Vehicle travel control method and vehicle travel control apparatus
When executing the autonomous lane change control of lane change of the subject vehicle from the subject vehicle lane in which the subject vehicle travels to adjacent lane, the autonomous lane change control is executed so as to accelerate the lateral speed of the subject vehicle in the subject vehicle lane and thereafter decelerate the lateral speed in the subject vehicle lane. As a result, it takes longer for the driver of the following vehicle to confirm the lateral movement of the preceding subject vehicle during the lane change of the subject vehicle from the start of the lane change than a lane change in which the lateral speed is decelerated in the adjacent lane. Therefore, it becomes easier to recognize the lane change.
1. A travel control method for a vehicle for executing autonomous lane change control which operates a steering actuator so as to autonomously control a subject vehicle to change a lane from a subject vehicle lane in which the subject vehicle travels to an adjacent lane, the travel control method comprising:
upon execution of the autonomous lane change control,
increasing a lateral speed of the subject vehicle within the subject vehicle lane; and thereafter
decreasing the lateral speed of the subject vehicle within the subject vehicle lane to execute the autonomous lane change control.
2. The travel control method according to claim 1 , comprising:
detecting a following vehicle traveling in the adjacent lane behind the subject vehicle before the execution of the autonomous lane change control;
when detecting the following vehicle, after increasing the lateral speed of the subject vehicle within the subject vehicle lane, decreasing the lateral speed of the subject vehicle to execute the autonomous lane change control.
3. The travel control method according to claim 1 , comprising:
acquiring travel information regarding a traveling state of the subject vehicle; and
setting a lane change lateral speed on a basis of the travel information, the lane change lateral speed being a lateral speed upon the subject vehicle crossing a boundary line between the subject vehicle lane and the adjacent lane.
4. The travel control method according to claim 3 , wherein the lane change lateral speed is set by changing a target lateral speed upon increasing the lateral speed of the subject vehicle within the subject vehicle lane.
5. The travel control method according to claim 3 , wherein the lane change lateral speed is set by changing a start timing of decreasing the lateral speed of the subject vehicle within the subject vehicle lane.
6. The travel control method according to claim 3 , comprising:
acquiring an inter-vehicle distance between the subject vehicle and the following vehicle traveling in the adjacent lane as the travel information; and
setting the lane change lateral speed lower as an acquired inter-vehicle distance becomes shorter.
7. The travel control method according to claim 3 , comprising:
detecting a relative speed of the following vehicle traveling in the adjacent lane with respect to the subject vehicle as the travel information; and
setting the lane change lateral speed lower as the relative speed becomes higher.
8. The travel control method according to claim 3 , comprising:
acquiring a road width of the adjacent lane as the travel information; and
setting the lane change lateral speed lower as the road width becomes narrower.
9. The travel control method according to claim 3 , comprising:
acquiring a road radius of the adjacent lane as the travel information; and
setting the lane change lateral speed lower as the road radius becomes shorter.
10. The travel control method according to claim 3 , comprising:
acquiring information regarding an amount of rainfall as the travel information; and
setting the lane change lateral speed lower as the amount of rainfall becomes larger.
11. A travel control apparatus for a vehicle for executing autonomous lane change control which operates a steering actuator so as to autonomously control a subject vehicle to change a lane from a subject vehicle lane in which the subject vehicle travels to an adjacent lane, the travel control apparatus configured to:
upon execution of the autonomous lane change control,
increase a lateral speed of the subject vehicle within the subject vehicle lane; and thereafter
decrease the lateral speed of the subject vehicle within the subject vehicle lane to execute the autonomous lane change control.