JP5018152B2 - Vehicle control apparatus and vehicle control method - Google Patents

Description

  The present invention relates to a vehicle control apparatus and method for stabilizing the posture of a running vehicle.

2. Description of the Related Art Conventionally, a technique for controlling a host vehicle according to the road shape, topography, weather conditions, and the like of a planned travel point is known. In Patent Document 1, when a curve on a planned travel route is a sharp curve that is greater than or equal to a predetermined curve, the vehicle at the time of the curve travel is changed by changing the damping force of the suspension, the vehicle speed, and the steering angle before entering the curve. A technique for stabilizing the posture of the camera is described.
JP 2000-221043 A

In the conventional technology, the posture of the vehicle cannot be stabilized when the lane movement operation is performed.
When the lane movement operation is performed, the running stability of the vehicle may decrease due to rolling of the vehicle body. In the technique disclosed in Patent Document 1, the road shape is considered, but the situation where the lane moving operation is performed is not particularly considered. Further, the point where the driver performs the lane movement operation is not limited to the curve point. Therefore, the conventional technique cannot maintain the stability of the vehicle body when the lane movement operation is performed.
The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle control technique for stabilizing the posture of a vehicle when a lane movement operation is performed.

  In order to achieve the above object, in the present invention, recommended route information including information indicating a target lane to which the host vehicle is moved, and host vehicle position information including information indicating the host vehicle traveling lane are acquired. When the vehicle traveling lane is different from the target lane, it is predicted that the host vehicle is scheduled to perform a lane movement operation, and stability control is performed to stabilize the posture of the host vehicle. That is, based on the recommended lane information and the own vehicle traveling lane information included in the recommended route information, the lane movement operation can be predicted and stable control can be performed. Since it is predicted in advance that the lane movement operation is planned to be performed in the host vehicle, the fluctuation of the vehicle body due to the lane movement operation can be reduced.

  In the lane movement prediction means, the form for obtaining the recommended route information is not particularly limited, and various configurations can be adopted. For example, the structure which acquires the recommended route information searched by the navigation processing part mounted in the own vehicle is employable. For example, you may acquire by various communication. The recommended route information is configured in a format that distinguishes lanes, and includes information indicating a target lane that is a recommended lane for traveling along the recommended route.

  In the lane movement predicting means, the form of acquiring the own vehicle position information is not limited as long as the current position of the own vehicle can be specified including the specification of the own vehicle traveling lane, and various types of information acquired by various sensors, cameras, various communication, etc. It can be acquired based on the information. For example, it is possible to adopt a configuration in which the position of the vehicle is specified by a sensor or camera, or a configuration in which the current position of the own vehicle is acquired by a signal from GPS, a trajectory of the own vehicle on a map, inter-vehicle communication, road-to-vehicle communication, etc. It is.

  The stability control performed by the stability control means refers to control for reducing the fluctuation of the vehicle body due to the lane movement operation and stabilizing the posture of the vehicle. Examples of control targets include a stabilizer, a suspension, a brake, an accelerator, a steering, and a spoiler. Etc. Of course, other mechanisms may be controlled.

  Further, the recommended route information may include information indicating a guide point on the recommended route. The guidance point refers to a point where the host vehicle changes the traveling direction. In order to travel the guidance point, when there are a plurality of lanes, it is necessary to move to the target lane among the plurality of lanes before passing through the guidance point. Specifically, for example, it refers to intersections that turn right and left, and junctions, exit points, branch points, etc. on expressways. The target lane is, for example, a right turn lane when making a right turn at an intersection.

  In the stability control means, the degree of stability control may be increased as the distance from the host vehicle to the guide point is shorter. It is expected that the degree of wobbling will increase because the steered steering operation is required as the distance is shorter. According to this configuration, the posture of the vehicle can be appropriately stabilized by changing the strength of control according to the distance. Note that increasing the degree of stable control means, for example, increasing the amount of control performed by the control target mechanism.

  In the stability control means, the degree of stability control may be increased as the number of lane movements from the vehicle lane to the target lane increases. It is expected that the greater the number of lane movements, the greater the steering operation and the greater the wobbling. According to this configuration, the posture of the vehicle can be appropriately stabilized by changing the strength of control according to the number of lane movements.

