Driving system and program

Claims

1. A driving system configured to enable control for autonomous driving of the vehicle (1), A communication circuit (51c) that receives signals indicating the external environment, The system includes a processing unit (51b, 53b) that performs processing related to the autonomous driving of the vehicle based on the signal received by the communication circuit, The aforementioned processing unit, Based on the signal received by the communication circuit, it is determined whether the current situation corresponds to a scenario in which the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the aforementioned scenario, the system is configured to determine a response to the other vehicle according to the type or behavior of the other vehicle, The aforementioned processing unit, Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control, which is a control to avoid the other vehicle, is initiated. If the departure of the other vehicle is detected after the avoidance control has been initiated, the system is configured to determine whether or not to continue the avoidance control based on the position of the own vehicle at the time the departure of the other vehicle was detected. The aforementioned processing unit, If, at the time the departure of the other vehicle is detected, the distance between your vehicle and the other vehicle in the longitudinal direction is greater than or equal to the safe distance, the avoidance control is canceled. A driving system configured to decide to continue the avoidance control if, at the time it detects the departure of the other vehicle, the distance between its own vehicle and the other vehicle in the longitudinal direction is less than the safety distance.

2. A driving system configured to enable control for autonomous driving of the vehicle (1), A communication circuit (51c) that receives signals indicating the external environment, The system includes a processing unit (51b, 53b) that performs processing related to the autonomous driving of the vehicle based on the signal received by the communication circuit, The aforementioned processing unit, Based on the signal received by the communication circuit, it is determined whether the current situation corresponds to a scenario in which the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the aforementioned scenario, the system is configured to determine a response to the other vehicle according to the type or behavior of the other vehicle, The aforementioned processing unit, Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control, which is a control to avoid the other vehicle, is initiated. Based on information indicating the behavior of the other vehicle, the departure of the other vehicle is detected. A driving system configured to decide to discontinue the avoidance control if, at the time of detecting the departure of the aforementioned other vehicle, the vehicle itself has not crossed the lane mark, or if the amount by which the vehicle itself has crossed the lane mark is less than a predetermined value.

3. The aforementioned processing unit, Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control, which is a control to avoid the other vehicle, is initiated. The driving system according to claim 1 or 2, wherein if the departure of the other vehicle is detected after the start of the avoidance control, the system is configured to determine whether or not to continue the avoidance control according to the speed of the own vehicle at the time the departure of the other vehicle is detected.

4. The aforementioned processing unit, Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control, which is a control to avoid the other vehicle, is initiated. Based on the detection of the other vehicle starting after the avoidance control has been initiated, it is decided to discontinue the avoidance control. The driving system according to claim 1 or 2, wherein if the other vehicle is detected to have stopped again after the decision to cancel the avoidance control is made, the system is configured to decide to retry the avoidance control.

5. The aforementioned processing unit, The lighting status of the lights on the aforementioned other vehicles is monitored. The driving system according to claim 1 or 2, configured to predict the departure of the other vehicle based on the monitoring results of the lighting state.

6. The aforementioned processing unit, Using a wireless communication device, wireless communication is performed with the other vehicle. The driving system according to claim 1 or 2, configured to predict the departure of the other vehicle based on data received via wireless communication with the other vehicle.

7. If the departure of the aforementioned other vehicle is anticipated, it is decided not to initiate evasive control, which is a control system that avoids the other vehicle. The driving system according to claim 5, configured to decide to initiate avoidance control if the departure of the other vehicle is not anticipated.

8. The aforementioned processing unit, Based on the determination that the current situation corresponds to the above scenario, the control to avoid the other vehicle is initiated, which involves moving in an adjacent lane, which is the lane next to the lane blocked by the other vehicle, to get in front of the other vehicle. The driving system according to claim 1 or 2, configured to change the timing of crossing the boundary line between the lane blocked by the other vehicle and the adjacent lane, depending on whether the adjacent lane is traveling in the same direction as the lane blocked by the other vehicle.

