Driving control method and driving control device

Abstract

A driving control device 100: acquires a detection result of a rear sensor 2a for detecting a rearward side from an own vehicle V1 when the own vehicle V1 traveling in a first lane L1 is going to change the lane to a second lane L2 adjacent to the first lane L1; on the basis of the detection result of the rear sensor 2a, determines whether or not there is a trailing vehicle V2 traveling behind the own vehicle V1 in the first lane L1 within a predetermined range from the own vehicle V1; and in a case in which there is the trailing vehicle V2, changes a relative position of the own vehicle V1 with respect to the trailing vehicle V2 so as to broaden a range over which the rear sensor 2a is capable of detection.

Description

Operation control method and operation control device

[0001] The present invention relates to an operation control method and an operation control device.

[0002] The vehicle driving assistance device described in Patent Document 1 detects an approaching vehicle in the lane on the side of the lane change when the vehicle is changing lanes, and determines whether the lane change is possible based on the relationship between the vehicle and the approaching vehicle.

[0003] Japanese Patent Application Laid-Open No. 2020-213448

[0004] However, if there is a vehicle behind the vehicle, it may be difficult for the vehicle's rear sensor to detect other vehicles in the lane on the side where the lane is to be changed, and it may not be possible to determine whether or not the lane change is possible.

[0005] The problem that the present invention aims to solve is to provide a driving control method and a driving control device that can easily determine whether or not a lane change is possible even when there is a following vehicle behind the vehicle.

[0006] The present invention solves the above problem by determining whether a following vehicle is present within a predetermined range of the vehicle based on the detection results of a rear sensor when the vehicle traveling in the first lane changes lanes to the second lane, and if a following vehicle is present, changing the relative position of the vehicle with respect to the following vehicle so as to expand the detectable range of the rear sensor in the second lane.

[0007] According to the present invention, it is possible to easily determine whether or not a lane change is possible even when a vehicle is present behind the host vehicle.

[0008] 1 is a block diagram showing the configuration of a driving control device according to the present embodiment. FIG. 1 is a diagram showing the positional relationship between the host vehicle, the following vehicle, and the position of a virtual other vehicle in the second lane when there is a following vehicle behind the host vehicle traveling in the first lane. FIG. 2 is a graph showing the relationship between the relative speed of the host vehicle with respect to the other vehicle behind traveling in the second lane, into which the host vehicle will change lanes, and the required inter-vehicle distance. FIG. 3 is a diagram showing a state in which the relative position of the host vehicle with respect to the following vehicle is changed by changing the lateral position of the host vehicle. FIG. 4 is a diagram showing a state in which the relative position of the host vehicle with respect to the following vehicle is changed by accelerating the host vehicle. FIG. 5 is a flowchart showing the steps of a driving control method executed by the driving control device shown in FIG. 1. FIG. 6 is a flowchart showing another example of the steps of the driving control method executed by the driving control device shown in FIG. 1.

[0009] An embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1 , a host vehicle V1 has a driving control device 100 that controls autonomous driving of the host vehicle V1. When the host vehicle V1 traveling in a first lane L1 changes lanes to a second lane L2 that is different from and adjacent to the first lane L1 (see FIG. 2 ), the driving control device 100 determines whether the host vehicle V1 is able to change lanes. The host vehicle V1 also has a detection device 2, a host vehicle position acquisition unit 3, and a map database 4. The host vehicle V1 also has a drive mechanism 5, a braking mechanism 6, and a steering mechanism 7.

[0010] The detection device 2 is either or both of an on-board camera (e.g., a surround camera) that captures images of the surroundings of the host vehicle V1 and a radar (e.g., a rear radar, a side radar, a sonar, or a LiDAR) that detects other vehicles and obstacles around the host vehicle V1. The detection device 2 also has a rear sensor 2a that detects other vehicles and obstacles behind the host vehicle V1. Note that the rear sensor 2a is not limited to an on-board camera or radar installed on the rear side of the body of the host vehicle V1, but may be any sensor that can detect other vehicles and obstacles behind the host vehicle V1. In other words, the rear sensor 2a may be an on-board camera or radar installed on the side of the host vehicle V1.