  In addition to this, in the stability control means, for example, the degree of stability control may be increased as the width of the lane existing between the vehicle traveling lane and the target lane is wider. For example, the degree of stable control may be increased as the vehicle speed increases.

  The lane movement prediction means may predict that the host vehicle is scheduled to perform a lane movement operation when detecting the operation of the direction indicator. Although it is desirable to perform stability control before wobbling due to lane movement operation occurs, if the driver performs stability control to prevent wobbling by lane movement operation from the stage where lane movement operation is not yet performed, lane movement There is a risk of deteriorating the ride comfort before operation. By performing the stable control after detecting the operation of the direction indicator, the stable control for the lane moving operation can be performed without deteriorating the riding comfort before the lane moving operation.

  The lane movement motion prediction means obtains an image around the host vehicle and predicts that the host vehicle will perform a lane movement operation based on a change in the position of an image of a fixed object included in the image. Also good. By predicting that the host vehicle is scheduled to perform the lane movement operation based on the change in the position of the image of the fixed object and performing the stable control, the lane is not deteriorated before the lane movement operation as described above. Stable control for moving operation can be performed. As an image of a fixed object included in an image around the host vehicle, for example, lane markings provided on the road surface, other road markings, road signs, and the like can be assumed.

  Furthermore, as in the present invention, when the target lane to which the host vehicle is moving is different from the host vehicle traveling lane, it is predicted that the host vehicle will perform a lane moving operation, and the posture of the host vehicle is stabilized. The method of performing stable control can also be applied as a program or method. In addition, the vehicle control device, the program, and the method as described above may be realized as a single vehicle control device, or may be realized by using parts shared with each part provided in the vehicle. The embodiment is included. For example, it is possible to provide a navigation device, a method, and a program that include the vehicle control device as described above. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention is also established as a recording medium for a program for controlling the vehicle control device. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of navigation device:
(2) Vehicle control processing:
(3) Other embodiments:

(1) Configuration of navigation device:
FIG. 1 is a block diagram showing a configuration of a navigation device 10 including a vehicle control device according to the present invention. The navigation device 10 includes a control unit 20 including a CPU, RAM, ROM, and the like and a storage medium 30, and the control unit 20 can execute a program stored in the storage medium 30 or the ROM. In this embodiment, the navigation program 21 can be implemented as one of the programs, and the navigation program 21 stabilizes the posture of the vehicle when the host vehicle performs the lane movement operation as one of the functions. It has a function to perform stable control.

  In order to realize the function of the navigation program 21, the host vehicle (the vehicle on which the navigation device 10 is mounted) includes a GPS receiver 40, a camera unit 41, a direction indicator controller 42, a vehicle speed sensor 43, and a stabilizer controller 44. A suspension control unit 45 is provided, and exchange of signals between these units and the control unit 20 is realized by an interface (not shown).

  The GPS receiver 40 receives radio waves from GPS satellites and outputs information for calculating the current position of the host vehicle via an interface (not shown). The control unit 20 acquires this signal and acquires the current position of the host vehicle. The current position of the host vehicle is used to set the strength of the stable control based on the distance to the guide point in the vehicle control process described later.

  The camera unit 41 captures an image around the host vehicle and outputs an image signal. The control unit 20 acquires this signal via an interface (not shown) and acquires an image around the host vehicle. The camera unit 41 includes a front camera that captures the front of the host vehicle and a rear camera that captures the rear. A configuration using only the front camera or a configuration using only the rear camera may be used. The image around the host vehicle includes an image of the road surface in front of or behind the host vehicle.

  When the lever attached in the vehicle is operated in the direction corresponding to the right or left, the direction indicator control unit 42 causes the lamp corresponding to the operation direction attached outside the vehicle to blink. Further, the direction indicator control unit 42 outputs a signal indicating that the direction indicator is in operation when the lamp is blinking. The control unit 20 acquires this signal via an interface (not shown), and determines a start condition and an end condition for stable control described later. The vehicle speed sensor 43 outputs a signal corresponding to the rotational speed of the wheels provided in the host vehicle. The control unit 20 acquires this signal via an interface (not shown), and acquires the speed of the host vehicle.

