JP2018106473A - Vehicle control apparatus, vehicle control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a new technology of determining trajectory of a vehicle.SOLUTION: A vehicle control apparatus 10 includes: a detection unit 12 for detecting predetermined behavior of a preceding vehicle; and a control unit 11 which executes one of first control to move a vehicle along a standard trajectory set along a road and second control to move the vehicle in a control different from the first control when the predetermined behavior of the preceding vehicle is detected. The detection unit 12 detects, for example, a behavior of moving to the right after moving to the left with respect to a traveling direction within a predetermined time, or a behavior of moving to the left after moving to the right with respect to the traveling direction within a predetermined time.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control device, a vehicle control method, and a program.

  Patent Documents 1 and 2 disclose techniques related to automatic driving.

  Patent Document 1 discloses a travel locus generation device that generates a movement strategy related to positioning in a road area according to a travel environment. The document discloses, for example, that when a vehicle parked in front is detected, a travel locus that avoids the vehicle is generated.

  Patent Document 2 discloses a travel route generation device that detects a travel locus of a preceding vehicle and determines the travel locus of the host vehicle so as to follow the travel locus of the preceding vehicle.

JP 2010-198578 A JP, 2015-191553, A

  In the case of the technique described in Patent Document 1, for example, when it is behind the preceding vehicle and is delayed in detecting an obstacle on the road, generation of a travel locus that avoids the obstacle is delayed. As a result, accidents caused by obstacles can occur.

  According to the technique described in Patent Document 2, when the preceding vehicle takes a travel locus that avoids an obstacle, the obstacle can be avoided by following the locus. For this reason, even if it is late for the detection of an obstacle, an obstacle can be avoided.

  However, because the destination vehicle and the own vehicle have different destinations, unnecessary behavior may occur if the traveling track of the preceding vehicle is always followed. For example, although the preceding vehicle has changed lanes in the right direction for a right turn, there is a case where the lane change is unnecessary for the host vehicle that is going straight ahead at that location. If the vehicle always follows the traveling track of the preceding vehicle, an unnecessary lane change is performed in such a case.

  An example of the problem of the present invention is to provide a new technique for determining a travel locus of a vehicle.

The invention described in claim 1
A detection unit for detecting a predetermined behavior of the preceding vehicle;
A first control for moving the host vehicle along a standard trajectory set along the road; and a second control for moving the host vehicle by a control different from the first control when the predetermined behavior is detected. A control unit that executes one of the control and
Is a vehicle control device.

The invention according to claim 12
Computer
A detection step of detecting a predetermined behavior of the preceding vehicle;
A first control for moving the host vehicle along a standard trajectory set along the road; and a second control for moving the host vehicle by a control different from the first control when the predetermined behavior is detected. A control process for selectively executing one of the control and
Is a vehicle control method for executing

The invention according to claim 13
Computer
Detecting means for detecting a predetermined behavior of the preceding vehicle;
A first control for moving the host vehicle along a standard trajectory set along the road; and a second control for moving the host vehicle by a control different from the first control when the predetermined behavior is detected. Control means for executing one of the control,
It is a program that functions as

It is a figure which shows an example of the functional block diagram of the vehicle control apparatus of this embodiment. It is a block diagram which shows an example of the hardware constitutions of the vehicle control apparatus of this embodiment. It is a figure for demonstrating the standard locus | trajectory of this embodiment. It is a flowchart which shows an example of the flow of a process of the vehicle control apparatus of this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same reference numerals are given to the same components, and the description will be omitted as appropriate.

  First, the outline | summary of the vehicle control apparatus of this embodiment is demonstrated. The vehicle control device of this embodiment is mounted on a vehicle and controls the operation of the vehicle (operation of steering wheel, accelerator, brake, etc.). The vehicle control device moves the host vehicle (a vehicle equipped with the vehicle control device; the same applies hereinafter) along the route determined according to the destination.

  The vehicle control device selectively executes a plurality of controls to determine a travel locus on the road. First, the vehicle control device can execute first control for moving the host vehicle along a standard trajectory set in advance along the road. The standard trajectory indicates a trajectory (position) to travel on the road (in each lane). The standard trajectory is determined in advance based on, for example, the mode of the road (width of each lane, number of lanes, straight line, gentle curve, sharp curve, up, down, sidewalk width, etc.) and is embedded in the map data. . For example, on a straight road where the width of each lane is wide, a standard trajectory may be set in the middle of the lane. An example of details of moving the host vehicle along the standard trajectory will be described below.