[0011] The vehicle position acquisition unit 3 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, etc., and acquires the current position of the vehicle V1. The map database 4 stores high-precision three-dimensional map information (HDMAP). The map information stored in the map database 4 includes feature information and lane information.

[0012] The driving control device 100 has a processor 10. The processor 10 has an information processing unit 20 and a control unit 30. The information processing unit 20 tracks objects around the host vehicle V1 based on the detection results of the detection device 2 and the current position of the host vehicle V1 acquired by the host vehicle position acquisition unit 3, and maps them on a map acquired from a map database 4. The control unit 30 also has a detection result acquisition unit 11, a following vehicle determination unit 12, a detectable range determination unit 13, and a vehicle control unit 14. The driving control device 100 generates a target trajectory based on information acquired from the detection device 2, the host vehicle position acquisition unit 3, and the map database 4, and controls the drive mechanism 5, braking mechanism 6, and steering mechanism 7 to control the driving of the host vehicle V1.

[0013] The configuration of the control unit 30 of the processor 10 of the driving control device 100 will be described in detail below with reference to Figures 1 to 7. The detection result acquisition unit 11 shown in Figure 1 acquires the detection results of the detection device 2 via the information processing unit 20. In particular, when the host vehicle V1 traveling in the first lane L1 changes lanes to the second lane L2 adjacent to the first lane L1 (see Figure 2), the detection result acquisition unit 11 acquires the detection results of the rear sensor 2a that detects the rear side of the host vehicle V1.

[0014] 2, the following vehicle determination unit 12 determines whether a following vehicle V2 traveling behind the host vehicle V1 in the first lane L1 is present within a predetermined range from the host vehicle V1, based on the detection result of the rear sensor 2a acquired by the detection result acquisition unit 11. Specifically, the following vehicle determination unit 12 determines that "the following vehicle V2 is present within a predetermined range from the host vehicle V1" when the distance between the host vehicle V1 and the following vehicle V2 is within a predetermined distance. The following vehicle determination unit 12 may also calculate a time to collision (TTC) between the host vehicle V1 and the following vehicle V2, and determine that "the following vehicle V2 is present within a predetermined range from the host vehicle V1" when the TTC is within the predetermined time.

[0015] Furthermore, when the following vehicle determination unit 12 determines that "the following vehicle V2 is present within a predetermined range from the host vehicle V1," the detectable range determination unit 13 determines whether the detectable range of the rear sensor 2a is equal to or greater than a predetermined reference range. Specifically, the detectable range determination unit 13 first calculates a required inter-vehicle distance S_critical between the host vehicle V1 and the imaginary other vehicle V3 traveling in the second lane L2 behind the host vehicle V1. The required inter-vehicle distance S_critical is the inter-vehicle distance required to prevent the host vehicle V1 and the imaginary other vehicle V3 from becoming too close after the host vehicle V1 changes lanes from the first lane L1 to the second lane L2, assuming that the imaginary other vehicle V3 is traveling at an assumed maximum speed (legal maximum speed). That is, after changing lanes from the first lane L1 to the second lane L2, the host vehicle V1 needs to maintain a distance between itself and the other vehicle traveling on the second lane L2 that is equal to or greater than the required distance S_critical before changing lanes, so as not to be too close to the other vehicle traveling on the second lane L2.

[0016] The detectable range determination unit 13 calculates the required inter-vehicle distance S_critical based on the relative speed RV of the host vehicle V1 with respect to the imaginary other vehicle V3 traveling in the second lane L2. It is assumed that the speed of the imaginary other vehicle V3 is the assumed maximum speed (legal maximum speed). As shown in the graph in Figure 3, the greater the relative speed RV (the difference in vehicle speed between the host vehicle V1 and the imaginary other vehicle V3), the longer the required inter-vehicle distance S_critical.