  The stabilizer control unit 44 is connected to the control unit 20 via an interface (not shown), and has a function of changing the roll rigidity of the stabilizer in accordance with an instruction from the control unit 20. For example, the oil flow rate of a hydraulic cylinder provided at the attachment portion of the suspension arm is controlled. The suspension control unit 45 is connected to the control unit 20 via an interface (not shown), and has a function of changing the hardness of the suspension in accordance with an instruction from the control unit 20. For example, the spring constant of the air spring and the damping force of the shock absorber are changed.

  By executing the navigation program 21, the control unit 20 predicts that the host vehicle is scheduled to perform the lane movement operation based on the various information acquired as described above, and the lane movement operation is predicted. When performing the stable control for stabilizing the posture of the vehicle.

In the present embodiment, the navigation program 21 performs the stability control, thereby causing the navigation device 10 to function as the vehicle control device according to the present invention. The navigation program 21 includes a lane movement prediction unit 21a and a stability control unit 21d.
Further, the storage medium 30 stores map information 30a for performing guidance by the navigation program 21. The map information 30a includes node data indicating nodes set on the road, link data indicating connection between nodes, data indicating a target, etc., specifying the current position of the own vehicle or specifying the vehicle lane, Used for guidance to the destination.

  The lane movement prediction unit 21a acquires recommended route information and own vehicle position information, and predicts whether or not the own vehicle is scheduled to perform a lane movement operation based on the information. The recommended route information acquisition unit 21b acquires recommended route information searched by a navigation processing unit (not shown) of the navigation program 21. The recommended route information is configured in a format that distinguishes lanes, and includes information indicating a target lane that is a recommended lane for traveling along the recommended route. Note that the recommended route information acquisition unit 21b may acquire the recommended route information through various communications.

  The recommended route information includes information indicating guide points on the recommended route. The guidance point refers to a point where the host vehicle changes the traveling direction. In order to travel the guidance point, when there are a plurality of lanes, it is necessary to move to the target lane among the plurality of lanes before passing through the guidance point. Specifically, the guidance point is, for example, an intersection that makes a right or left turn, a junction point, an exit point, a branch point, or the like on an expressway, and the information indicating the guide point is a value indicating the latitude and longitude of the point, a map For example, coordinate values defined in the information 30a. The target lane is, for example, a right turn lane when making a right turn at an intersection.

  The own vehicle position information acquisition unit 21c specifies the current position of the own vehicle including the specification of the own vehicle travel lane. Specifically, the current position of the host vehicle is specified based on the signal acquired from the GPS receiver 40 and the map information 30a. More specifically, the current position of the host vehicle is specified as a value indicating latitude and longitude or a coordinate value defined in the map information 30a. Furthermore, the own vehicle position information acquisition unit 21c analyzes the image signal acquired from the camera unit 41, and specifies the own vehicle traveling lane in which the own vehicle is traveling.

  A specific method for specifying the own vehicle traveling lane is, for example, as follows. The map information 30a includes the number of lanes included in the link as link data for each link, and information indicating the line type pattern of the lane markings marked on the road surface for partitioning each lane. Yes. For example, if three lanes are partitioned on a road as shown in FIG. 2 and the lane markings that divide the lanes are a solid line, a broken line, a broken line, and a solid line from the left, the link data of the link corresponding to the road Stores “3” lanes and “solid line, broken line, broken line, solid line” as information indicating the line type pattern. An image corresponding to the line type pattern is also stored. The own vehicle position information acquisition unit 21c pattern-matches the lane markings included in the image acquired from the camera unit 41 with the line type pattern image, and specifies the own vehicle travel lane. If the left lane line is a solid line and the right lane line is a broken line with reference to the host vehicle, the leftmost lane is identified as the host vehicle lane. When both the left lane line and the right lane line are broken lines, the center lane is driven. When the left lane line is broken and the right lane line is solid, the rightmost lane is driven by the vehicle. Identify the lane. The link data may include information indicating the lane width.

  Further, the lane movement prediction unit 21a determines a start condition for performing the stability control, and when the start condition is satisfied, causes the stability control unit 21d described later to perform the stability control. Specifically, the lane movement prediction unit 21a may acquire information indicating the operation of the direction indicator output from the direction indicator control unit 42, and use the information indicating that the direction indicator is operating as a start condition. Alternatively, the start condition may be determined based on a change in the position of an image of a fixed object included in the image by analyzing an image around the host vehicle acquired from the camera unit 41. Specifically, for example, the approach condition of the host vehicle to the lane line may be determined, and the start condition may be that the host vehicle starts to cross the lane line. As an image of a fixed object included in an image around the host vehicle, for example, other road markings and road signs can be assumed.

