Control Method for Traveling Apparatus and Traveling Control Apparatus

摘要

A control method allows an own vehicle to proceed through a specific intersection into which vehicles are permitted to proceed in the order that the vehicles arrive. The method includes setting a determination region within a lane other than a lane in which the own vehicle travels; determining whether the own vehicle reaches a certain position at the near side of the specific intersection; allocating a priority state to the determination region when the own vehicle reaches the certain position and allocating a non-priority state to the determination region in which the vehicle does not exist when the own vehicle reaches the certain position; changing the priority state of the determination region to the non-priority state when the vehicle no longer exists in the determination region; and allowing the own vehicle to proceed into the specific intersection when the determination region of the priority state is not present.

主权项

1. A control method for a traveling apparatus,
the traveling apparatus comprising:
a first detector configured to detect a state of an own vehicle; anda second detector configured to detect a situation around the own vehicle, the traveling apparatus detecting a specific intersection and determining whether to allow the own vehicle to proceed into the specific intersection, the specific intersection being an intersection into which vehicles are permitted to proceed in an order that the vehicles arrive at the intersection, the control method comprising: setting a determination region within a lane other than a lane in which the own vehicle travels, the determination region being set at a near side when proceeding into the specific intersection; detecting the vehicle in the determination region; determining whether the own vehicle reaches a certain position at the near side of the specific intersection; allocating a priority state to the determination region in which the vehicle exists when the own vehicle reaches the certain position and allocating a non-priority state to the determination region in which the vehicle does not exist when the own vehicle reaches the certain position; changing the priority state of the determination region from the priority state to the non-priority state when the vehicle no longer exists in the determination region; and allowing the own vehicle to proceed into the specific intersection when the determination region of the priority state is not present.