  Further, the vehicle control device moves the host vehicle along the travel locus of the preceding vehicle when detecting the predetermined behavior of the preceding vehicle (predetermined behavior that is considered to avoid an obstacle on the road). Can be controlled.

  In the case of such a vehicle control device of the present embodiment, the host vehicle is moved along a preset standard trajectory along the road unless a predetermined event (for example, a predetermined behavior of a preceding vehicle) is detected. (First control). For this reason, it is possible to suppress the inconvenience that the own vehicle performs an unnecessary behavior (unnecessary lane change or the like) by constantly moving the own vehicle along the traveling locus of the preceding vehicle.

  Further, in the case of the vehicle control device according to the present embodiment, when a predetermined behavior of the preceding vehicle (a predetermined behavior that is considered to have avoided an obstacle on the road) is detected, the vehicle control apparatus accordingly follows the traveling locus of the preceding vehicle. The host vehicle can be moved (second control). For this reason, even if it is behind the preceding vehicle and is delayed in detecting the obstacle on the road, the obstacle can be avoided by moving along the traveling locus of the preceding vehicle.

  Next, the configuration of the vehicle control device of the present embodiment will be described in detail.

  The vehicle control device is a device that is mounted on a vehicle and controls the host vehicle. The vehicle control device is, for example, an ECU (Electronic Control Unit).

  In FIG. 1, an example of the functional block diagram of the vehicle control apparatus 10 of this embodiment is shown. As illustrated, the vehicle control device 10 includes a control unit 11 and a detection unit 12.

  First, an example of a hardware configuration of the vehicle control device 10 that realizes these functional units will be described. Each functional unit includes an arbitrary computer CPU (Central Processing Unit), a memory, a program loaded into the memory, a storage unit such as a hard disk for storing the program (in addition to a program stored in advance from the stage of shipping the device) It is also possible to store a program downloaded from a storage medium such as a CD (Compact Disc) or a server on the Internet, etc.), and an arbitrary combination of hardware and software centering on a network connection interface. It will be understood by those skilled in the art that there are various modifications to the implementation method and apparatus.

  FIG. 2 is a block diagram illustrating a hardware configuration of the vehicle control device 10 according to the present embodiment. As shown in FIG. 2, the vehicle control device 10 includes a processor 1A, a memory 2A, an input / output interface 3A, a peripheral circuit 4A, and a bus 5A. The peripheral circuit 4A includes various modules. The peripheral circuit 4A may not be provided.

  The bus 5A is a data transmission path through which the processor 1A, the memory 2A, the peripheral circuit 4A, and the input / output interface 3A transmit / receive data to / from each other. The processor 1A is an arithmetic processing device such as a CPU or a GPU (Graphics Processing Unit). The memory 2A is a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory). The input / output interface 3A includes an interface for acquiring information from an input device (keyboard, mouse, microphone, touch panel display device, touch sensor, gesture interface, etc.), external device, external server, external sensor, etc., and an output device (display) , A speaker, a printer, etc.), an external device, an interface for outputting information to an external server, etc. (mailer, etc.). The processor 1A can issue a command to each module and perform a calculation based on the calculation result.

  Next, the function of each functional unit shown in FIG. 1 will be described in detail.

  The detection unit 12 detects a predetermined event for switching the control content of the control unit 11 (the first and second controls and the like). The detection unit 12 is acquired from the output of a sensor (camera, rider (LIDAR: Laser Illuminated Detection And Ranging, Laser Imaging Detection And Ranging or LiDAR: Light Detection And Ranging), radar, etc.) or an external device mounted on the host vehicle. A predetermined event can be detected based on information or the like.

  For example, the detection unit 12 can detect a predetermined behavior of the preceding vehicle as a predetermined event. The predetermined behavior of the preceding vehicle is a predetermined behavior that is considered to have avoided an obstacle on the road. The detection unit 12 may detect a predetermined behavior of a preceding vehicle based on an output of a sensor mounted on the host vehicle, or perform a predetermined behavior notification that the predetermined behavior has been performed in inter-vehicle communication. It may be obtained from the preceding vehicle itself.