  Further, the lane movement prediction unit 21a determines the end condition of the stability control, and causes the stability control unit 21d to end the stability control when the end condition is satisfied. Specifically, for example, the end condition may be that the vehicle has entered the target lane after straddling the lane markings or has passed the guide point. Further, the end condition may be that the steering angle of the steering wheel has returned to the angle at the time of linear traveling, or that the operation of the direction indicator has ended.

When the lane movement prediction unit 21a predicts that the host vehicle performs a lane movement operation, the stability control unit 21d instructs the stabilizer control unit 44 and the suspension control unit 45 to perform stability control. The strength setting unit 21e sets the degree of stability control performed by the stabilizer control unit 44 and the suspension control unit 45 based on the recommended route information and the vehicle position information. The strength setting unit 21e may set the degree of stability control based on the vehicle speed signal acquired from the vehicle speed sensor 43.
The configuration of the vehicle control device has been described above.

(2) Vehicle control processing:
Next, guidance processing performed by the navigation device 10 in the above configuration will be described. When the navigation device 21 is being executed by the navigation device 10 while the host vehicle is traveling, the vehicle control process shown in FIG. 3 is repeatedly performed at regular intervals.

  First, the recommended route information acquisition unit 21b acquires recommended route information (step S100). Specifically, for example, recommended route information searched by a navigation processing unit (not shown) is acquired. The recommended route information includes information indicating a guide point. Next, the lane movement prediction unit 21a determines whether or not the guidance point is approaching (step S105). Specifically, using the information indicating the current position of the host vehicle acquired by the host vehicle position information acquisition unit 21c, the lane movement prediction unit 21a approaches the host vehicle within a predetermined distance before the guide point. Determine if you did.

2, 4 and 5 are diagrams for explaining the lane movement operation and stability control performed by the host vehicle M. FIG. In the present embodiment, a case where there is an intersection (guide point P _N ) where a right turn is recommended in the recommended route information ahead of a road having three lanes will be described. Recommended route R _N represents the path to turn right at the intersection. Lane L _T is the target lane is recommended to turn right at the intersection. 2, the vehicle M is traveling the leftmost lane L _0, and shows a state which is approaching a guide point P _N in front of the vehicle M. If it is determined in step S105 that the distance from the host vehicle to the guide point (hereinafter referred to as distance D) is within a predetermined distance, the recommended route information acquisition unit 21b specifies the target lane (step S110). Specifically, with reference to the recommended route information to obtain the information indicating the target lane for traveling the guide point P _N.

Next, the own vehicle position information acquisition unit 21c specifies the own vehicle travel lane (step S115). Specifically, the host vehicle position information acquisition unit 21c pattern-matches the lane markings included in the image acquired from the camera unit 41 with the line type pattern image, and specifies the host vehicle travel lane. For example, in the case of FIG. 2, since the vehicle right lane division line lane division line just to the left as a reference by a solid line is a broken line, it is possible to specify the leftmost lane L ₀ is current lane.

Next, the lane movement prediction unit 21a determines whether the target lane is different from the own vehicle traveling lane (step S120). When the target lane and the host vehicle traveling lane is different, stability control section 21d obtains a distance from the own vehicle M and the guidance point P _N (step S125). That is, the distance D is acquired from the lane movement prediction unit 21a. At this time, the number of lane movements may be acquired. For example, when the vehicle M as shown in FIG. 2 is traveling on a leftmost lane L _0, lane number of movements to the target lane L _T is a rightmost lane of that lane 3 is two.

Next, intensity setting unit 21e sets the strength of the stabilization control according to the distance to the guide point _{P N} (step S130). Specifically, the distance from the vehicle M and the guidance point P _N is strongly degree of shorter stability control. This is because the steered steering operation is required as the distance is shorter, and the degree of wobbling is expected to increase. The strength may be set according to the number of lane movements. This is because it is expected that as the number of lane movements increases, the steering operation increases and the wobble increases. Regarding the stability control, for example, the inclination of the vehicle body can be reduced by increasing the roll rigidity of the stabilizer. Further, for example, the damping force of the shock absorber of each wheel may be adjusted according to the lane movement direction. As a result, the posture of the vehicle can be appropriately stabilized. Note that increasing the degree of stable control means, for example, increasing the amount of control performed by the control target mechanism.

