US 12,447,991 B2
Vehicle lane change control method and vehicle lane change control device
Yasuhisa Hayakawa, Kanagawa (JP); Fuminori Takeda, Kanagawa (JP); and Yoshiya Kusatomi, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP)
Appl. No. 17/780,556
Filed by Nissan Motor Co., Ltd., Yokohama (JP)
PCT Filed Dec. 10, 2019, PCT No. PCT/JP2019/048284
§ 371(c)(1), (2) Date May 27, 2022,
PCT Pub. No. WO2021/117132, PCT Pub. Date Jun. 17, 2021.
Prior Publication US 2023/0347926 A1, Nov. 2, 2023
Int. Cl. G01C 22/00 (2006.01); B60W 30/14 (2006.01); B60W 30/18 (2012.01); B60W 30/182 (2020.01); B60W 60/00 (2020.01); G08G 1/052 (2006.01); G08G 1/16 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 30/143 (2013.01); B60W 30/18163 (2013.01); B60W 30/182 (2013.01); G08G 1/052 (2013.01); G08G 1/167 (2013.01); B60W 2554/80 (2020.02); B60W 2720/00 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A driving control method for executing a lane-change control for controlling a host vehicle to autonomously change lanes from a first lane to a second lane that is adjacent the first lane using a processor of a driving control device that controls vehicle speed and steering of the host vehicle traveling in the first lane in an autonomous driving mode, the driving control method comprising:
the processor
using a sensor mounted on the host vehicle to determine whether another vehicle is detected in the second lane within a prescribed detection zone and is positioned behind the host vehicle,
determining that the lane-change control can be executed upon determining that the other vehicle has been detected within the prescribed detection zone and is positioned behind the host vehicle,
determining that the lane-change control cannot be executed upon determining that no vehicle has been detected within the prescribed detection zone or upon determining that the other vehicle is not behind the host vehicle, and
outputting lane change information that the lane-change control can be executed to move the host vehicle in front of the other vehicle based on the determination that the lane-change control can be executed,
the processor being configured to execute the lane-change control to autonomously change lanes only upon determining that the other vehicle is in the prescribed detection zone and behind the host vehicle.