Vehicle control method and vehicle control device

Abstract

To reduce a risk that an own vehicle excessively approaches a road user at the time of starting the own vehicle when there is a vehicle adjacent to the own vehicle stopped short of a stop line.SOLUTION: A vehicle control method comprises the steps of: determining whether an own vehicle stops short of a stop line (S1); determining, when the own vehicle stops short of the stop line, whether there is a vehicle adjacent to the own vehicle (S5); determining whether a start condition to start the own vehicle from the stop line is established (S4); configuring a target speed of the own vehicle after the start of the vehicle (S7, S16, S20, S18); and starting the own vehicle according to the start condition from the stop line to travel the own vehicle at the target speed. A first speed is set as the target speed when there is no vehicle adjacent to the own vehicle (S7), and a second speed lower than the first speed is set as the target speed when there is a vehicle adjacent to the own vehicle (S20).SELECTED DRAWING: Figure 9

Claims

1. A process to determine whether the vehicle is stopped before the stop line, When the vehicle is stopped before the stop line, the process of determining whether or not there is an adjacent vehicle adjacent to the vehicle, A process to determine whether the conditions for starting the vehicle from the stop line are met, The process of setting the target speed of the vehicle after it has started, The process of starting the vehicle from the stop line and driving at the target speed in response to the fulfillment of the aforementioned starting conditions, The controller executes this, In the process of setting the target speed, if there is no adjacent vehicle adjacent to the vehicle itself, a first speed is set as the target speed, and if there is an adjacent vehicle, a second speed lower than the first speed is set as the target speed. The process of setting the target speed is as follows: The process involves waiting from the moment the aforementioned starting conditions are met until a predetermined waiting period has elapsed, During a predetermined monitoring period that begins after the aforementioned waiting time has elapsed, the process involves detecting the speed of an adjacent vehicle in an adjacent lane traveling in the same direction as the vehicle traveling in its own lane, A process to set the second speed according to the speed of the adjacent vehicle detected within the aforementioned monitoring time, A vehicle control method characterized by including the following:

2. A process to estimate the likelihood of other road users approaching the vehicle based on the output of an object sensor mounted on the vehicle that detects objects around the vehicle, If the probability of other road users approaching the vehicle is below a threshold, the process of changing the target speed set as the second speed to a first speed higher than the second speed, The vehicle control method according to claim 1, characterized in that the controller is made to perform the action.

3. The vehicle control method according to claim 1, characterized in that, if all adjacent vehicles in the adjacent lane traveling in the same direction as the vehicle's own lane start moving within the monitoring time, the second speed is set to be lower than that of the adjacent vehicles.

4. The vehicle control method according to claim 1, characterized in that if, even after the aforementioned monitoring time has elapsed, none of the adjacent vehicles in the adjacent lane traveling in the same direction as the vehicle in its own lane have started to move, the second speed is set to a predetermined low speed.

5. The vehicle control method according to claim 1, characterized in that the controller sets a random time with a predetermined time as the median to the monitoring time.

6. The system includes a controller that performs the following processes: determining whether the vehicle is stopped before the stop line; determining whether there is an adjacent vehicle if the vehicle is stopped before the stop line; determining whether the conditions for starting the vehicle from the stop line are met; setting a target speed for the vehicle after starting; and starting the vehicle from the stop line and driving at the target speed in accordance with the conditions for starting the vehicle. In the process of setting the target speed, if there is no adjacent vehicle adjacent to the vehicle itself, a first speed is set as the target speed, and if there is an adjacent vehicle, a second speed lower than the first speed is set as the target speed. The process of setting the target speed is as follows: The process involves waiting from the moment the aforementioned starting conditions are met until a predetermined waiting period has elapsed, During a predetermined monitoring period that begins after the aforementioned waiting time has elapsed, the process involves detecting the speed of an adjacent vehicle in an adjacent lane traveling in the same direction as the vehicle traveling in its own lane, A process to set the second speed according to the speed of the adjacent vehicle detected within the aforementioned monitoring time, A vehicle control device characterized by including

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