Driving control method and driving control device

Claims

1. In a driving control method performed by the vehicle's driving control device, The aforementioned travel control device is A first position where the vehicle can park or stop, and a second position where the vehicle can park or stop without obstructing the passage of other vehicles passing the first position are predetermined. When the said vehicle is parked or stopped at the first position, and it is determined that the said vehicle is obstructing the passage of the said other vehicle, it is determined whether the type of the said other vehicle is a specific type or whether the said other vehicle is a registered vehicle that has been registered in advance. If it is determined that the aforementioned type is the aforementioned specific type or that the aforementioned other vehicle is the aforementioned registered vehicle, the vehicle shall be driven from the first position to the second position. A driving control method that, if it is determined that the aforementioned type is not the specified type and the other vehicle is not the registered vehicle, keeps the own vehicle parked or stopped at the first position.

2. The aforementioned travel control device is If it is determined that the aforementioned type is the aforementioned specific type or that the aforementioned other vehicle is the aforementioned registered vehicle, the current driving environment around the vehicle is recognized from the detection results of the vehicle's sensors. Based on the aforementioned driving environment, a third position is searched for that is closer to the first position than the second position, where the vehicle can park or stop without obstructing the passage of other vehicles. If the third position is not detected, the vehicle is driven from the first position to the second position. The driving control method according to claim 1, wherein if the third position is detected, the vehicle is driven from the first position to the third position.

3. In a driving control method performed by the vehicle's driving control device, The aforementioned travel control device is A first position where the vehicle can park or stop, and a second position where the vehicle can park or stop without obstructing the passage of other vehicles passing the first position are predetermined. If the vehicle is parked or stopped at the first position and it is determined that the vehicle is obstructing the passage of the other vehicle, the vehicle shall be driven from the first position to the second position. As candidates for the second position, a fourth position is detected that is further away from the center of the road in the width direction on which the vehicle is traveling than the first position, and a fifth position is detected that allows other vehicles to pass the first position without performing an avoidance maneuver. A driving control method that sets either the fourth position or the fifth position to the second position according to the overall width of the vehicle itself, the overall width of the other vehicle, and the width of the road.

4. If it is determined that the vehicle is obstructing the passage of another vehicle, the system will recognize the current driving environment around the vehicle based on the detection results of the vehicle's sensors. Based on the aforementioned driving environment, a third position is searched for that is closer to the first position than the second position, where the vehicle can park or stop without obstructing the passage of other vehicles. If the third position is not detected, the vehicle is driven from the first position to the second position. The driving control method according to claim 3, wherein if the third position is detected, the vehicle is driven from the first position to the third position.

5. The driving control method according to any one of claims 1 to 4, wherein the second position is a position further away from the center of the road in the width direction on which the vehicle is traveling than the first position.

6. The driving control method according to any one of claims 1 to 5, wherein the driving control device causes the vehicle to drive from the second position to the first position if the vehicle has parked or stopped at the second position and another vehicle has passed the first position.

7. The aforementioned travel control device is If an obstacle exists at the second location that prevents the vehicle from parking or stopping, and the vehicle cannot park or stop at the second location, the current driving environment around the vehicle is recognized from the detection results of the vehicle's sensors. Based on the aforementioned driving environment, a sixth position different from the second position is searched for in which the vehicle can park or stop without obstructing the passage of other vehicles. A driving control method according to any one of claims 1 to 6, wherein if the sixth position is detected, the vehicle is driven from the first position to the sixth position.

8. A setting unit that pre-sets a first position where the vehicle will park or stop, and a second position where the vehicle can park or stop without obstructing the passage of other vehicles passing the first position, When the vehicle is parked or stopped at the first position, and it is determined that the vehicle is obstructing the passage of the other vehicle, a determination unit determines whether the other vehicle is of a specific type or whether the other vehicle is a registered vehicle that has been registered in advance. When the determination unit determines that the type is the specified type or that the other vehicle is the registered vehicle, it drives its own vehicle from the first position to the second position. A driving control device comprising: a determination unit that determines that the type is not the specified type and the other vehicle is not the registered vehicle, and which causes the vehicle to continue parking or stopping at the first position.

9. A setting unit that pre-sets a first position where the vehicle will park or stop, and a second position where the vehicle can park or stop without obstructing the passage of other vehicles passing the first position, The vehicle includes a driving unit that, when it is determined that the vehicle is obstructing the passage of another vehicle while parked or stopped at the first position, drives the vehicle from the first position to the second position. The setting unit is, As candidates for the second position, a fourth position is detected that is further away from the center of the road in the width direction on which the vehicle is traveling than the first position, and a fifth position is detected that allows other vehicles to pass the first position without performing an avoidance maneuver. A driving control device that sets either the fourth position or the fifth position to the second position according to the overall width of the vehicle itself, the overall width of the other vehicle, and the width of the road.