9. A driving system configured to enable control for autonomous driving of the vehicle (1), A communication circuit (51c) that receives signals indicating the external environment, The system includes a processing unit (51b, 53b) that performs processing related to the autonomous driving of the vehicle based on the signal received by the communication circuit, The aforementioned processing unit, Based on the signal received by the communication circuit, it is determined whether the current situation corresponds to a scenario in which the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the aforementioned scenario, the system is configured to determine a response to the other vehicle according to the type or behavior of the other vehicle, The aforementioned processing unit, Based on the determination that the current situation corresponds to the above scenario, the control to avoid the other vehicle is initiated, which involves moving in an adjacent lane, which is the lane next to the lane blocked by the other vehicle, to get in front of the other vehicle. A driving system configured to change the timing of crossing the boundary line between the lane blocked by the other vehicle and the adjacent lane, depending on whether the adjacent lane is traveling in the same direction as the lane blocked by the other vehicle.

10. The aforementioned processing unit, A control method for avoiding other vehicles, which includes avoidance control that involves going around in front of the other vehicle by passing through an adjacent lane next to the lane in which the other vehicle is located, It is configured to perform overtaking control, which involves changing lanes to overtake a preceding vehicle while it is in motion. The driving system according to claim 1, 2, or 9, wherein, when the adjacent lane is in the same direction of travel as the lane that is blocked by the other vehicle, the timing of crossing the boundary line to the adjacent lane in the avoidance control is set to be earlier than the timing of changing lanes in the overtaking control.

11. The aforementioned processing unit, Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control, which is a control to avoid the other vehicle, is initiated. The driving system according to claim 1, 2, or 9, configured to create a plan during avoidance control assuming that there is a vulnerable road user in front of the other vehicle.

12. The aforementioned processing unit, Based on the identification that the current situation corresponds to the aforementioned scenario, we obtain whether or not there are other road users in the oncoming lane. Based on the detection that there are no other road users in the specific area on the opposing lane, it is decided to initiate evasive control, which is control that moves in the opposing lane to get in front of the other vehicle. The driving system according to claim 1, 2, or 9, wherein, after initiating the avoidance control, if it detects the presence of another road user in the oncoming lane, it is configured to decide whether or not to discontinue the avoidance control according to the type of the other road user.

13. The aforementioned processing unit, The driving system according to claim 1, 2, or 9, wherein, if the other vehicle is a school bus, the system is configured to create a plan to stop behind the other vehicle without performing avoidance control, which is control to avoid the other vehicle.

14. The aforementioned processing unit, Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control, which is a control to avoid the other vehicle, is initiated. While the avoidance control is being performed, the behavior of the other vehicle is monitored. The driving system according to claim 1, 2, or 9, wherein, when the behavior of another vehicle starting is detected during the execution of the avoidance control, the system is configured to decide to increase the driving speed compared to when the behavior of another vehicle starting is not detected.

15. A driving system configured to enable control for autonomous driving of the vehicle (1), A communication circuit (51c) that receives signals indicating the external environment, The system includes a processing unit (51b, 53b) that performs processing related to the autonomous driving of the vehicle based on the signal received by the communication circuit, The aforementioned processing unit, Based on the signal received by the communication circuit, it is determined whether the current situation corresponds to a scenario in which the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the aforementioned scenario, the system is configured to determine a response to the other vehicle according to the type or behavior of the other vehicle, The aforementioned processing unit, Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control, which is a control to avoid the other vehicle, is initiated. While the avoidance control is being performed, the behavior of the other vehicle is monitored. A driving system configured to decide to increase the driving speed compared to when it does not detect the starting behavior of the other vehicle, if it detects the starting behavior of the other vehicle while the avoidance control is being performed.

16. The aforementioned processing unit, Determine whether the aforementioned other vehicle is a bus or not. Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control is initiated, which is control to avoid the other vehicle, the bus. If the behavior of the other vehicle starting is detected during the execution of the avoidance control, the avoidance control will be terminated. The driving system according to claim 1, 2, 9, or 15, configured to increase a set value of the distance between vehicles by a predetermined amount.

