FIELD: transportation.
SUBSTANCE: invention relates to vehicles. In the method of controlling a vehicle, a toe-in section is detected on the planned route of the main vehicle, on which the lane along which the main vehicle is moving converges with the other lane. It is determined before the beginning of the help control at the entrance to the moving stream whether the help is to be controlled at the entrance to the moving stream. It is determined whether the speed of the main vehicle exceeds the preset speed, if it is determined that it is not necessary to control help when entering the moving stream at the convergence section. Controlling the speed of the main vehicle so that it passes the initial point of the convergence section after decelerating the main vehicle to a given speed, if it is determined that the help should not be controlled when entering the moving stream at the convergence section, and the speed of the main vehicle is determined as exceeding the preset speed.
EFFECT: assistance to the driver.
6 cl, 9 dwg
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