[0017] Next, the detectable range determination unit 13 calculates a predetermined imaginary other vehicle position P at which the following vehicle V2 is located at the required inter-vehicle distance S_critical between the subject vehicle V1 and the imaginary other vehicle V3. That is, the imaginary other vehicle position P is the position of the imaginary other vehicle V3 when it is assumed that the inter-vehicle distance between the subject vehicle V1 and the imaginary other vehicle V3 is the required inter-vehicle distance S_critical. In the example shown in FIG. 2 , the imaginary other vehicle position P is the center position of the front end of the imaginary other vehicle V3. However, this is not limited to this and may be a corner position on the front and right end side of the imaginary other vehicle V3 (the end farthest from the first lane L1). The imaginary other vehicle position P may also be the center position of the imaginary other vehicle V3. The detectable range determination unit 13 then determines whether the following vehicle V2 is located on an imaginary line SL connecting the rear sensor 2a of the subject vehicle V1 and the imaginary other vehicle position P. If the following vehicle V2 is located on the imaginary line SL as shown in FIG. 2 , the detectable range determination unit 13 determines that the detectable range of the rear sensor 2a is less than the reference range. That is, "the detectable range of the rear sensor 2a is less than the reference range" means that the rear sensor 2a cannot determine whether or not there is another vehicle traveling at the imaginary other vehicle position P. On the other hand, "the detectable range of the rear sensor 2a is equal to or greater than the reference range" means that the rear sensor 2a can determine whether or not there is another vehicle traveling at the imaginary other vehicle position P. The reference range is the minimum detectable range required for the driving control device 100 to determine whether or not the host vehicle V1 can change lanes.

[0018] The detectable range determination unit 13 calculates the imaginary other vehicle position P based on the detection result of the rear sensor 2a as well as the map information in the map database 4, and determines whether the following vehicle V2 is present on the imaginary line SL connecting the rear sensor 2a and the imaginary other vehicle position P. Specifically, the detectable range determination unit 13 identifies the coordinates of the imaginary other vehicle position P using the detection result of the rear sensor 2a, including white line information, and the map information in the map database 4, and determines, by geometric calculation, whether the following vehicle V2 is present on the imaginary line SL connecting the rear sensor 2a and the imaginary other vehicle position P. The detectable range determination unit 13 may also identify the host vehicle's position (the current position of the host vehicle V1) and the detectable range of the rear sensor 2a on the map based on the white line information and the map information, and determine whether the detectable range includes a predetermined reference range. That is, the detectable range determination unit 13 determines whether the detectable range of the rear sensor 2a is equal to or greater than the reference range based on the detection result of the rear sensor 2a and the map information. Furthermore, without being limited to this, the detectable range determination unit 13 may determine whether the detectable range is equal to or greater than a predetermined reference range by determining whether the detection of the virtual other vehicle position P is obstructed by the following vehicle V2 based only on the detection result of the rear sensor 2a.

[0019] 1 changes the relative position of the host vehicle V1 with respect to the following vehicle V2 so that the detectable range of the rear sensor 2a is equal to or greater than the reference range (so that the rear sensor 2a can determine the presence or absence of another vehicle traveling at the imaginary other vehicle position P). In other words, when the rear sensor 2a cannot determine the presence or absence of another vehicle traveling at the imaginary other vehicle position P, the vehicle control unit 14 controls the drive mechanism 5, the brake mechanism 6, and the steering mechanism 7 to change the relative position of the host vehicle V1 with respect to the following vehicle V2 so as to widen the detectable range of the rear sensor 2a.

[0020] Specifically, as shown in Fig. 4, the vehicle control unit 14 changes the relative position of the host vehicle V1 with respect to the following vehicle V2 by changing the lateral position of the host vehicle V1 so that the host vehicle V1 approaches the second lane L2. That is, in the example shown in Fig. 4, the lateral position of the host vehicle V1 with respect to the following vehicle V2 changes from the first lateral position X1 (see Fig. 2) to the second lateral position X2. Note that the lateral position is the relative position of the host vehicle V1 in the width direction of the first lane L1.