17. A driving system configured to enable control for autonomous driving of the vehicle (1), A communication circuit (51c) that receives signals indicating the external environment, The system includes a processing unit (51b, 53b) that performs processing related to the autonomous driving of the vehicle based on the signal received by the communication circuit, The aforementioned processing unit, Based on the signal received by the communication circuit, it is determined whether the current situation corresponds to a scenario in which the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the aforementioned scenario, the system is configured to determine a response to the other vehicle according to the type or behavior of the other vehicle, The aforementioned processing unit, Determine whether the aforementioned other vehicle is a bus or not. Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control is initiated, which is control to avoid the other vehicle, the bus. If the behavior of the other vehicle starting is detected during the execution of the avoidance control, the avoidance control will be terminated. A driving system configured to increase the set distance between the vehicle in front and the vehicle ahead by a predetermined amount.

18. It features multiple operating modes with different levels of automation in driving operations, The plurality of operating modes include a level 2 mode, which is an operating mode corresponding to the automation level of 2, and a level 3 mode, which is an operating mode corresponding to the automation level of 3. The aforementioned processing unit, If the current situation is identified as corresponding to the above scenario, and the operating mode is the Level 2 mode, then avoidance control, which is control to avoid the other vehicle, is initiated. The driving system according to claim 1, 2, 9, 15, or 17, wherein if the current situation is identified as corresponding to the above scenario and the operating mode is the level 3 mode, the avoidance control, which is control to avoid the other vehicle, is not initiated.

19. It features multiple operating modes with different levels of automation in driving operations, The plurality of operating modes include a level 2 mode, which is an operating mode corresponding to the automation level of 2, and a level 3 mode, which is an operating mode corresponding to the automation level of 3. The aforementioned processing unit, If the current situation is identified as corresponding to the above scenario, and the operating mode is the Level 2 mode or the Level 3 mode, then avoidance control, which is control to avoid the other vehicle, is initiated. While the avoidance control is being performed, the behavior of the other vehicle is monitored. If the operating mode at the time the behavior of the other vehicle starting is detected during the execution of the avoidance control is the Level 2 mode, the avoidance control is continued, The driving system according to claim 1, 2, 9, 15, or 17, wherein the system is configured to cancel the avoidance control if the operating mode is the level 3 mode when the behavior of another vehicle starting is detected during the execution of the avoidance control.

20. A driving system configured to enable control for autonomous driving of the vehicle (1), A communication circuit (51c) that receives signals indicating the external environment, The system includes a processing unit (51b, 53b) that performs processing related to the autonomous driving of the vehicle based on the signal received by the communication circuit, The aforementioned processing unit, Based on the signal received by the communication circuit, it is determined whether the current situation corresponds to a scenario in which the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the aforementioned scenario, the system is configured to determine a response to the other vehicle according to the type or behavior of the other vehicle, It features multiple operating modes with different levels of automation in driving operations, The plurality of operating modes include a level 2 mode, which is an operating mode corresponding to the automation level of 2, and a level 3 mode, which is an operating mode corresponding to the automation level of 3. The aforementioned processing unit, If the current situation is identified as corresponding to the above scenario, and the operating mode is the Level 2 mode or the Level 3 mode, then avoidance control, which is control to avoid the other vehicle, is initiated. While the avoidance control is being performed, the behavior of the other vehicle is monitored. If the operating mode at the time the behavior of the other vehicle starting is detected during the execution of the avoidance control is the Level 2 mode, the avoidance control is continued, A driving system configured to cancel the avoidance control if the operating mode at the time the behavior of another vehicle starting is detected during the execution of the avoidance control is the Level 3 mode.

21. The aforementioned processing unit, If the vehicle stops based on the determination that the current situation matches the aforementioned scenario, the longitudinal length of the empty space in front of the vehicle is obtained. The driving system according to claim 1, 2, 9, 15, 17, or 20, wherein if the length of the empty space in the vertical direction is less than a predetermined value, avoidance control, which is control to avoid other vehicles, is not started, and the system is configured to maintain a stopped state until the empty space becomes equal to or greater than the predetermined value, or to request the user of the vehicle to take over driving.

22. The aforementioned processing unit, Based on the identification that the current situation corresponds to the above scenario, the expected stopping time of the other vehicle is estimated. The estimated time required for the vehicle to avoid the other vehicle and move in front of it is calculated as the avoidance time. The driving system according to claim 1, 2, 9, 15, 17, or 20, configured to determine whether or not to perform avoidance control, which is control to move in front of the other vehicle to avoid it, based on the result of comparing the assumed stopping time with the avoidance time.

