VEHICLE BEHAVIOR ESTIMATION METHOD, VEHICLE CONTROL METHOD, AND VEHICLE BEHAVIOR ESTIMATION DEVICE

摘要

A vehicle behavior estimation method according to the present invention comprises detecting the speed of a first leading vehicle (3) traveling in front of an own vehicle (1) in a first lane (2a) in which the own vehicle (1) is traveling, detecting the speed of an adjacent vehicle (4) traveling in a second lane (2b) adjacent to the first lane (2a), calculating the relative speed between the first leading vehicle (3) and the adjacent vehicle (4), predicting whether or not the absolute value (vr1) of the relative speed will be at or below a speed threshold (Tv) within a predetermined time (T0) from a point in time when a decrease in the absolute value (vr1) of the relative speed began to be detected, and in a case of predicting that the absolute value (vr1) of the relative speed will be at or below the speed threshold (Tv) within the predetermined time (T0), estimating that there is a possibility of the adjacent vehicle (4) changing lanes to the first lane (2a).