  For example, the detection unit 12 may move “move leftward with respect to the traveling direction within a predetermined time and then move rightward or move rightward with respect to the traveling direction within a predetermined time and move leftward” It may be detected as a predetermined behavior of the preceding vehicle. In addition, the detecting unit 12 moves “to the left after moving in the direction of travel without the blinker (with the blinker being unlit), or to move to the right with no blinker (with the blinker being unlit). “Move leftward after moving rightward with respect to the direction” may be detected as a predetermined behavior of the preceding vehicle.

  In addition, the detection unit 12 may indicate that “they move leftward with respect to the traveling direction within a predetermined time without a winker and then move rightward with respect to the traveling direction without the winker, or "Move in the direction" may be detected as a predetermined behavior of the preceding vehicle. In addition, the detection unit 12 “moves leftward with respect to the traveling direction in the same lane and then moves rightward, or moves rightward with respect to the traveling direction in the same lane and then moves leftward”. It may be detected as a predetermined behavior of the preceding vehicle.

  In addition, the detection unit 12 moves “in the same lane to the left in the predetermined direction within the predetermined time and then moves to the right, or in the same lane to the right in the predetermined direction within the predetermined time. “Later leftward movement” may be detected as a predetermined behavior of the preceding vehicle. In addition, the detecting unit 12 may move “to the left after moving in the left direction with respect to the traveling direction within a predetermined time without a turn signal in the same lane, or to move in the traveling direction within a predetermined time without a turn signal within the same lane. On the other hand, “move left after moving right” may be detected as a predetermined behavior of the preceding vehicle.

  All of these are behaviors when an obstacle in front of the vehicle is avoided by a small shift operation in the left-right direction.

  “Movement to the left with respect to the traveling direction” and “Movement to the right with respect to the traveling direction” in the above conditions are respectively “operation to shift to the left with respect to the traveling direction” and “right with respect to the traveling direction”. It means “operation that shifts in the direction”. The above-mentioned conditions “movement leftward with respect to the traveling direction” and “movement rightward with respect to the traveling direction” may be movements greater than or equal to the reference value (deviation greater than or equal to the reference value). That is, the detection unit 12 determines that the preceding vehicle has moved in the right direction (or left direction) under the above conditions when the preceding vehicle moves in the right direction (or left direction) with respect to the traveling direction more than the reference value. Also good. By appropriately setting the reference value, it is possible to accurately detect an operation to avoid an obstacle in front of the vehicle.

  The “predetermined time” in the above condition is a design matter, but it is assumed that it is a relatively short time (several seconds or the like).

  “Movement in the left-right direction with respect to the traveling direction in the same lane” in the above condition may be a movement in the left-right direction with all of the vehicle body remaining in the same lane, or at least a part of the vehicle body. May be moved in the left-right direction while remaining in the same lane.

  In addition, the detection unit 12 may detect “a circular motion below a predetermined curvature radius (reference value)” as a predetermined behavior of the preceding vehicle. Although the reference value of the condition is a design matter, it is a relatively small value here because it is assumed that the handle suddenly moves (shifts) to the right or left by a sudden handle operation.

  The detection unit 12 may detect the predetermined behavior based on, for example, the travel locus of the preceding vehicle. The travel locus of the preceding vehicle may be acquired from the preceding vehicle by inter-vehicle communication, or may be calculated based on the output of a sensor mounted on the host vehicle. In any case, the detection unit 12 acquires the travel locus of the preceding vehicle by real-time processing. In this case, the detection unit 12 may sequentially calculate the curvature radii of a plurality of measurement points on the traveling locus of the preceding vehicle according to a predetermined rule. And if there exists a location where a curvature radius is less than a reference value, you may judge that it performed circular motion below a predetermined curvature radius (reference value). In addition, the detection unit 12 may determine that the circular motion is performed at a predetermined curvature radius (reference value) or less when a predetermined number or more of locations where the curvature radius is lower than the reference value continue. In addition, when the statistical value (average value, maximum value, minimum value, mode value, median value, etc.) of the curvature radii of each of the most recent measurement points falls below the reference value, the detection unit 12 has a predetermined curvature radius ( It may be determined that the circular motion is below the reference value). The reference value of the radius of curvature may be changed according to the speed of the preceding vehicle.

