Abstract: A driving control method comprises: acquiring a destination of a vehicle; referring to a first map that includes identification information of a travel lane and a second map that does not include the identification information of the travel lane; calculating a route from a current position of the vehicle to the destination; when traveling along a first route included in the route and belonging to the first map, setting first driving control, while when traveling along a second route included in the route and belonging to the second map, setting second driving control with a lower level of autonomous driving than that of the first driving control; and creating a driving plan for the vehicle to travel along the route with contents of the set driving control. A driving control apparatus is based on the method.

Abstract: A vehicle travel assistance method executed by a processor comprises: setting a travel lane in which a subject vehicle travels based on detection information of a sensor equipped in the subject vehicle, identifying a preceding vehicle traveling ahead of a subject vehicle based on detection information of a sensor, calculating, based on the detection information, a first evaluation value indicating a possibility that the subject vehicle can return to the travel lane from an adjacent lane adjacent to the travel lane after overtaking the preceding vehicle, calculating a shortening width of travel time shortened by overtaking the preceding vehicle based on the vehicle speed of the subject vehicle and the vehicle speed of the preceding vehicle, and determining whether or not to overtake the preceding vehicle based on the first evaluation value and the shortening width.

Abstract: A travel assistance method for a vehicle, executed by the processor, comprising: detecting a road structure including a merging point where a merging lane and a merged lane merge, detecting a state of another vehicle traveling toward a merging point, setting, based on the road structure, a merging position relative to a traveling vehicle (other vehicle) traveling in the merged lane and a determination criterion for determining whether or not merging is possible at the merging position, and determining whether or not merging is possible based on the state of the subject vehicle, the state of the other vehicle and the determination criterion.

Abstract: A driving control method includes referring to map information including a first map that includes identification information of a travel lane and a second map that does not include the identification information of the travel lane; when calculating a route from the current position of a vehicle to a destination, calculating the route so as to achieve a predetermined relationship between a first travel cost for traveling along a first route that belongs to the first map and a second travel cost for traveling along a second route that belongs to the second map; creating a driving plan for the vehicle to travel along the route; and causing a vehicle controller to execute the driving plan.

Abstract: A pedestrian crosswalk through which a subject vehicle is expected to pass is specified as a target pedestrian crosswalk. Road configurations close to the target pedestrian crosswalk are detected. Traffic lines of moving objects crossing the target pedestrian crosswalk are estimated on the basis of the road configurations. An area including the estimated traffic lines is set as a detection area of a detector detecting objects around the subject vehicle. The moving objects are detected by the detector in the detection area. Travel of the subject vehicle is controlled on the basis of a detection result of the detector.

Abstract: A driving assist method performs a lane change control to make a lane change to an adjacent lane. The method includes: detecting whether there is a request from the host vehicle to make a lane change to the adjacent lane; detecting whether there is any intention for another vehicle traveling in the adjacent lane to make a lane change towards the host vehicle lane upon detection of a presence of the lane change; establishing a lane-change-intending other vehicle as a designated vehicle for a place-swapping lane change upon detection of a presence of the intention for another vehicle to make a lane change towards the host vehicle lane; and setting the position of the designated vehicle traveling in the adjacent lane as a target lane change to be made by the host vehicle, and performing a lane change control based on the target lane change.

Abstract: A travel assistance method for a vehicle, executed by the processor, comprising: detecting a road structure including a merging point where a merging lane and a merged lane merge, detecting a state of another vehicle traveling toward a merging point, setting, based on the road structure, a merging position relative to a traveling vehicle (other vehicle) traveling in the merged lane and a determination criterion for determining whether or not merging is possible at the merging position, and determining whether or not merging is possible based on the state of the subject vehicle, the state of the other vehicle and the determination criterion.

Abstract: A vehicle travel assistance method executed by a processor comprises: setting a travel lane in which a subject vehicle travels based on detection information of a sensor equipped in the subject vehicle, identifying a preceding vehicle traveling ahead of a subject vehicle based on detection information of a sensor, calculating, based on the detection information, a first evaluation value indicating a possibility that the subject vehicle can return to the travel lane from an adjacent lane adjacent to the travel lane after overtaking the preceding vehicle, calculating a shortening width of travel time shortened by overtaking the preceding vehicle based on the vehicle speed of the subject vehicle and the vehicle speed of the preceding vehicle, and determining whether or not to overtake the preceding vehicle based on the first evaluation value and the shortening width.

Abstract: A driving assistance method includes extracting an interference traffic line that is a route along which another vehicle can move and that interferes with a planned travel route of a subject vehicle. The method also includes determining a necessary length of the extracted interference traffic line of the other vehicle, which length is necessary for determining a driving action of the subject vehicle, on the basis of at least one of a shape of a road, a traffic rule, and a traffic situation. The method further includes determining the driving action of the subject vehicle to respond to the other vehicle moving along the interference traffic line using a range of the determined necessary length of the interference traffic line as a determination object.

Abstract: A travel control for a vehicle includes specifying a pedestrian crosswalk through which a subject vehicle is expected to pass as a first pedestrian crosswalk, estimating a position on the first pedestrian crosswalk through which the subject vehicle passes as a crossing position in the length direction of the first pedestrian crosswalk, specifying another pedestrian crosswalk located within a predetermined distance from the crossing position and located close to the first pedestrian crosswalk as a second pedestrian crosswalk, setting an area including the first pedestrian crosswalk and the second pedestrian crosswalk as a detection area of a detector detecting an object around the subject vehicle, detecting a moving object in the detection area using the detector, and controlling travel of the subject vehicle on the basis of a detection result of the detector.

