| CPC B60W 60/0055 (2020.02) [B60W 50/14 (2013.01); G01C 21/3863 (2020.08); B60W 30/16 (2013.01); B60W 2050/0072 (2013.01); B60W 2552/30 (2020.02); B60W 2556/40 (2020.02)] | 14 Claims |
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1. A driving control method comprising:
acquiring a destination of a vehicle;
referring to map information having a first map that includes lane identification information of a travel lane of a road comprising one or more lanes in a traveling direction, wherein the lane identification information enables prediction of a lane in a direction of travel in a future, and a second map that does not include the lane identification information of the travel lane;
calculating a route from a current position of the vehicle to the destination;
before traveling in areas of the route belonging to the first map and the second map, creating a driving plan for the vehicle to travel autonomously along the route with a first autonomous driving control planned to be used in the area of the route belonging to the first map and a second autonomous driving control planned to be used in the area of the route belonging to the second map;
transmitting the driving plan to a controller of the vehicle;
driving the vehicle so as to transition from the area of the route belonging to the first map to the area of the route belonging to the second map in accordance with the driving plan; and
switching automatically from the first automatic driving control to the second automatic driving control when driving the vehicle through a control change point that transitions from the area of the route belonging to the first map to the area of the route belonging to the second map,
wherein the first autonomous driving control includes lane-keeping driving control by autonomous driving and lane change driving control by the autonomous driving, wherein the prediction of the lane in the direction of travel of the vehicle based on the lane identification information of the travel lane is used, and
wherein the second autonomous driving control does not include the lane change driving control but includes the lane-keeping driving control by the autonomous driving.
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14. A driving control apparatus comprising a control device configured to create a driving plan and cause a controller of a vehicle to execute the driving plan, the control device being further configured to:
acquire a destination of the vehicle;
refer to map information having a first map that includes lane identification information of a travel lane of a road comprising one or more lanes in a traveling direction, wherein the lane identification information enables prediction of a lane in a traveling direction in a future, and a second map that does not include the lane identification information of the travel lane;
calculate a route from a current position of the vehicle to the destination;
before travel occurs in areas of the route belonging to the first map and the second map, create the driving plan for the vehicle to travel autonomously along the route with a first autonomous driving control is planned to be used in the area of the route belonging to the first map and a second autonomous driving control is planned to be used in the area of the route belonging to the second map;
transmit the driving plan to the controller of the vehicle;
drive the vehicle so as to transition from the area of the route belonging to the first map to the area of the route belonging to the second map in accordance with the driving plan; and
switch automatically from the first automatic driving control to the second automatic driving control when driving the vehicle through a control change point that transitions from the area of the route belonging to the first map to the area of the route belonging to the second map,
wherein the first autonomous driving control includes lane-keeping driving control by the autonomous driving and lane change driving control by the autonomous driving, wherein the prediction of the lane in the traveling direction of the vehicle based on the lane identification information of the travel lane is used, and
wherein the second autonomous driving control does not include the lane change driving control but includes the lane-keeping driving control by the autonomous driving.
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