  In addition, the detection unit 12 indicates that the “behavior that maintains the moved position (the position in the width direction of the road) for a predetermined time (design matter) after moving in the right direction or the left direction with respect to the traveling direction” for the preceding vehicle. The predetermined behavior may be detected.

  The predetermined behavior of the preceding vehicle detected by the detection unit 12 may be any two or more of the plurality of predetermined behaviors exemplified above.

  The control unit 11 controls the host vehicle. For example, the control unit 11 controls the steering wheel, accelerator, brake, and other operations of the host vehicle. The control of the own vehicle can be realized using any technology.

  When acquiring the route to the destination, the control unit 11 moves the host vehicle along the route. The route to the destination is determined based on the destination set by the user, the current position of the host vehicle, the user's selection from a plurality of calculated routes, and the like. The setting of the destination, the acquisition of the current position of the host vehicle, and the determination of the route can be realized using any technique.

  The control unit 11 can selectively execute a plurality of controls to determine a travel locus on the road.

  First, the control part 11 performs the 1st control which moves the own vehicle along the standard locus preset along the road. The control unit 11 controls the host vehicle so that a predetermined position (for example, the center in the vehicle width direction) of the host vehicle moves on the standard trajectory.

  The standard trajectory indicates a trajectory (position) to be traveled on the road (in each lane). The standard trajectory is determined in advance based on the road mode (width of each lane, number of lanes, straight line, gentle curve, steep curve, up, down, sidewalk width, etc.) and is embedded in the map data. For example, on a straight road where the width of each lane is wide, a standard trajectory may be set in the middle of the lane.

  FIG. 3 shows an example of a standard trajectory A set along a straight road. The standard trajectory may be indicated by a set of points specified by the distance D1 from the mark located on the right side in the traveling direction of each lane or the distance D2 from the mark located on the left side in the same direction. Good. In addition, the standard trajectory may be indicated by a set of points specified by a ratio between D1 and D2 (such as 1: 1). The mark may be a line that partitions each lane (such as a white line written on the road) or may be other.

  The control unit 11 can calculate the position of the host vehicle in the lane width direction based on the output of the sensor mounted on the host vehicle. The position of the host vehicle in the lane width direction may be indicated by a distance d1 from a mark located on the right side in the traveling direction of each lane to a predetermined portion of the host vehicle (for example, the center in the vehicle width direction). It may be indicated by a distance d2 from a mark located on the left side in the same direction to a predetermined portion of the host vehicle, or may be indicated by a ratio of d1 and d2. The mark may be a line that partitions each lane (such as a white line written on the road) or may be other. The calculation of the position of the host vehicle in the lane width direction based on the output of the sensor mounted on the host vehicle can be realized using any technique.

  Then, the control unit 11 adjusts the position of the host vehicle in the lane width direction so that the position of the host vehicle in the lane width direction is on the standard trajectory. For example, the control unit 11 determines that the lane of the host vehicle is such that D1 and d1 match, or that D2 and d2 match, or that the ratio of D1 and D2 matches the ratio of d1 and d2. Adjust the position in the width direction. The match here may be a complete match or may allow some differences.

  Here, the control part 11 performs 2nd control different from 1st control, when the predetermined behavior of a preceding vehicle is detected during performing 1st control. In the second control, the control unit 11 moves the host vehicle along the traveling locus of the preceding vehicle. The means for moving the host vehicle along the traveling locus of the preceding vehicle can be realized using any technique.

  In addition, when the preceding vehicle enters and moves into another lane when the host vehicle is moved by the second control, the control unit 11 determines that the other vehicle before the host vehicle enters the other lane. The presence of other vehicles in the lane may be confirmed.

  And the control part 11 may make the own vehicle approach into the said other lane, for example, when there is no other vehicle in the predetermined area of the other lane including the approach position to the other lane by a preceding vehicle. .

  On the other hand, when there is another vehicle in a predetermined area of another lane including the entry position to the other lane by the preceding vehicle, the control unit 11 before entering the other lane along the traveling track of the preceding vehicle. The host vehicle may be decelerated or stopped. And the control part 11 may make the own vehicle approach into another lane, after confirming the predetermined state in another lane. The predetermined state includes a state in which no other vehicle exists in the predetermined area of the other lane, or a predetermined state of a vehicle behind the own vehicle in the predetermined area (passing a path such as stop or deceleration). But not limited to these.

