Travel control device, travel control method, and non-transitory recording medium
A travel control device performs blind area avoidance control when a host vehicle is in a blind area, a relative speed which is a value obtained by subtracting a speed of the host vehicle from a speed of an adjacent vehicle is larger than a first relative speed threshold value, the relative speed is smaller than a second relative speed threshold value, and an elapsed time from the point of time the host vehicle entered the blind area is an elapsed time threshold value or more and does not perform the blind area avoidance control when the host vehicle is not in the blind area, when the relative speed is the first relative speed threshold value or less, when the relative speed is the second relative speed threshold value or more, or when the elapsed time is shorter than the elapsed time threshold value.
1 . A travel control device comprising a processor configured to:
acquire nearby vehicle information and surrounding road environment information of a host vehicle; and
perform blind area avoidance control making the host vehicle avoid traveling in a blind area of an adjacent vehicle which is traveling in a lane adjoining a lane in which the host vehicle is traveling based on the nearby vehicle information, wherein
the processor
performs the blind area avoidance control when the host vehicle is positioned in the blind area, a relative speed which is a value obtained by subtracting a speed of the host vehicle from a speed of the adjacent vehicle is larger than a first relative speed threshold value, the relative speed is smaller than a second relative speed threshold value, and an elapsed time from the point of time when the host vehicle entered the blind area is an elapsed time threshold value or more, and
does not perform the blind area avoidance control when the host vehicle is not positioned in the blind area, when the relative speed is the first relative speed threshold value or less, when the relative speed is the second relative speed threshold value or more, or when the elapsed time is shorter than the elapsed time threshold value.
2 . The travel control device according to claim 1 , wherein the processor is configured to
determine whether to perform the blind area avoidance control and
calculate a degree of acceleration and deceleration of the host vehicle for performing the blind area avoidance control.
3 . The travel control device according to claim 1 , wherein the processor is configured to determine that the host vehicle is positioned in the blind area when a front end of the host vehicle is positioned in a determination area between a position a predetermined amount behind a rear end of the adjacent vehicle and a position a predetermined amount ahead of the rear end of the adjacent vehicle in a lane in which the host vehicle is traveling.
4 . The travel control device according to claim 1 , wherein the nearby vehicle information includes data of an image of the front of the host vehicle captured by a front camera installed in the host vehicle, and
the processor is configured to
determine that the host vehicle is not in the blind area when the image of the front of the host vehicle contains the adjacent vehicle, and
determine that the host vehicle is in the blind area when the image of the front of the host vehicle does not contain the adjacent vehicle.
5 . A travel control method comprising:
acquiring nearby vehicle information and surrounding road environment information of a host vehicle; and
performing blind area avoidance control making the host vehicle avoid traveling in a blind area of an adjacent vehicle which is traveling in a lane adjoining a lane in which the host vehicle is traveling based on the nearby vehicle information, wherein
the blind area avoidance control is performed when the host vehicle is positioned in the blind area, a relative speed which is a value obtained by subtracting a speed of the host vehicle from a speed of the adjacent vehicle is larger than a first relative speed threshold value, the relative speed is smaller than a second relative speed threshold value, and an elapsed time from the point of time when the host vehicle entered the blind area is an elapsed time threshold value or more, and
the blind area avoidance control is not performed when the host vehicle is not positioned in the blind area, when the relative speed is the first relative speed threshold value or less, when the relative speed is the second relative speed threshold value or more, or when the elapsed time is shorter than the elapsed time threshold value.
6 . A non-transitory recording medium having recorded thereon a computer program for causing a processor to execute a process comprising:
acquiring nearby vehicle information and surrounding road environment information of a host vehicle; and
performing blind area avoidance control making the host vehicle avoid traveling in a blind area of an adjacent vehicle which is traveling in a lane adjoining a lane in which the host vehicle is traveling based on the nearby vehicle information, wherein
the blind area avoidance control is performed when the host vehicle is positioned in the blind area, a relative speed which is a value obtained by subtracting a speed of the host vehicle from a speed of the adjacent vehicle is larger than a first relative speed threshold value, the relative speed is smaller than a second relative speed threshold value, and an elapsed time from the point of time when the host vehicle entered the blind area is an elapsed time threshold value or more, and
the blind area avoidance control is not performed when the host vehicle is not positioned in the blind area, when the relative speed is the first relative speed threshold value or less, when the relative speed is the second relative speed threshold value or more, or when the elapsed time is shorter than the elapsed time threshold value.