Travel control method and travel control apparatus
A travel control method comprises a step of determining, when the second range becomes small after initiating the lane change as compared with the second range before initiating the lane change, at least one of a method of presenting information to a driver of the subject vehicle when discontinuing or continuing the lane change, a control content after discontinuing or continuing the lane change, and a travel position of the subject vehicle in a road width direction on a basis of a positional relationship in the road width direction between a lane mark which the subject vehicle gets across in the lane change and the subject vehicle.
1. A travel control method executed by a travel control apparatus, the travel control apparatus comprising:
a first sensor configured to detect an obstacle around a subject vehicle traveling in a first lane; and
a second sensor configured to detect a second lane adjacent to the first lane, the travel control apparatus being configured to:
set a first range at a target position for lane change in the second lane, the first range having a size equal to or larger than a size which the subject vehicle occupies on a road surface;
detect a range in the second lane as a second range, the range in the second lane being located at a side of the subject vehicle, the obstacle being absent in the range in the second lane; and
execute lane change of the subject vehicle when the second range includes the first range,
the travel control method comprising a step of determining, when the second range becomes small after initiating the lane change as compared with the second range before initiating the lane change, at least one of a method of presenting information to a driver of the subject vehicle when discontinuing or continuing the lane change, a control content after discontinuing or continuing the lane change, and a travel position of the subject vehicle in a road width direction on a basis of a positional relationship in the road width direction between a lane mark which the subject vehicle gets across in the lane change and the subject vehicle.
2. The travel control method according to claim 1 , wherein the method of presenting information to a driver when discontinuing or continuing the lane change includes determining at least one of a method of presenting information for allowing the driver to select between options of discontinuing and continuing the lane change without time limit, a method of presenting information for allowing the driver to select between options of discontinuing and continuing the lane change with time limit, a method of automatically executing discontinuation or continuation of the lane change and providing the driver with information for canceling the discontinuation or continuation of the lane change, and a method of automatically executing discontinuation or continuation of the lane change without providing the driver with information for canceling the discontinuation or continuation of the lane change.
3. The travel control method according to claim 1 , further comprising
a step of controlling automatic travel of the subject vehicle,
wherein the control content after discontinuing or continuing the lane change includes performing at least one of control of discontinuing the lane change and also discontinuing the automatic travel, control of canceling the lane change and continuing the automatic travel, and control of waiting until the first range is included again in the second range and resuming the lane change when the first range is included again in the second range.
4. The travel control method according to claim 1 , wherein determining the travel position of the subject vehicle in the road width direction includes determining at least one of a position before the lane change, a position that is within the first lane and nearer to the lane mark side than center of the first lane, and a current travel position of the subject vehicle.
5. The travel control method according to claim 1 , wherein the step includes automatically executing discontinuation of the lane change without providing the driver with information for canceling the discontinuation of the lane change.
6. The travel control method according to claim 1 , further comprising
a step of controlling automatic travel of the subject vehicle,
wherein the step includes discontinuing the lane change and also discontinuing the automatic travel when no part of the subject vehicle gets across the lane mark.
7. The travel control method according to claim 1 , wherein the step includes recovering the travel position of the subject vehicle in the road width direction to a position before the lane change when no part of the subject vehicle gets across the lane mark.
8. The travel control method according to claim 1 , wherein the step includes automatically executing discontinuation of the lane change and providing the driver with information for canceling the discontinuation of the lane change when a part of the subject vehicle gets across the lane mark but half or more of the subject vehicle does not get across the lane mark.
9. The travel control method according to claim 1 , further comprising
a step of controlling automatic travel of the subject vehicle,
wherein the step includes discontinuing the lane change and continuing the automatic travel when a part of the subject vehicle gets across the lane mark but half or more of the subject vehicle does not get across the lane mark.
10. The travel control method according to claim 1 , wherein the step includes adjusting, when a part of the subject vehicle gets across the lane mark but half or more of the subject vehicle does not get across the lane mark, the travel position of the subject vehicle in the road width direction to a position in the first lane at which the subject vehicle traveled before the lane change and which is nearer to the lane mark side than center of the first lane.