The strength setting unit 21e may increase the degree of stable control as described above as the vehicle speed increases. In addition, the degree of stability control may be variably set according to the width of a lane (L _{1 in} FIGS. 2, 4, and 5) existing between the host vehicle lane and the target lane.

  Next, the lane movement prediction unit 21a acquires vehicle information (step S135). Specifically, for example, direction indicator operation information output by the direction indicator control unit 42 is acquired. Next, the lane movement prediction unit 21a acquires lane marking information (step S140). Specifically, for example, an image captured by the camera unit 41 is acquired, and the approaching state of the host vehicle M to the lane marking is analyzed.

Next, the lane movement prediction unit 21a determines whether or not the stability control start condition is satisfied (step S145). Specifically, based on the information acquired in step S135,140, target lane L _T side of the direction indicator is in operation, whether the vehicle M is started straddling lanes separation lines of target lane L _T side judge. In addition, it is good also considering either one that the direction indicator is operating or having started straddling a lane marking as a starting condition. FIG. 4 shows a state where this start condition is satisfied. The stability control unit 21d causes the stabilizer control unit 44 and the suspension control unit 45 to start the stability control to the extent set in step S130.

  Although it is desirable to perform stability control before wobbling due to lane movement operation occurs, if the driver performs stability control to prevent wobbling by lane movement operation from the stage where lane movement operation is not yet performed, lane movement There is a risk of deteriorating the ride comfort before operation. By performing the stable control after detecting the operation of the direction indicator, the stable control for the lane moving operation can be performed without deteriorating the riding comfort before the lane moving operation. In addition, by predicting that the host vehicle is scheduled to perform a lane movement operation based on a change in the position of an image of a fixed object such as a lane marking marked on the road surface, stable control is performed as described above. Stable control for the lane movement operation can be performed without deteriorating the riding comfort before the lane movement operation.

Next, the lane movement prediction unit 21a determines whether or not the stability control end condition is satisfied (step S155). Termination condition, and it is stable control being carried out, it is like that the vehicle M reaches the target lane L _T. Target lane whether reached L _T, for example, that the own vehicle M has finished straddling lanes movement number of times the lane division line (see FIG. 5), the turn signal has been completed, the steering angle of the steering wheel straight The determination can be made based on the return to the traveling angle. It can be determined that the host vehicle M has straddled the lane marking based on images taken by the front camera and the rear camera.

  When the termination condition is satisfied, the stability control is terminated (step S160). Specifically, the lane movement prediction unit 21a notifies the stability control unit 21d when the termination condition is satisfied, and the stability control unit 21d instructs the stabilizer control unit 44 and the suspension control unit 45 to start the stability control in step S150. End control.

  As described above, in the present embodiment, the lane movement operation is predicted and stable control is performed based on the recommended lane information included in the recommended route information and the own vehicle traveling lane information. The wobbling of the car body can be reduced. As a result, it is possible to provide a comfortable ride when moving to the lane.

(3) Other embodiments:
The above embodiment is an example for carrying out the present invention, and predicts that the host vehicle is scheduled to perform a lane movement operation before the lane movement operation is performed while the host vehicle is traveling. Various other embodiments can be adopted as long as the fluctuation of the vehicle body can be reduced by performing the stable control for stabilizing the posture of the vehicle. The following can be assumed as the control target of the stable control. For example, the wobbling of the vehicle body may be reduced by controlling the accelerator and the brake system so that the vehicle speed does not change suddenly. Further, the steering angle with respect to the steering operation amount may be adjusted. Further, for example, the spoiler angle may be changed. Of course, other mechanisms may be controlled.

  Furthermore, although the said embodiment demonstrated the structure which analyzes an image using the camera part 41 as a structure which identifies the own vehicle traveling lane, the error of the signal which the GPS receiver 40 acquires identifies an own vehicle traveling lane, for example. Therefore, it is not always necessary to perform image analysis. In addition, for example, the current position of the host vehicle or the host vehicle traveling lane may be specified by vehicle-to-vehicle communication, road-to-vehicle communication, or the like.

