lane width direction within the travel lane in the time period after the right-turn indicator is turned on is shifted to the right of the position of the following vehicle in the lane width direction within the travel lane in the time period before the right-turn indicator is turned on, and the speed of the following vehicle does not change in the time periods before and after the right-turn indicator is turned on, the following vehicle is waiting for the completion of the right turn of the host vehicle or the following vehicle may pass by on the right side of the host vehicle. The travel control device according to Supplementary Note 2. <Supplementary Note 16> When the prediction unit predicts that the following vehicle is waiting for the completion of the right turn of the host vehicle or the following vehicle may pass by on the right side of the host vehicle, the control unit executes control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane. The travel control device according to Supplementary Note 15. <Supplementary Note 17> When the control unit executes control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane, and the speed of the following vehicle in the time period after the time when the control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane is executed is lower than the speed of the following vehicle in the time period before the time when the control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane is executed, the prediction unit predicts that the following vehicle is waiting for the completion of the right turn of the host vehicle. The travel control device according to Supplementary Note 16. <Supplementary Note 18> When the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle, if the speed of the following vehicle in the time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle is executed does not fall below the speed of the following vehicle in the time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the traveling lane of the host vehicle is executed, the prediction unit predicts that the following vehicle may pass by on the right side of the host vehicle. The traveling control device according to Supplementary Note 16. <Supplementary Note 19> When the position of the following vehicle in the lane width direction within the traveling lane in the time period after the time when the right-turn indicator is turned on is moved to the left of the position of the following vehicle in the lane width direction within the traveling lane in the time period before the time when the right-turn indicator is turned on, the prediction unit predicts that the following vehicle may overtake the host vehicle from the left side of the host vehicle. The traveling control device according to Supplementary Note 2. <Supplementary Note 20> When the prediction unit predicts that the following vehicle may overtake the host vehicle from the left side of the host vehicle, the control unit gradually moves the position of the host vehicle in the lane width direction within the traveling lane to the right while decelerating the host vehicle. The traveling control device according to Supplementary Note 19. <Supplementary Note 21> An acquisition step of the traveling control device for acquiring a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle including a following vehicle located within a certain distance behind the host vehicle traveling on the right side; A calculation step in which the traveling control device calculates a change in the traveling behavior of the following vehicle in the time periods before and after the time when the right-turn indicator of the host vehicle is turned on based on the detection result acquired in the acquisition step; A traveling control method comprising a prediction step in which the traveling control device predicts the traveling behavior of the following vehicle before or during a right turn of the host vehicle based on the change in the traveling behavior of the following vehicle in the time periods before and after the time when the right-turn indicator is turned on calculated in the calculation step. <Appendix 22> to cause a processor to perform an acquisition step of acquiring a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle including a following vehicle located within a certain distance behind the host vehicle traveling on the right side; a calculation step of calculating a change in the driving behavior of the following vehicle in time zones before and after the time when the right turn indicator of the host vehicle is turned on, based on the detection result acquired in the acquisition step; a prediction step of predicting the driving behavior of the following vehicle before or during a right turn of the host vehicle, based on the change in the driving behavior of the following vehicle in time zones before and after the time when the right turn indicator is turned on, calculated in the calculation step.

Explanation of Signs

[0086] 1... host vehicle, 11... surrounding situation sensor, 12... vehicle state sensor, 13... HMI, 14... driving control device, 141... communication interface, 142... memory, 143... processor, 3A... acquisition unit, 3B... calculation unit, 3C... prediction unit, 3D... control unit, 15A... steering actuator, 15B... braking actuator, 15C... driving actuator, 15D... left turn indicator, 15E... right turn indicator

Claims

1. An acquisition unit that acquires a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle including a following vehicle located within a certain distance behind the host vehicle traveling on the left side; A calculation unit that calculates a change in the driving behavior of the following vehicle in time zones before and after the time when the left turn indicator of the host vehicle is turned on, based on the detection result acquired by the acquisition unit; A driving control device comprising a prediction unit that predicts the driving behavior of the following vehicle before or during a left turn of the host vehicle, based on the change in the driving behavior of the following vehicle in time zones before and after the time when the left turn indicator is turned on, calculated by the calculation unit.

2. The driving control device according to claim 1, further comprising a control unit that controls the driving of the host vehicle before a left turn, based on the driving behavior of the following vehicle before or during a left turn of the host vehicle predicted by the prediction unit.

3. The prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a left turn when the position in the lane width direction within the driving lane of the following vehicle does not change in time zones before and after the time when the left turn indicator is turned on, and the speed of the following vehicle in the time zone after the time when the left turn indicator is turned on is lower than the speed of the following vehicle in the time zone before the time when the left turn indicator is turned on. The driving control device according to claim 2.

4. When the prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a left turn, the control unit gradually moves the position of the host vehicle in the lane width direction within the driving lane of the host vehicle to the left while decelerating the host vehicle. The driving control device according to claim 3.

5. The prediction unit predicts that there is a possibility that the following vehicle will pass by the left side of the host vehicle when: the position of the following vehicle in the lane width direction within the travel lane does not change in the time period before and after the left-turn indicator is turned on; or the position of the following vehicle in the lane width direction within the travel lane in the time period after the left-turn indicator is turned on moves to the left of the position of the following vehicle in the lane width direction within the travel lane in the time period before the left-turn indicator is turned on, and the speed of the following vehicle in the time period after the left-turn indicator is turned on is higher than the speed of the following vehicle in the time period after the left-turn indicator is turned on. The driving control device according to claim 2.