  The control unit 11 switches from “first control for moving along the standard trajectory” to “second control for moving the host vehicle along the travel trajectory of the preceding vehicle” and then satisfies the return condition. Again, it is possible to switch to the first control.

  The return condition may be, for example, “identification of cause of predetermined behavior by vehicle ahead” and “confirmation of avoidance of specified cause”. The control unit 11 is an area around a position where a predetermined behavior by the preceding vehicle has been performed, for example, in an area from the position where the predetermined behavior by the preceding vehicle is performed to a predetermined distance in the travel lane of the preceding vehicle. When one or a plurality of obstacles that prevent the vehicle from moving are detected based on the output of a sensor mounted on the vehicle, the obstacles may be determined as a cause of a predetermined behavior by the preceding vehicle. And the control part 11 may judge that the said cause was avoided, when the own vehicle passes the obstacle.

  In addition, the return condition may be a lapse of a predetermined time after a predetermined behavior by the preceding vehicle is performed. In addition, the return condition may be that the travel distance of the host vehicle after exceeding the “position of the preceding vehicle when the predetermined behavior by the preceding vehicle is performed” exceeds the reference value.

  Next, an example of the flow of processing of the vehicle control device 10 of the present embodiment will be described using the flowchart of FIG.

  When acquiring the route to the destination (S10), the control unit 11 controls the host vehicle to start movement along the route. At the start time, the control unit 11 moves the host vehicle by the first control. That is, the control unit 11 acquires a standard trajectory set in advance along the road from the map data, and controls the host vehicle to move along the standard trajectory (S11).

  While the predetermined behavior by the preceding vehicle is not detected (No in S12) and not arrived at the destination (No in S13), the control unit 11 continues the first control.

  When the predetermined behavior by the preceding vehicle is detected (Yes in S12), the control unit 11 switches from the first control to the second control. That is, the control part 11 starts the control which moves the own vehicle along the traveling locus of a preceding vehicle (S14). While the return condition is not satisfied (No in S15), the second control is continued. When the return condition is satisfied (Yes in S15), the control unit 11 switches from the second control to the first control. That is, the control part 11 starts the control which moves the own vehicle along a standard locus (S16). The controller 11 repeats the above process while not arriving at the destination (No in S13).

  When the vehicle arrives at the destination (Yes in S13), the control unit 11 stops the host vehicle and ends the process.

  Here, a modified example will be described. In the above description, the example in which the detection unit 12 detects the predetermined behavior of the preceding vehicle as the predetermined event for switching from the first control to another control has been described. However, the detection unit 12 detects the predetermined behavior of the preceding vehicle. In addition, other events may be detected. For example, the detection unit 12 may detect a predetermined obstacle (for example, a parked vehicle, a fallen object, etc.) that hinders movement on the standard trajectory based on the output of a sensor mounted on the host vehicle. In this case, the control unit 11 determines a traveling locus (a locus deviating from the standard locus) that avoids the detected predetermined obstacle according to the detection of the event, and moves the host vehicle along the traveling locus. Control (third control) to be performed may be performed. That is, the first control may be switched to the third control in response to detection of a predetermined obstacle (parked vehicle, fallen object, etc.) that hinders movement on the standard trajectory.

  The process of determining a travel locus that avoids an obstacle (a locus that deviates from the standard locus) can be realized using any technique. The travel locus of the third control is determined as a locus of a section from the front of the obstacle (start point) to a predetermined position (end point) after passing through the obstacle. Both the start point and the end point may be located on the standard trajectory. Then, the control unit 11 may switch from the first control to the third control when arriving at the start point, and may switch from the third control to the first control when arriving at the end point.

  According to the vehicle control device 10 of the present embodiment described above, the host vehicle is moved along a standard trajectory set in advance along the road unless a predetermined event (for example, a predetermined behavior of a preceding vehicle) is detected. (First control). For this reason, it is possible to suppress the inconvenience that the own vehicle performs an unnecessary behavior (unnecessary lane change or the like) by constantly moving the own vehicle along the traveling locus of the preceding vehicle.

