US 12,012,103 B2
Vehicle control method and vehicle control device
Atsushi Ito, Kanagawa (JP); Katsuhiko Degawa, Kanagawa (JP); Takahiro Nojiri, Kanagawa (JP); Tatsuya Shino, Kanagawa (JP); Shuhei Emoto, Kanagawa (JP); Shuko Ishimaru, Kanagawa (JP); and Toshihiro Asai, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP)
Appl. No. 17/276,681
Filed by Nissan Motor Co., Ltd., Yokohama (JP)
PCT Filed Sep. 21, 2018, PCT No. PCT/IB2018/001176
§ 371(c)(1), (2) Date Mar. 16, 2021,
PCT Pub. No. WO2020/058739, PCT Pub. Date Mar. 26, 2020.
Prior Publication US 2021/0269041 A1, Sep. 2, 2021
Int. Cl. B60Q 1/34 (2006.01); B60Q 1/50 (2006.01); B60R 21/00 (2006.01); B60R 21/0134 (2006.01); B60W 30/14 (2006.01); B60W 30/16 (2020.01); B60W 30/18 (2012.01); B60W 40/02 (2006.01); B60W 40/105 (2012.01); B60W 50/00 (2006.01)
CPC B60W 30/18163 (2013.01) [B60W 50/0097 (2013.01); B60W 2540/20 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2720/106 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A vehicle control method executed by a processor for controlling a subject vehicle, comprising:
acquiring, from a sensor for detecting a state of surroundings of the subject vehicle, detection data of another vehicle traveling in an adjacent lane adjacent to a travel lane in which the subject vehicle is traveling;
setting, on the adjacent lane, a target point for the subject vehicle to change a lane from the travel lane to the adjacent lane based on a position relationship between the subject vehicle and the other vehicle;
specifying the other vehicle that is located behind the target point as a rear vehicle;
determining whether or not a rear end of the subject vehicle is located ahead of a front end of the rear vehicle;
in response to the rear end of the subject vehicle being located ahead of the front end of the rear vehicle, executing a deceleration control so that a vehicle speed of the subject vehicle is lower than a present vehicle speed;
determining whether or not a relative acceleration of the subject vehicle relative to the rear vehicle is negative; and
starting blinking of a direction indicator of the subject vehicle in response to the rear end of the subject vehicle being located ahead of the front end of the rear vehicle and the relative acceleration of the subject vehicle relative to the rear vehicle being negative.