Patent ID: 11878688
Assignee: DENSO CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 8:
9. A method for performing a following traveling mode and a constant-speed traveling mode, the following traveling mode representing a mode that causes an own vehicle to travel on a travel lane and follow a preceding vehicle travelling in front of the own vehicle, the constant-speed traveling mode representing a mode that causes the own vehicle to travel at a preset constant speed, the method comprising:
determining whether there is at least one other crossing vehicle that is estimated to cross in front of the own vehicle to thereafter enter an enterable space, the enterable space representing a space that is located in front of the own vehicle, and that is located on a portion branching from the travel lane;
determining, while one of the following traveling mode and the constant-speed traveling mode is performed, whether an entry condition is satisfied in response to determination that there is at least one other crossing vehicle, the entry condition representing a condition that enables the at least one other crossing vehicle to cross in front of the own vehicle to thereafter enter the enterable space without colliding with the own vehicle; and
switching, upon the entry condition being determined to be satisfied, the performed one of the following traveling mode and the constant-speed traveling mode to a crossing mode that controls traveling of the own vehicle to ensure a predetermined space in front of the own vehicle, the predetermined space enabling the at least one other crossing vehicle to cross in front of the own vehicle.