23. The aforementioned signal indicating the external environment includes information about the preceding vehicle. The aforementioned processing unit, Based on the signals indicating the external environment received by the communication circuit, it is determined whether the preceding vehicle is a specific type of vehicle that may stop for passenger boarding or alighting or for delivery. The driving system according to claim 1, 2, 9, 15, 17, or 20, wherein, based on the determination that the preceding vehicle is of the specified type, the system is configured to maintain a distance between the vehicle and the preceding vehicle that is greater than a basic value.

24. The aforementioned signal indicating the external environment includes information about the preceding vehicle. The aforementioned processing unit, Based on the signals indicating the external environment received by the communication circuit, it is determined whether the preceding vehicle is a specific type of vehicle that may stop for passenger boarding or alighting or for delivery. Based on the determination that the preceding vehicle falls under the specified type of vehicle, the predicted stopping point where the preceding vehicle is likely to stop is obtained. The driving system according to claim 1, 2, 9, 15, 17, or 20, wherein, when the vehicle is traveling behind the preceding vehicle of the specified type, the system is configured to make the distance between the vehicle and the preceding vehicle longer than a predetermined basic value when the remaining distance to the expected stopping point falls below a predetermined value.

25. A driving system configured to enable control for autonomous driving of the vehicle (1), A communication circuit (51c) that receives signals indicating the external environment, The system includes a processing unit (51b, 53b) that performs processing related to the autonomous driving of the vehicle based on the signal received by the communication circuit, The aforementioned processing unit, Based on the signal received by the communication circuit, it is determined whether the current situation corresponds to a scenario in which the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the aforementioned scenario, the system is configured to determine a response to the other vehicle according to the type or behavior of the other vehicle, The aforementioned signal indicating the external environment includes information about the preceding vehicle. The aforementioned processing unit, Based on the signals indicating the external environment received by the communication circuit, it is determined whether the preceding vehicle is a specific type of vehicle that may stop for passenger boarding or alighting or for delivery. Based on the determination that the preceding vehicle falls under the specified type of vehicle, the predicted stopping point where the preceding vehicle is likely to stop is obtained. A driving system configured to increase the distance between the vehicle and the preceding vehicle to a predetermined basic value when the vehicle is traveling behind the preceding vehicle of a specific type and the remaining distance to the expected stopping point falls below a predetermined value.

26. The aforementioned signals indicating the external environment include information about preceding vehicles and pedestrians. The aforementioned processing unit, Based on the signal indicating the external environment received by the communication circuit, it is determined whether the preceding vehicle is a specific type of vehicle that may stop for passengers to get on or off. Based on the determination that the preceding vehicle falls under the specified type of vehicle, the predicted stopping point where the preceding vehicle is likely to stop is obtained. Based on the signal indicating the external environment received using the communication circuit, it is determined whether there are pedestrians waiting at the predicted stopping point. The driving system according to claim 1, 2, 9, 15, 17, 20, or 25, which, upon determining that there are pedestrians waiting at the predicted stopping point, performs a lateral position adjustment to shift the lateral driving position away from the lane center in the direction of avoidance.

27. A driving system configured to enable control for autonomous driving of the vehicle (1), A communication circuit (51c) that receives signals indicating the external environment, The system includes a processing unit (51b, 53b) that performs processing related to the autonomous driving of the vehicle based on the signal received by the communication circuit, The aforementioned processing unit, Based on the signal received by the communication circuit, it is determined whether the current situation corresponds to a scenario in which the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the aforementioned scenario, the system is configured to determine a response to the other vehicle according to the type or behavior of the other vehicle, The aforementioned signals indicating the external environment include information about preceding vehicles and pedestrians. The aforementioned processing unit, Based on the signal indicating the external environment received by the communication circuit, it is determined whether the preceding vehicle is a specific type of vehicle that may stop for passengers to get on or off. Based on the determination that the preceding vehicle falls under the specified type of vehicle, the predicted stopping point where the preceding vehicle is likely to stop is obtained. Based on the signal indicating the external environment received using the communication circuit, it is determined whether there are pedestrians waiting at the predicted stopping point. A driving system that, upon determining that a pedestrian is waiting at the predicted stopping point, performs a lateral adjustment to shift the vehicle's lateral position away from the lane center in the direction of avoidance.