[0021] 5, the vehicle control unit 14 may change the relative position of the host vehicle V1 with respect to the following vehicle V2 by accelerating the host vehicle V1. That is, in the example shown in FIG. 5, the longitudinal position of the host vehicle V1 with respect to the following vehicle V2 changes from a first longitudinal position Y1 (see FIG. 2) to a second longitudinal position Y2. Note that the longitudinal position is the relative position of the host vehicle V1 in the extension direction of the first lane L1.

[0022] 6, the vehicle control unit 14 may change the relative position of the host vehicle V1 with respect to the following vehicle V2 by changing the lateral position of the host vehicle V1 and accelerating the host vehicle V1 so that the host vehicle V1 approaches the second lane L2. Note that the change in the lateral position and the acceleration of the host vehicle V1 are performed simultaneously. That is, in the example shown in FIG. 6, the lateral position of the host vehicle V1 with respect to the following vehicle V2 changes from the first lateral position X1 (see FIG. 2) to the third lateral position X3, and the longitudinal position changes from the first longitudinal position Y1 (see FIG. 2) to the third longitudinal position Y3.

[0023] In the example shown in Figure 6, the vehicle control unit 14 first accelerates the vehicle V1, and after the acceleration of the vehicle V1, determines whether the detectable range of the rear sensor 2a is equal to or greater than the reference range.If the detectable range is still less than the reference range, the vehicle control unit 14 may change the lateral position of the vehicle V1 so that the vehicle V1 approaches the second lane L2.

[0024] In addition, as shown in Figures 5 and 6, when the vehicle control unit 14 changes the relative position of the host vehicle V1 with respect to the following vehicle V2, it obtains the inter-vehicle distance D between the host vehicle V1 and the preceding vehicle V4 traveling in front of the host vehicle V1 in the first lane L1, and if the inter-vehicle distance D is greater than a predetermined distance, it may accelerate the host vehicle so that the inter-vehicle distance D becomes equal to or less than the predetermined distance.

[0025] 7, the process of the driving control method executed by the processor 10 of the driving control device 100 when the host vehicle V1 attempts to change lanes from the first lane L1 to the second lane L2 will be described. First, in step S1, the processor 10 acquires the detection result of the rear sensor 2a of the host vehicle V1.

[0026] Next, in step S2, the processor 10 determines, based on the detection result of the rear sensor 2a, whether or not another vehicle (rear other vehicle) traveling behind the host vehicle V1 has been detected in the second lane L2.

[0027] If it is determined in step S2 that "a rear vehicle traveling behind the host vehicle V1 has been detected in the second lane L2," the processor 10 determines in step S11 whether the host vehicle V1 can change lanes based on the inter-vehicle distance between the host vehicle V1 and the rear vehicle. Specifically, the processor 10 determines that the host vehicle V1 can change lanes if the inter-vehicle distance between the host vehicle V1 and the rear vehicle is equal to or greater than the required inter-vehicle distance S_critical, and determines that the host vehicle V1 cannot change lanes if the distance between the host vehicle V1 and the rear vehicle is less than the required inter-vehicle distance S_critical.

[0028] On the other hand, if it is determined in step S2 that "a following vehicle traveling behind the host vehicle V1 has not been detected in the second lane L2," the processor 10 determines in step S3 whether or not a following vehicle V2 traveling behind the host vehicle V1 in the first lane L1 exists within a predetermined range from the host vehicle V1. If it is determined in step S3 that "a following vehicle V2 does not exist," the processor 10 determines in step S4 that a lane change is possible.

[0029] On the other hand, if it is determined in step S3 that a following vehicle V2 exists, the processor 10 calculates in step S5 a predetermined virtual other vehicle position P at which there is a required inter-vehicle distance S_critical between the subject vehicle V1 and the other vehicle.

