US 12,071,165 B2
Automatic driving apparatus and automatic driving method
Naoyuki Tsushima, Tokyo (JP); Takuya Taniguchi, Tokyo (JP); and Nariaki Takehara, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
Filed on Jan. 25, 2022, as Appl. No. 17/583,572.
Claims priority of application No. 2021-038840 (JP), filed on Mar. 11, 2021.
Prior Publication US 2022/0289254 A1, Sep. 15, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01)
CPC B60W 60/00274 (2020.02) [B60W 30/0956 (2013.01); B60W 2552/30 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/801 (2020.02)] 10 Claims
OG exemplary drawing
 
1. An automatic driving apparatus, comprising:
at least one processor; and
at least one memory including computer program code, when executed, causes the at least one processor to:
detect an other vehicle which exists around an own vehicle;
detect a road shape where the other vehicle is located;
predict presence or absence of lane change of the other vehicle based on a detection result of the other vehicle, and change a determination value which is used when predicting the presence or absence of the lane change of the other vehicle, based on the road shape where the other vehicle is located; and
drive the own vehicle automatically based on a prediction result of the presence or absence of the lane change of the other vehicle;
wherein predicting presence or absence of the lane change comprises changing the determination value from the value when a local road shape where the own vehicle is located is a straight road and the road shape where the other vehicle is located is a curved road;
wherein the lane change prediction predicts that the other vehicle changes lane, when a magnitude of a traveling speed component in a road width direction of a road position where the other vehicle is located exceeds the determination value, and predicts that the other vehicle does not change lane, when the magnitude of the traveling speed component in the road width direction is less than the determination value, and
wherein the lane change prediction increases the determination value from the determination value when the road shape is the straight road, when the road shape where the other vehicle is located is the curved road;
wherein the lane change prediction changes individually the determination value of left side which is used when determining whether the other vehicle changes lane to a left side lane, and the determination value of right side which is used when determining whether the other vehicle changes lane to a right side lane;
makes the determination value of left side larger than the determination value of right side, when the road shape where the other vehicle is located is a curved road curved to right side; and
makes the determination value of right side larger than the determination value of left side, when the road shape where the other vehicle is located is a curved road curved to left side.