6. When the prediction unit predicts that there is a possibility that the following vehicle will pass by the left side of the host vehicle, the control unit decelerates the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane. The driving control device according to claim 5.

7. The prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a left turn or there is a possibility that the following vehicle will pass by the left side of the host vehicle when: the position of the following vehicle in the lane width direction within the travel lane does not change in the time period before and after the left-turn indicator is turned on; and the speed of the following vehicle does not change in the time period before and after the left-turn indicator is turned on. The driving control device according to claim 2.

8. When the prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a left turn or there is a possibility that the following vehicle will pass by the left side of the host vehicle, the control unit executes control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane. The driving control device according to claim 7.

9. When the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in a time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed is lower than the speed of the following vehicle in a time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit predicts that the following vehicle is waiting for the host vehicle to finish a left turn. The driving control device according to claim 8.

10. When the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in a time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed does not drop below the speed of the following vehicle in a time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit predicts that the following vehicle may pass by the left side of the host vehicle. The driving control device according to claim 8.

11. The prediction unit predicts that the following vehicle is waiting for the host vehicle to finish a left turn or the following vehicle may pass by the left side of the host vehicle when the position of the following vehicle in the lane width direction within the travel lane in a time period after the time when the left turn indicator is turned on is moved to the left of the position of the following vehicle in the lane width direction within the travel lane in a time period before the time when the left turn indicator is turned on, and the speed of the following vehicle in a time period after the time when the left turn indicator is turned on is lower than the speed of the following vehicle in a time period before the time when the left turn indicator is turned on. The driving control device according to claim 2.

12. When the prediction unit predicts that the following vehicle is waiting for the host vehicle to finish a left turn or the following vehicle may pass by the left side of the host vehicle, the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle. The driving control device according to claim 11.

13. When the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in a time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed is lower than the speed of the following vehicle in a time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a left turn. The driving control device according to claim 12.

14. When the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in a time period after the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed does not drop below the speed of the following vehicle in a time period before the time when the control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit predicts that the following vehicle may pass by on the left side of the host vehicle. The driving control device according to claim 12.

15. The prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a left turn or the following vehicle may pass by on the left side of the host vehicle when the position in the lane width direction within the travel lane of the following vehicle in a time period after the time when the left-turn indicator is turned on is moved to the left of the position in the lane width direction within the travel lane of the following vehicle in a time period before the time when the left-turn indicator is turned on and the speed of the following vehicle does not change in the time periods before and after the time when the left-turn indicator is turned on. The driving control device according to claim 2.

16. When the prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a left turn or the following vehicle may pass by on the left side of the host vehicle, the control unit executes control to decelerate the host vehicle without changing the position in the lane width direction within the travel lane of the host vehicle. The driving control device according to claim 15.

17. When the control unit executes control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in a time period after the time when the control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane of the host vehicle is executed is lower than the speed of the following vehicle in a time period before the time when the control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit predicts that the following vehicle is waiting for the host vehicle to complete a left turn. The driving control device according to claim 16.

18. When the control unit executes control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane of the host vehicle, if the speed of the following vehicle in a time period after the time when the control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane of the host vehicle is executed does not drop below the speed of the following vehicle in a time period before the time when the control to decelerate the host vehicle without changing the position of the host vehicle in the lane width direction within the travel lane of the host vehicle is executed, the prediction unit predicts that the following vehicle may pass by the left side of the host vehicle. The driving control device according to claim 16.

19. When the position of the following vehicle in the lane width direction within the travel lane in a time period after the time when the left turn indicator is turned on is shifted to the right side of the position of the following vehicle in the lane width direction within the travel lane in a time period before the time when the left turn indicator is turned on, the prediction unit predicts that the following vehicle may overtake the host vehicle from the right side of the host vehicle. The driving control device according to claim 2.

20. When the prediction unit predicts that the following vehicle may overtake the host vehicle from the right side of the host vehicle, the control unit gradually moves the position of the host vehicle in the lane width direction within the travel lane to the left while decelerating the host vehicle. The driving control device according to claim 19.

21. An acquisition step of acquiring a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle including a following vehicle located within a certain distance behind the host vehicle traveling on the left side; a calculation step in which the travel control device calculates a change in the travel behavior of the following vehicle in a time period before and after the time when the left-turn indicator of the host vehicle is turned on, based on the detection result obtained in the acquisition step; a travel control method comprising: a prediction step in which the travel control device predicts the travel behavior of the following vehicle before or during a left turn of the host vehicle, based on the change in the travel behavior of the following vehicle in a time period before and after the time when the left-turn indicator is turned on, which is calculated in the calculation step.

22. A processor is caused to perform an acquisition step of acquiring a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle including a following vehicle located within a certain distance behind the host vehicle traveling on the left side; a calculation step of calculating a change in the travel behavior of the following vehicle in a time period before and after the time when the left-turn indicator of the host vehicle is turned on, based on the detection result obtained in the acquisition step; a program for causing the processor to perform a prediction step of predicting the travel behavior of the following vehicle before or during a left turn of the host vehicle, based on the change in the travel behavior of the following vehicle in a time period before and after the time when the left-turn indicator is turned on, which is calculated in the calculation step.

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