  Furthermore, in the above embodiment, the explanation has been given by taking an intersection as an example of a guide point. However, the present invention is also applied to a case of lane movement before passing through a junction, exit point, or branch point of an expressway, for example. can do. In this case, it may be taken into account that the vehicle has passed through these guide points as an end condition for the stable control.

Furthermore, in the above embodiment, it has been described that the strength of stability control is changed according to the distance to the guide point, the number of lane movements, and the vehicle speed. For example, when the lane movement operation is performed in a place where the road is curved, the lane movement operation is performed. The strength of stable control may be changed according to the direction of movement. Specifically, for example, when the lane moves from the left lane to the right lane on a road that curves to the right, the degree of stability control may be increased compared to the case where the lane moves from the right lane to the left lane.
Further, for example, when it is detected by analyzing an image of a road surface that unevenness such as a ridge is present on the road surface, the degree of stability control may be increased compared to a case where the road surface is flat. Further, the degree of stability control may be adjusted according to the gradient of the front, rear, left and right of the road.

  Further, the stable control may be started at a timing at which an intersection or a junction ahead is voice-guided by the navigation processing unit. For example, it may be synchronized with a voice such as “coming soon”. The timing at which the guidance point is voice-guided by the navigation processing unit is, for example, the time when the host vehicle passes a predetermined distance before the guidance point, or a predetermined second before the time when the vehicle is predicted to pass the guidance point.

  In the above-described embodiment, the configuration has been described in which recommended route information is acquired and the lane movement operation is predicted based on the target lane or the guidance point. The above-described stability control may be started when the operation of the indicator is detected or when the host vehicle starts to cross the lane marking.

It is a block diagram of the navigation apparatus containing a vehicle control apparatus. It is a schematic diagram for demonstrating lane movement operation | movement and stability control. It is a flowchart of a vehicle control process. It is a schematic diagram for demonstrating lane movement operation | movement and stability control. It is a schematic diagram for demonstrating lane movement operation | movement and stability control.

Explanation of symbols

10: navigation device, 20: control unit, 21: navigation program, 21a: lane movement prediction unit, 21b: recommended route information acquisition unit, 21c: own vehicle position information acquisition unit, 21d: stability control unit, 21e: strength setting unit , 30: storage medium, 30a: map information, 40: GPS receiving unit, 41: camera unit, 42: direction indicator control unit, 43: vehicle speed sensor, 44: stabilizer control unit, 45: suspension control unit, D: distance , L ₀ : leftmost lane, L _T : target lane, M: own vehicle, P _N : guide point, R _N : recommended route.

Claims (4)

Obtaining recommended route information including information indicating a target lane to which the host vehicle is moving, and host vehicle position information including information indicating the host vehicle driving lane in which the host vehicle is traveling, and the host vehicle driving lane is Lane movement prediction means for predicting that the host vehicle is scheduled to perform a lane movement operation when different from the target lane;
Start condition determination means for determining whether or not a start condition for starting stable control for stabilizing the posture of the own vehicle is satisfied when the own vehicle is predicted to perform a lane movement operation When,
Stable control means for starting the stable control when the start condition is satisfied;
Equipped with a,
The start condition determining means determines that the start condition is satisfied when the operation of the direction indicator is detected;
Vehicle control device. The recommended route information includes information indicating a guide point on the recommended route,
The target lane is a lane for driving the guide point,
The stability control means increases the degree of the stability control as the distance from the host vehicle to the guide point is shorter.
The vehicle control device according to claim 1 . The stability control means increases the degree of the stability control as the number of lane movements from the host vehicle lane to the target lane increases.
The vehicle control device according to claim 1 . Obtaining recommended route information including information indicating a target lane to which the host vehicle is moving, and host vehicle position information including information indicating the host vehicle driving lane in which the host vehicle is traveling, and the host vehicle driving lane is A lane movement prediction step of predicting that the host vehicle is scheduled to perform a lane movement operation when different from the target lane;
A start condition determination step for determining whether or not a start condition for starting stable control for stabilizing the posture of the host vehicle is satisfied when the host vehicle is predicted to perform a lane movement operation. When,
When the start condition is satisfied, a stable control step of starting the stable control;
Only including,
In the start condition determination step, it is determined that the start condition is satisfied when the operation of the direction indicator is detected.
Vehicle control method.

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