Abstract: A driving control method comprises: acquiring a destination of a vehicle; referring to a first map that includes identification information of a travel lane and a second map that does not include the identification information of the travel lane; calculating a route from a current position of the vehicle to the destination; when traveling along a first route included in the route and belonging to the first map, setting first driving control, while when traveling along a second route included in the route and belonging to the second map, setting second driving control with a lower level of autonomous driving than that of the first driving control; and creating a driving plan for the vehicle to travel along the route with contents of the set driving control. A driving control apparatus is based on the method.

Abstract: A driving control method includes referring to map information including a first map that includes identification information of a travel lane and a second map that does not include the identification information of the travel lane; when calculating a route from the current position of a vehicle to a destination, calculating the route so as to achieve a predetermined relationship between a first travel cost for traveling along a first route that belongs to the first map and a second travel cost for traveling along a second route that belongs to the second map; creating a driving plan for the vehicle to travel along the route; and causing a vehicle controller to execute the driving plan.

Abstract: A lane change assistance method includes: identifying a non-recommended region in which a lane change is not recommended, on the basis of road information of a road on which a subject vehicle travels; setting a region required for the subject vehicle to change lanes as a determination target region on the basis of positional information and vehicle speed information of the subject vehicle; and when the determination target region includes a part or all of the non-recommended region, making a determination that the subject vehicle cannot change lanes and outputting a result of the determination.

Abstract: A travel control method includes a detector that detects information on lane boundary lines of a lane around a subject vehicle as real boundary line information from an actual environment around the subject vehicle. The travel control method also includes integrating the real boundary line information and map boundary line information to generate integrated boundary line information. The map boundary line information is information on the lane boundary lines of the lane included in map information. The travel control method further includes outputting the generated integrated boundary line information.

Abstract: A travel control method includes estimating the position of a subject vehicle on the basis of a detection result of a first detector, detecting a lane in which the subject vehicle travels, on the basis of a detection result of a second detector, determining that whether the position of the subject vehicle based on the positional information is included in the lane and outputting the determination as a first determination result, and determining that whether the position of the subject vehicle estimated on the basis of the detection result of the first detector is included in the lane and outputting the determination as a second determination result, and a step of performing a position estimation process of estimating the position of the subject vehicle on the basis of the detection result of the first detector when the first determination result and the second determination result are not identical.

Abstract: A pedestrian crosswalk through which a subject vehicle is expected to pass is specified as a first pedestrian crosswalk and another pedestrian crosswalk located within a predetermined distance from the first pedestrian crosswalk is specified as a second pedestrian crosswalk. An extension process of extending an area of at least one of the first pedestrian crosswalk and the second pedestrian crosswalk is performed. When a determination is made that at least a part of the first pedestrian crosswalk and the second pedestrian crosswalk overlap each other, an area including the first pedestrian crosswalk and the second pedestrian crosswalk is set as a detection area of a detector detecting an object around the subject vehicle. A moving object is detected in the detection area using the detector. Travel of the subject vehicle is controlled on the basis of a detection result of the detector.

Abstract: A pedestrian crosswalk through which a subject vehicle is expected to pass is specified as a first pedestrian crosswalk and another pedestrian crosswalk located within a predetermined distance from the first pedestrian crosswalk is specified as a second pedestrian crosswalk. An extension process of extending an area of at least one of the first pedestrian crosswalk and the second pedestrian crosswalk is performed. When a determination is made that at least a part of the first pedestrian crosswalk and the second pedestrian crosswalk overlap each other, an area including the first pedestrian crosswalk and the second pedestrian crosswalk is set as a detection area of a detector detecting an object around the subject vehicle. A moving object is detected in the detection area using the detector. Travel of the subject vehicle is controlled on the basis of a detection result of the detector.

Abstract: A travel control for a vehicle includes specifying a pedestrian crosswalk through which a subject vehicle is expected to pass as a first pedestrian crosswalk, estimating a position on the first pedestrian crosswalk through which the subject vehicle passes as a crossing position in the length direction of the first pedestrian crosswalk, specifying another pedestrian crosswalk located within a predetermined distance from the crossing position and located close to the first pedestrian crosswalk as a second pedestrian crosswalk, setting an area including the first pedestrian crosswalk and the second pedestrian crosswalk as a detection area of a detector detecting an object around the subject vehicle, detecting a moving object in the detection area using the detector, and controlling travel of the subject vehicle on the basis of a detection result of the detector.

Abstract: A driving assistance method includes extracting interference traffic line that is a route along which another vehicle can move and that interfere with a planned travel route of a subject vehicle, selecting an interference traffic line of another vehicle necessary for determining a driving action of the subject vehicle from among the extracted interference traffic lines on the basis of at least one of a road shape, a traffic rule, and a traffic situation, and determining the driving action of the subject vehicle to respond to another vehicle moving along the selected interference traffic line.

Abstract: A pedestrian crosswalk through which a subject vehicle is expected to pass is specified as a target pedestrian crosswalk. Road configurations close to the target pedestrian crosswalk are detected. Traffic lines of moving objects crossing the target pedestrian crosswalk are estimated on the basis of the road configurations. An area including the estimated traffic lines is set as a detection area of a detector detecting objects around the subject vehicle. The moving objects are detected by the detector in the detection area. Travel of the subject vehicle is controlled on the basis of a detection result of the detector.