11. The travel control method according to claim 1 , wherein the step includes automatically executing continuation of the lane change without providing the driver with information for canceling the continuation of the lane change when whole of the subject vehicle does not completely get across the lane mark but half or more of the subject vehicle gets across the lane mark.
12. The travel control method according to claim 1 , wherein the step includes waiting until the first range is included again in the second range and resuming the lane change when the first range is included again in the second range when whole of the subject vehicle does not completely get across the lane mark but half or more of the subject vehicle gets across the lane mark.
13. The travel control method according to claim 1 , wherein the step includes maintaining the travel position of the subject vehicle in the road width direction at a current position when whole of the subject vehicle does not completely get across the lane mark but half or more of the subject vehicle gets across the lane mark.
14. The travel control method according to claim 1 , wherein the step includes automatically executing discontinuation of the lane change without providing the driver with information for canceling the discontinuation of the lane change when whole of the subject vehicle gets across the lane mark.
15. The travel control method according to claim 1 , further comprising
a step of controlling automatic travel of the subject vehicle,
wherein the step includes discontinuing the lane change and continuing the automatic travel when whole of the subject vehicle gets across the lane mark.
16. The travel control method according to claim 1 , wherein, when a distance from the lane mark to the subject vehicle in the road width direction is less than a first predetermined distance, the travel position of the subject vehicle in the road width direction is maintained at a current position.
17. The travel control method according to claim 1 , wherein, when a distance from the subject vehicle to the lane mark is less than a predetermined distance, the travel position of the subject vehicle in the road width direction is maintained at a current position.
18. The travel control method according to claim 1 , wherein, when the subject vehicle gets across the lane mark by a predetermined amount, the travel position of the subject vehicle in the road width direction is controlled to the target position for lane change.
19. The travel control method according to claim 1 , wherein the step includes determining at least one of the method of presenting information to the driver of the subject vehicle when discontinuing or continuing the lane change, the control content after discontinuing or continuing the lane change, and the travel position of the subject vehicle in the road width direction by taking into account a rate with which the second range becomes small after initiating the lane change.
20. A travel control method executed by a travel control apparatus, the travel control apparatus comprising:
a first sensor configured to detect an obstacle around a subject vehicle traveling in a first lane; and
a second sensor configured to detect a second lane adjacent to the first lane, the travel control apparatus being configured to:
set a first range at a target position for lane change in the second lane, the first range having a size equal to or larger than a size which the subject vehicle occupies on a road surface;
detect a range in the second lane as a second range, the range in the second lane being located at a side of the subject vehicle, the obstacle being absent in the range in the second lane; and
execute lane change of the subject vehicle when the second range includes the first range,
the travel control method comprising a step of reducing a moving speed of the subject vehicle in a road width direction when the second range becomes small after initiating the lane change as compared with the second range before initiating the lane change.
21. The travel control method according to claim 20 , wherein the moving speed is further reduced when a degree that the first range deviates from the second range is a predetermined value or more after initiating the lane change as compared with when the degree that the first range deviates from the second range is less than the predetermined value.
22. The travel control method according to claim 20 , wherein the step includes changing the moving speed by taking into account a positional relationship in the road width direction between a lane mark which the subject vehicle gets across in the lane change and the subject vehicle.
23. The travel control method according to claim 1 , wherein the second range after a predetermined time is estimated and the lane change of the subject vehicle is permitted when the second range after the predetermined time includes the first range.
24. A travel control apparatus comprising:
a first sensor configured to detect an obstacle around a subject vehicle traveling in a first lane;
a second sensor configured to detect a second lane adjacent to the first lane; and
a controller configured to:
set a first range at a target position for lane change in the second lane, the first range having a size equal to or larger than a size which the subject vehicle occupies on a road surface;
detect a range in the second lane as a second range, the range in the second lane being located at a side of the subject vehicle, the obstacle being absent in the range in the second lane; and
permit lane change of the subject vehicle when the second range includes the first range,
wherein, when the second range becomes small after initiating the lane change as compared with the second range before initiating the lane change, the controller determines at least one of a method of presenting information to a driver of the subject vehicle when discontinuing or continuing the lane change, a control content after discontinuing or continuing the lane change, and a travel position of the subject vehicle in a road width direction on a basis of a positional relationship in the road width direction between a lane mark which the subject vehicle gets across in the lane change and the subject vehicle.