US 12,377,850 B2
Driving assistance method and driving assistance device
Yohei Taniguchi, Kanagawa (JP); Yuta Akamatsu, Kanagawa (JP); Takashi Fukuda, Kanagawa (JP); and Hirotaka Kamimura, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP)
Appl. No. 18/844,308
Filed by Nissan Motor Co., Ltd., Yokohama (JP)
PCT Filed Mar. 18, 2022, PCT No. PCT/JP2022/012687
§ 371(c)(1), (2) Date Sep. 5, 2024,
PCT Pub. No. WO2023/175928, PCT Pub. Date Sep. 21, 2023.
Prior Publication US 2025/0115245 A1, Apr. 10, 2025
Int. Cl. B60W 30/18 (2012.01); B60W 30/12 (2020.01); B60W 50/08 (2020.01); B62D 15/02 (2006.01)
CPC B60W 30/18163 (2013.01) [B60W 30/12 (2013.01); B60W 50/08 (2013.01); B62D 15/0255 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A driving assistance method in which a controller performs automated lane change to control an own vehicle in such a way that the own vehicle makes a lane change under a condition that a passenger is at least in contact with a steering wheel, the driving assistance method causing the controller to perform processing comprising:
selecting a target lane in which the own vehicle is required to travel, based on a preset target route; and
in a case where an automated lane change from a current lane, the current lane being a lane in which the own vehicle is currently traveling, to the target lane includes a first automated lane change from a first lane to a second lane adjacent to the first lane and a second automated lane change from the second lane to a third lane adjacent to the second lane, starting control of the first automated lane change after performing a first lane-keeping assistance by satisfying a first predetermined condition and performing a second lane-keeping assistance from an end of control of the first automated lane change until a start of control of the second automated lane change, regardless of whether the first predetermined condition is satisfied within a time period from the end of control of the first automated lane change until the start of control of the second automated lane change,
wherein the first lane-keeping assistance controls the own vehicle in such a way that the own vehicle travels in a same lane in a case where the first predetermined condition is satisfied regardless of whether the passenger is in contact with the steering wheel,
wherein the second lane-keeping assistance controls the own vehicle in such a way that the own vehicle travels in the same lane in a case where the passenger is at least in contact with the steering wheel and a second predetermined condition is satisfied, and
wherein the second predetermined condition is different than the first predetermined condition.