  Further, according to the vehicle control device 10 of the present embodiment, when a predetermined behavior of the preceding vehicle (a predetermined behavior that is considered to avoid an obstacle on the road) is detected, the traveling locus of the preceding vehicle is accordingly changed. The host vehicle can be moved along (second control). For this reason, even if it is behind the preceding vehicle and is delayed in detecting the obstacle on the road, the obstacle can be avoided by moving along the traveling locus of the preceding vehicle.

  Further, according to the vehicle control device 10 of the present embodiment, when the vehicle deviates from the standard locus and moves along the traveling locus of the preceding vehicle, the vehicle again follows the standard locus when a predetermined return condition is satisfied. The own vehicle can be controlled to move. By appropriately setting the predetermined return condition, it is possible to suppress the inconvenience caused by continuing the second control unnecessarily long and the inconvenience caused by switching the second control to the first control too early.

  In addition, according to the vehicle control device 10 of the present embodiment, when moving the own vehicle along the traveling locus of the preceding vehicle, if the preceding vehicle enters and moves to another lane, the status of the other lane is confirmed. Or after decelerating the host vehicle and confirming safety, the host vehicle can enter another lane. For this reason, safety can be ensured.

  As mentioned above, although embodiment and the Example were described with reference to drawings, these are illustrations of this invention and can also employ | adopt various structures other than the above.

1A processor 2A memory 3A I / O I / F
4A peripheral circuit 5A bus 10 vehicle control device 11 control unit 12 detection unit

Claims (13)

A detection unit for detecting a predetermined behavior of the preceding vehicle;
A first control for moving the host vehicle along a standard trajectory set along the road; and a second control for moving the host vehicle by a control different from the first control when the predetermined behavior is detected. A control unit that executes one of the control and
A vehicle control device. The vehicle control device according to claim 1,
The detection unit includes a behavior of moving to the right after moving to the left in the traveling direction within a predetermined time, or a behavior of moving to the left after moving to the right with respect to the traveling direction within the predetermined time. A vehicle control device that detects a predetermined behavior. In the vehicle control device according to claim 1 or 2,
The detection unit includes the behavior of moving to the right after moving in the left direction with respect to the traveling direction without a winker, or the behavior of moving to the left after moving to the right with respect to the traveling direction without the winker. Vehicle control device that detects behavior. In the vehicle control device according to any one of claims 1 to 3,
The detection unit includes a behavior of moving to the right after moving in the left direction with respect to the traveling direction in the same lane, or a behavior of moving to the left after moving to the right with respect to the traveling direction in the same lane. A vehicle control device that detects a predetermined behavior. In the vehicle control device according to any one of claims 1 to 4,
The said detection part is a vehicle control apparatus which detects the said predetermined behavior including the behavior which carries out a circular motion below a predetermined curvature radius. In the vehicle control device according to any one of claims 1 to 5,
The said control part is a vehicle control apparatus which detects the said predetermined | prescribed behavior including the behavior which maintains the moved position more than predetermined time, after moving to the right direction or the left direction with respect to the advancing direction. The vehicle control device according to any one of claims 1 to 6,
The said control part is a vehicle control apparatus which moves the own vehicle along the travel locus | trajectory of the said preceding vehicle in said 2nd control. The vehicle control device according to claim 7, wherein
When the control unit moves the host vehicle in the second control and the preceding vehicle moves into another lane and moves, the control unit moves in the other lane before entering the other lane. A vehicle control device for confirming the presence of other vehicles. The vehicle control device according to claim 8, wherein
The control unit is a vehicle control device that decelerates the host vehicle before entering the other lane. The vehicle control device according to any one of claims 1 to 9,
The vehicle control device that switches to the first control when a predetermined return condition is satisfied after switching from the first control to the second control in response to detection of the predetermined behavior. In the vehicle control device according to any one of claims 1 to 10,
The standard trajectory is a vehicle control device embedded in map data. Computer
A detection step of detecting a predetermined behavior of the preceding vehicle;
A first control for moving the host vehicle along a standard trajectory set along the road; and a second control for moving the host vehicle by a control different from the first control when the predetermined behavior is detected. A control process for executing one of the control and
A vehicle control method for executing. Computer
Detecting means for detecting a predetermined behavior of the preceding vehicle;
A first control for moving the host vehicle along a standard trajectory set along the road; and a second control for moving the host vehicle by a control different from the first control when the predetermined behavior is detected. Control means for executing one of the control,
Program to function as.

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