| CPC B60W 30/18163 (2013.01) [B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2552/10 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2554/803 (2020.02); B60W 2554/804 (2020.02)] | 8 Claims |
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1. A vehicle control device that controls a self-vehicle, comprising:
one or more memories storing instructions; and
one or more processors executing the instructions to:
acquire surrounding information of the self-vehicle; and
control traveling of the self-vehicle based on the surrounding information, wherein
the one or more processors further execute the instructions to:
estimate whether a traveling speed of the self-vehicle will be equal to or less than a predetermined speed based on a relative speed between a traveling speed of the self-vehicle and a traveling speed of another vehicle traveling in a merging lane merging into a traveling lane in which the self-vehicle is traveling and based on a relative distance between the self-vehicle and the other vehicle, and
when estimating that the traveling speed of the self-vehicle will be equal to or less than the predetermined speed, disable an automatic lane change operation of the self-vehicle to an adjacent lane adjacent to the traveling lane,
wherein the automatic lane change operation is not an operation in which the self-vehicle performs a lane change from the traveling lane to the merging lane but an operation in which the self-vehicle performs a lane change from the traveling lane to the adjacent lane adjacent to the traveling lane, where the traveling lane is between the merging lane and the adjacent lane,
the vehicle control device further comprising:
a storage unit configured to store information on a reference curve indicating a relationship between the relative speed between the self-vehicle and the other vehicle and a relative threshold distance between the self-vehicle and the other vehicle, the relative threshold distance serving as a reference for disabling the automatic lane change operation, wherein
the one or more processors further execute the instructions to:
calculate the relative threshold distance from the relative speed between the self-vehicle and the other vehicle based on the reference curve,
determine whether the relative distance between the self-vehicle and the other vehicle is equal to or less than the calculated relative threshold distance, and
estimate that the traveling speed of the self-vehicle will be equal to or less than the predetermined speed if the relative distance is equal to or less than the relative threshold distance.
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