[0030] Next, in step S6, the processor 10 determines whether the rear sensor 2a can detect the imaginary other vehicle position P. Specifically, the processor 10 determines whether the following vehicle V2 is present on the imaginary straight line SL connecting the rear sensor 2a and the imaginary other vehicle position P. If the following vehicle V2 is present on the imaginary straight line SL, the processor 10 determines that the rear sensor 2a cannot detect the imaginary other vehicle position P. On the other hand, if the following vehicle V2 is not present on the imaginary straight line SL, the processor 10 determines that the rear sensor 2a can detect the imaginary other vehicle position P.

[0031] If it is determined in step S6 that "the rear sensor 2a can detect the imaginary other vehicle position P," it is clear that there is no rear vehicle in the second lane L2 ahead of the imaginary other vehicle position P because the rear sensor 2a has not detected the rear vehicle (step S2). Therefore, in step S4, the processor 10 determines that a lane change is possible.

[0032] On the other hand, if it is determined in step S6 that the rear sensor 2a cannot detect the virtual other vehicle position P, then in step S7, the processor 10 calculates the amount of position adjustment of the relative position (lateral position and / or longitudinal position) of the host vehicle V1 with respect to the following vehicle V2 so that the rear sensor 2a can detect the virtual other vehicle position P.

[0033] Then, in step S8, the processor 10 determines whether the vehicle V1 will not deviate from the first lane L1, i.e., whether it is possible to adjust the position of the vehicle V1 within the first lane L1, assuming that the position adjustment (change in lateral position and / or acceleration) of the vehicle V1 has been performed based on the position adjustment amount calculated in step S7.

[0034] If it is determined in step S8 that "the position of the host vehicle V1 cannot be adjusted within the first lane L1," the processor 10 determines in step S9 that the host vehicle V1 cannot change lanes.

[0035] On the other hand, if it is determined in step S8 that "the position of the host vehicle V1 can be adjusted in the first lane L1," the processor 10 adjusts the position of the host vehicle V1 in step S10. Then, in step S11, the processor 10 determines whether or not the host vehicle V1 can change lanes based on the detection result of the rear sensor 2a.

[0036] In addition, the procedure of the driving control method executed by the processor 10 of the driving control device 100 is not limited to the flowchart shown in Figure 7, and as shown in Figure 8, the processor 10 may simply adjust the position of the vehicle V1 depending on whether or not a following vehicle V2 is present within a predetermined range of the vehicle V1 in the first lane L1.

[0037] Specifically, as shown in Fig. 8, the processor 10 first acquires the detection result of the rear sensor 2a in step S1, and then determines in step S3 whether or not a following vehicle V2 is present in the first lane L1. If the following vehicle V2 is present in the first lane L1, the processor 10 adjusts the relative position of the host vehicle V1 with respect to the following vehicle V2 in step S10 so as to widen the detectable range of the rear sensor 2a. Then, in step S11, the processor 10 determines whether or not a lane change is possible based on the detection result of the rear sensor 2a. On the other hand, if the following vehicle V2 is not present in the first lane L1, the processor 10 determines whether or not a lane change is possible in step S11 without adjusting the position of the host vehicle V1.

[0038] As described above, when the host vehicle V1 traveling in the first lane L1 changes lanes to the second lane L2, the driving control device 100 according to this embodiment determines, based on the detection results of the rear sensor 2a, whether a following vehicle V2 traveling behind the host vehicle V1 in the first lane L1 is present within a predetermined range from the host vehicle V1. If the following vehicle V2 is present, the driving control device 100 changes the relative position of the host vehicle V1 with respect to the following vehicle V2 so as to widen the detectable range of the rear sensor 2a. This allows the driving control device 100 to widen the detectable range of the rear sensor 2a so as to easily determine whether a lane change is possible even when the following vehicle V2 is present behind the host vehicle V1. Specifically, even in a situation where the first lane L1 on which the vehicle V1 is traveling is congested, the distance between the vehicle V1 and the following vehicle V2 is relatively short, the adjacent second lane L2 is clear, and other vehicles are traveling at high speed, the driving control device 100 can control the driving of the vehicle V1 so that it can easily determine whether the vehicle V1 can change lanes.