28. The aforementioned processing unit, Based on the determination that the current situation corresponds to the above scenario, avoidance control is initiated, which is a control that avoids the other vehicle and moves in front of it. Based on the detection of the other vehicle's preparatory movement to start after the commencement of the avoidance control, the decision is made to discontinue the avoidance control. The driving system according to claim 1, 2, 9, 15, 17, 20, 25, or 27, which is configured to decide to retry the avoidance control if it detects the action of another vehicle canceling its start after it has decided to discontinue the avoidance control.

29. The signal indicating the external environment includes image information showing the appearance of the other vehicle and sound information from outside the vehicle. The aforementioned processing unit, If the current situation is identified as corresponding to the scenario, then it is determined whether the other vehicle is an emergency vehicle based on the image information. Based on the aforementioned sound information, the alarm sound emitted by the emergency vehicle is detected. The driving system according to claim 1, 2, 9, 15, 17, 20, 25, or 27, wherein if the other vehicle is the emergency vehicle and the alarm sound is detected, the system is configured to stop its own vehicle behind the other vehicle, rather than performing avoidance control, which is control to move around to avoid the other vehicle and move in front of it.

30. A program executed by a processor in a driving system configured to enable autonomous driving of its own vehicle (1), The aforementioned processor, Based on signals indicating the external environment received by the communication circuit, it is determined whether the current situation corresponds to a scenario where the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the above scenario, the system will determine and execute a response to the other vehicle according to the type or behavior of the other vehicle. The aforementioned processor, Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control, which is a control to avoid the other vehicle, is initiated. If the departure of the other vehicle is detected after the avoidance control has been initiated, the system will determine whether to continue the avoidance control based on the position of the own vehicle at the time the departure of the other vehicle was detected. The aforementioned processor, If, at the time the departure of the other vehicle is detected, the distance between your vehicle and the other vehicle in the longitudinal direction is greater than or equal to the safe distance, the avoidance control is canceled. A program that, upon detecting the departure of the aforementioned other vehicle, determines to continue the avoidance control if the distance between the vehicle and the other vehicle in the longitudinal direction is less than the safety distance.

31. A program executed by a processor in a driving system configured to enable autonomous driving of its own vehicle (1), The aforementioned processor, Based on signals indicating the external environment received by the communication circuit, it is determined whether the current situation corresponds to a scenario where the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the above scenario, the system will determine and execute a response to the other vehicle according to the type or behavior of the other vehicle. The aforementioned processor, Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control, which is a control to avoid the other vehicle, is initiated. Based on information indicating the behavior of the other vehicle, the starting of the other vehicle is detected. A program that, when it detects the departure of the aforementioned other vehicle, determines to cancel the avoidance control if its own vehicle has not crossed the lane mark, or if the amount by which its own vehicle has crossed the lane mark is less than a predetermined value.

32. A program executed by a processor in a driving system configured to enable autonomous driving of its own vehicle (1), The aforementioned processor, Based on signals indicating the external environment received by the communication circuit, it is determined whether the current situation corresponds to a scenario where the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the above scenario, the system will determine and execute a response to the other vehicle according to the type or behavior of the other vehicle. The aforementioned processor, Based on the determination that the current situation corresponds to the above scenario, the control to avoid the other vehicle is initiated, which involves moving in an adjacent lane, which is the lane next to the lane blocked by the other vehicle, to move in front of the other vehicle. A program that changes the timing of crossing the boundary line between the lane blocked by the other vehicle and the adjacent lane, depending on whether the adjacent lane is traveling in the same direction as the lane blocked by the other vehicle.

33. A program executed by a processor in a driving system configured to enable autonomous driving of its own vehicle (1), The aforementioned processor, Based on signals indicating the external environment received by the communication circuit, it is determined whether the current situation corresponds to a scenario where the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the above scenario, the system will determine and execute a response to the other vehicle according to the type or behavior of the other vehicle. The aforementioned processor, Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control, which is a control to avoid the other vehicle, is initiated. While the avoidance control is being performed, the behavior of the other vehicle is monitored. A program that, when it detects the starting behavior of another vehicle while the avoidance control is being executed, determines to increase the driving speed compared to when the starting behavior of the other vehicle is not detected.

