Vehicle control device, vehicle control method, and storage medium

Abstract

Provided are a vehicle control device, a vehicle control method, and a storage medium that can perform appropriate merging corresponding more to traffic conditions. The vehicle control device includes a merging control unit that generates a first plan for changing lanes of the own vehicle to the front or rear of a first vehicle based on the relative relationship between the position and speed of the own vehicle and the position and speed of the first vehicle, and when it is assumed that the own vehicle has changed lanes to a first main road based on the first plan, based on the relative relationship between the position and speed of a third vehicle that is the first vehicle or the second vehicle behind the own vehicle and the position and speed of a fourth vehicle traveling around the third vehicle on a second main road adjacent to the first main road, when it is presumed that the third vehicle can change lanes to the second main road without interfering with the fourth vehicle, causes the own vehicle to change lanes to the first main road based on the first plan.

Description

Technical Field

[0001] The present invention relates to a vehicle control device, a vehicle control method, and a storage medium. Background Art

[0002] Conventionally, a vehicle driving support device that causes a host vehicle to merge into a traffic flow on a merging destination lane has been disclosed (for example, refer to Patent Document 1). This vehicle driving support device calculates a merging time difference between the time when the host vehicle reaches a merging position on the merging destination lane and the time when a merging candidate space between vehicles on the merging destination lane reaches the merging position. When a merging candidate space in which the detected merging time difference is less than a prescribed first reference time is detected, a bird's-eye view near the merging position including a display of the merging candidate space and a display of the host vehicle is displayed on a display device, and the merging candidate space is given a visual priority order in ascending order of the merging time difference (Japanese Unexamined Patent Application Publication No. 2009-230377).

[0003] However, the above-described device sometimes cannot perform an appropriate merge corresponding to the traffic situation. Summary of the Invention

[0004] The present invention has been made in consideration of such a situation, and one of its objects is to provide a vehicle control device, a vehicle control method, and a storage medium that can perform a more appropriate merge corresponding to the traffic situation.

[0005] Means for Solving the Problem

[0006] The vehicle control device, the vehicle control method, and the storage medium of the present invention adopt the following configuration.

[0007] (1): The vehicle control device includes: an identification unit that, when the host vehicle is traveling on a merging road, identifies the position and speed of a vehicle traveling in a lane included in the main road at the merging destination of the merging road; and a merging control unit that generates a first plan for changing the lane of the host vehicle to the front or rear of the first vehicle based on the relative relationship between the position and speed of the host vehicle and the position and speed of a first vehicle traveling on a first main road closest to the merging road among the main roads. When it is assumed that the host vehicle has changed lanes to the first main road based on the first plan, the merging control unit, based on the relative relationship between the position and speed of a third vehicle, which is the first vehicle or a second vehicle behind the host vehicle, and the position and speed of a fourth vehicle traveling around the third vehicle on a second main road adjacent to the first main road, and when it is presumed that the third vehicle can change lanes to the second main road without interfering with the fourth vehicle, causes the host vehicle to change lanes to the first main road based on the first plan.

[0008] (2): In the solution of the above (1), when it is presumed that the third vehicle will interfere with the fourth vehicle when changing lanes to the second main road, the merging control unit causes the host vehicle to change lanes to the first main road based on a second plan different from the first plan.

[0009] (3): In the solution of the above (1) or (2), the merging control unit generates a first plan for changing the lane of the host vehicle to the front or rear of the first vehicle on the first main road based on the relative relationship between the position and speed of the host vehicle and the position and speed of the first vehicle, and determination information obtained based on a criterion for associating the interference of two vehicles based on the relative relationship between the two vehicles. The merging control unit presumes whether the third vehicle can change lanes to the second main road without interfering with the fourth vehicle based on the relative relationship between the position and speed of the third vehicle and the position and speed of the fourth vehicle, and the determination information.

[0010] (4): In any of the solutions of the above (1) to (3), when it is presumed that the third vehicle can change lanes to the second main road without interfering with the fourth vehicle, and when it is presumed that the fourth vehicle can change lanes to the third main road without interfering with a fifth vehicle based on the relative relationship between the position and speed of the fourth vehicle and the position and speed of a fifth vehicle traveling around the fourth vehicle on a third main road adjacent to the second main road, the merging control unit causes the host vehicle to change lanes to the first main road based on the first plan.

[0011] (5): In the solution of (4) above, when it is presumed that the fourth vehicle will interfere with the fifth vehicle when changing lanes to the third arterial road, the merging control unit causes the host vehicle to change lanes to the first arterial road based on a second plan different from the first plan.

[0012] (6): In the solution of (4) or (5) above, the merging control unit determines whether the host vehicle can change lanes to the first arterial road, whether the third vehicle can change lanes to the second arterial road, and whether the fourth vehicle can change lanes to the third arterial road based on the relative relationship between a set of two vehicles and determination information related to a reference for interference between the two vehicles.