[0039] Furthermore, when a following vehicle V2 is present, the driving control device 100 determines whether the detectable range of the rear sensor 2a is equal to or greater than a predetermined reference range, and if the detectable range is less than the reference range, changes the relative position of the host vehicle V1 with respect to the following vehicle V2 so that the detectable range is equal to or greater than the reference range. As a result, the driving control device 100 adjusts the relative position of the host vehicle V1 with respect to the following vehicle V2 so that the detectable range of the rear sensor 2a is equal to or greater than the predetermined reference range, making it easier to determine whether the host vehicle V1 can change lanes even when a following vehicle V2 is present.

[0040] The driving control device 100 also calculates the required inter-vehicle distance S_critical from a hypothetical other vehicle V3 traveling in the second lane L2, and calculates a predetermined hypothetical other vehicle position P at which the required inter-vehicle distance S_critical is achieved between the subject vehicle V1 and the following vehicle V2. Based on the detection results of the rear sensor 2a, the driving control device 100 determines whether a following vehicle V2 is present on a hypothetical line SL connecting the rear sensor 2a and the hypothetical other vehicle position P. If the following vehicle V2 is present on the hypothetical line SL, the driving control device 100 determines that the detectable range is less than the reference range. This allows the driving control device 100 to specifically determine whether the detectable range is equal to or greater than the reference range, i.e., whether it is necessary to adjust the relative position of the subject vehicle V1 with respect to the following vehicle V2.

[0041] The driving control device 100 also determines whether the detectable range is equal to or greater than the reference range based on the detection result of the rear sensor 2a and the map information, thereby enabling the driving control device 100 to accurately determine whether it is necessary to adjust the relative position of the host vehicle V1 with respect to the following vehicle V2.

[0042] The driving control device 100 also changes the relative position of the host vehicle V1 with respect to the following vehicle V2 by changing the lateral position of the host vehicle V1 so that the host vehicle V1 approaches the second lane L2. As a result, even when the host vehicle V1 and the leading vehicle V4 are close to each other and the host vehicle V1 cannot accelerate, the driving control device 100 can adjust the lateral position of the host vehicle V1 relative to the following vehicle V2 and widen the detection range of the rear sensor 2a.

[0043] The driving control device 100 may also change the relative position of the vehicle V1 with respect to the following vehicle V2 by accelerating the vehicle V1. This allows the driving control device 100 to adjust the longitudinal position of the vehicle V1 relative to the following vehicle V2, thereby widening the detection range of the rear sensor 2a.

[0044] The driving control device 100 may also change the lateral position of the vehicle V1 and accelerate the vehicle V1 so that the vehicle V1 approaches the second lane L2, thereby changing the relative position of the vehicle V1 with respect to the following vehicle V2. In this way, the driving control device 100 can widen the detection range of the rear sensor 2a and determine whether or not to change lanes during a series of controls related to the lane change of the vehicle V1.

[0045] Furthermore, when changing the relative position of the host vehicle V1 with respect to the following vehicle V2, the driving control device 100 accelerates the host vehicle V1, determines whether the detectable range is equal to or greater than the reference range after the acceleration of the host vehicle V1, and if the detectable range is less than the reference range, changes the lateral position of the host vehicle V1 so that the host vehicle V1 approaches the second lane L2. As a result, the driving control device 100 increases the distance between the host vehicle V1 and the following vehicle V2 before approaching the second lane L2, making it easier for other vehicles traveling behind on the second lane L2 to notice the presence of the host vehicle V1.

[0046] Furthermore, when changing the relative position of the host vehicle V1 with respect to the following vehicle V2, the driving control device 100 acquires the inter-vehicle distance D between the host vehicle V1 and the preceding vehicle V4, and if the inter-vehicle distance D is greater than a predetermined distance, accelerates the host vehicle so that the inter-vehicle distance D becomes equal to or less than the predetermined distance. In this way, the driving control device 100 can increase the inter-vehicle distance between the host vehicle V1 and the following vehicle V2 according to the inter-vehicle distance D between the host vehicle V1 and the preceding vehicle V4. Furthermore, the driving control device 100 can shorten the inter-vehicle distance setting for adaptive cruise control (ACC) in order to increase the inter-vehicle distance between the host vehicle V1 and the following vehicle V2.