34. A program executed by a processor in a driving system configured to enable autonomous driving of its own vehicle (1), The aforementioned processor, Based on signals indicating the external environment received by the communication circuit, it is determined whether the current situation corresponds to a scenario where the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the above scenario, the system will determine and execute a response to the other vehicle according to the type or behavior of the other vehicle. The aforementioned processor, Determine whether the aforementioned other vehicle is a bus or not. Based on the determination that the current situation corresponds to the aforementioned scenario, avoidance control is initiated, which is a control to avoid the other vehicle, the bus. If the behavior of the other vehicle starting is detected while the avoidance control is being executed, the avoidance control will be terminated. A program that increases the set distance between your vehicle and the vehicle ahead by a predetermined amount.

35. A program executed by a processor in a driving system configured to enable autonomous driving of its own vehicle (1), The aforementioned processor, Based on signals indicating the external environment received by the communication circuit, it is determined whether the current situation corresponds to a scenario where the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the above scenario, the system will determine and execute a response to the other vehicle according to the type or behavior of the other vehicle. It is configured to allow switching between multiple operating modes with different levels of automation in the driving operations. The plurality of operating modes include a level 2 mode, which is an operating mode corresponding to the automation level of 2, and a level 3 mode, which is an operating mode corresponding to the automation level of 3. The aforementioned processor, If the current situation is identified as corresponding to the above scenario, and the operating mode is the Level 2 mode or the Level 3 mode, then avoidance control, which is control to avoid the other vehicle, is initiated. While the avoidance control is being performed, the behavior of the other vehicle is monitored. If the operating mode at the time the behavior of the other vehicle starting is detected during the execution of the avoidance control is the Level 2 mode, the avoidance control is continued, A program that, when the operation mode is Level 3 mode when the behavior of another vehicle starting is detected during the execution of the avoidance control, cancels the avoidance control.

36. A program executed by a processor in a driving system configured to enable autonomous driving of its own vehicle (1), The aforementioned processor, Based on signals indicating the external environment received by the communication circuit, it is determined whether the current situation corresponds to a scenario where the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the above scenario, the system will determine and execute a response to the other vehicle according to the type or behavior of the other vehicle. The aforementioned signal indicating the external environment includes information about the preceding vehicle. The aforementioned processor, Based on the signals indicating the external environment received by the communication circuit, it is determined whether the preceding vehicle is a specific type of vehicle that may stop for passenger boarding or alighting or for delivery. Based on the determination that the preceding vehicle falls under the specified type of vehicle, the system obtains a predicted stopping point where the preceding vehicle is likely to stop. A program that, when the vehicle is traveling behind the preceding vehicle of a specific type, and the remaining distance to the expected stopping point falls below a predetermined value, increases the distance between the vehicle and the preceding vehicle to a predetermined base value.

37. A program executed by a processor in a driving system configured to enable autonomous driving of its own vehicle (1), The aforementioned processor, Based on signals indicating the external environment received by the communication circuit, it is determined whether the current situation corresponds to a scenario where the vehicle is driving near another stationary vehicle. Based on the identification that the current situation corresponds to the above scenario, the system will determine and execute a response to the other vehicle according to the type or behavior of the other vehicle. The aforementioned signals indicating the external environment include information about preceding vehicles and pedestrians. The aforementioned processor, Based on the signal indicating the external environment received by the communication circuit, it is determined whether the preceding vehicle is a specific type of vehicle that may stop for passengers to get on or off. Based on the determination that the preceding vehicle falls under the specified type of vehicle, the system obtains a predicted stopping point where the preceding vehicle is likely to stop. Based on the signal indicating the external environment received using the communication circuit, it is determined whether there are pedestrians waiting at the predicted stopping point. The program, upon detecting the presence of a pedestrian waiting at the predicted stopping point, performs a lateral adjustment, shifting the vehicle's lateral position away from the lane center in the direction of avoidance.