[0047] REFERENCE SIGNS LIST 100: Driving control device 2a: Rear sensor 10: Processor 11: Detection result acquisition unit 12: Following vehicle determination unit 14: Vehicle control unit L1: First lane L2: Second lane P: Position of imaginary other vehicle V1: Own vehicle V2: Following vehicle V3: Imaginary other vehicle V4: Forward vehicle

Claims

1. A driving control method that uses a processor to control the driving of a host vehicle, wherein the processor: when the host vehicle traveling in a first lane changes lanes to a second lane adjacent to the first lane, obtains detection results from a rear sensor that detects the rear side of the host vehicle; based on the detection results from the rear sensor, determines whether or not there is a following vehicle traveling behind the host vehicle in the first lane within a specified range of the host vehicle; and, if there is a following vehicle, changes the relative position of the host vehicle with respect to the following vehicle so as to expand the detectable range of the rear sensor.

2. The driving control method described in claim 1, wherein the processor, when the following vehicle is present, determines whether the detectable range of the rear sensor is equal to or greater than a predetermined reference range, and, when the detectable range is less than the reference range, changes the relative position of the host vehicle with respect to the following vehicle so that the detectable range is equal to or greater than the reference range.

3. The driving control method of claim 2, wherein the processor calculates a required inter-vehicle distance between the host vehicle and a virtual other vehicle traveling in the second lane behind the host vehicle, calculates a predetermined virtual other vehicle position at which the required inter-vehicle distance is achieved between the host vehicle and the virtual other vehicle, and, based on the detection result of the rear sensor, determines whether the following vehicle is present on a virtual line connecting the rear sensor and the virtual other vehicle position, and, if the following vehicle is present on the virtual line, determines that the detectable range is less than the reference range.

4. A driving control method as described in claim 2 or 3, wherein the processor determines whether or not the detectable range is equal to or greater than the reference range based on the detection result of the rear sensor and map information.

5. A driving control method as described in any one of claims 1 to 4, wherein the processor changes the relative position of the vehicle with respect to the following vehicle by changing the lateral position of the vehicle so that the vehicle approaches the second lane.

6. A driving control method according to any one of claims 1 to 4, wherein the processor changes the relative position of the host vehicle with respect to the following vehicle by accelerating the host vehicle.

7. A driving control method as described in any one of claims 1 to 4, wherein the processor changes the lateral position of the vehicle and accelerates the vehicle so that the vehicle approaches the second lane, thereby changing the relative position of the vehicle with respect to the following vehicle.

8. A driving control method as described in any one of claims 2 to 4, wherein the processor, when changing the relative position of the host vehicle with respect to the following vehicle, accelerates the host vehicle, and after accelerating the host vehicle, determines whether the detectable range is equal to or greater than the reference range, and if the detectable range is less than the reference range, changes the lateral position of the host vehicle so that the host vehicle approaches the second lane.

9. A driving control method as described in any one of claims 6 to 8, wherein, when changing the relative position of the host vehicle with respect to the following vehicle, the processor obtains the distance between the host vehicle and a preceding vehicle traveling in front of the host vehicle in the first lane, determines whether the distance is equal to or less than a predetermined distance, and, if the distance is greater than the predetermined distance, accelerates the host vehicle so that the distance becomes equal to or less than the predetermined distance.

10. A driving control device that controls the driving of a host vehicle, comprising: a detection result acquisition unit that acquires detection results from a rear sensor that detects the rear side of the host vehicle when the host vehicle traveling in a first lane changes lanes to a second lane adjacent to the first lane; a following vehicle determination unit that determines whether or not a following vehicle traveling behind the host vehicle in the first lane is present within a predetermined range from the host vehicle based on the detection results of the rear sensor; and a vehicle control unit that, if the following vehicle is present, changes the relative position of the host vehicle with respect to the following vehicle so as to expand the detectable range of the rear sensor.

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