[0013] (7): The vehicle control method according to an aspect of the present invention causes a computer to perform processing including: when the host vehicle is traveling on a merging road, identifying the positions and speeds of vehicles traveling in lanes included in the arterial road at the merging destination of the merging road; generating a first plan for changing lanes of the host vehicle to the front or rear of the first vehicle based on the relative relationship between the position and speed of the host vehicle and the position and speed of the first vehicle traveling on the first arterial road closest to the merging road among the arterial roads; and when it is assumed that the host vehicle has changed lanes to the first arterial road based on the first plan, based on the relative relationship between the position and speed of the third vehicle, which is the first vehicle existing behind the host vehicle or the second vehicle existing behind the host vehicle, and the position and speed of the fourth vehicle traveling around the third vehicle on the second arterial road adjacent to the first arterial road, when it is presumed that the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle, causing the host vehicle to change lanes to the first arterial road based on the first plan.

[0014] (8) A storage medium according to an aspect of the present invention stores a program, wherein the program causes a computer to perform the following processes: When the present vehicle is traveling on a merging road, identify the positions and speeds of vehicles traveling in the lanes included in the main road at the merging destination of the merging road; Based on the relative relationship between the position and speed of the present vehicle and the position and speed of a first vehicle traveling on the first main road closest to the merging road among the main roads, generate a first plan for the present vehicle to change lanes to the front or rear of the first vehicle; And when it is assumed that the present vehicle has changed lanes to the first main road based on the first plan, based on the relative relationship between the position and speed of a third vehicle, which is the first vehicle existing behind the present vehicle or the second vehicle existing behind the present vehicle, and the position and speed of a fourth vehicle traveling around the third vehicle on a second main road adjacent to the first main road, when it is presumed that the third vehicle can change lanes to the second main road without interfering with the fourth vehicle, cause the present vehicle to change lanes to the first main road based on the first plan.

[0015] Advantages of the Invention

[0016] According to (1)-(9), when it is presumed that a third vehicle can change lanes to a second main road without interfering with a fourth vehicle, the vehicle control device causes the present vehicle to change lanes based on a first plan for the present vehicle to change lanes to the front or rear of a first vehicle, thereby enabling a more appropriate merging corresponding to the traffic conditions.

[0017] According to (3), the determination information used by the vehicle control device to generate the first plan is the same as the determination information used to presume whether the third vehicle can change lanes to the second main road without interfering with the fourth vehicle. Therefore, the first plan can be easily generated, and it can be presumed whether the third vehicle can change lanes to the second main road without interfering with the fourth vehicle.

[0018] According to (4) or (5), when it is presumed that a fourth vehicle can change lanes to a third main road without interfering with a fifth vehicle, the vehicle control device causes the present vehicle to change lanes to the first main road based on the first plan. Therefore, a more appropriate merging corresponding to the surrounding traffic conditions can be performed.

[0019] According to (6), the vehicle control device can use determination information associated with a reference of two-vehicle interference to easily determine whether the surrounding vehicles interfere with other vehicles due to the lane change of the present vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural diagram of a vehicle system using the vehicle control device of the embodiment.

[0021] Figure 2 It is a functional structure diagram of the first control unit and the second control unit.

[0022] Figure 3 It is a diagram showing the first scenario.

[0023] Figure 4 It is a diagram showing the second scenario.

[0024] Figure 5 It is a diagram showing the third scenario.

[0025] Figure 6 It is a diagram showing the fourth scenario.

[0026] Figure 7 It is a diagram showing a chart that visualizes determination information including a specified state.

[0027] Figure 8 It is a diagram for explaining the relationship between the host vehicle and the arterial road vehicle in the first quadrant - fourth quadrant.

[0028] Figure 9 It is for explaining based on Figure 7 the control performed based on the chart shown (Part 1).

[0029] Figure 10 It is for explaining based on Figure 7 the control performed based on the chart shown (Part 2).

[0030] Figure 11 It is a diagram for explaining an example of the processing in the case where there are multiple arterial road vehicles.

[0031] Figure 12 It is a diagram for explaining an example of the scenario where the host vehicle M changes lanes to lane L2.

[0032] Figure 13 It is a diagram for explaining an example of the scenario where the host vehicle M changes lanes to lane L2.

[0033] Figure 14 It is a flowchart showing an example of the process of the processing performed by the autonomous driving control device.

[0034] Figure 15 It is a diagram showing an example of the relative relationship between the host vehicle M and the arterial road vehicle and a chart.

[0035] Figure 16 It is a diagram showing an example of the relative relationship between the host vehicle M and the arterial road vehicle and a chart.

[0036] Figure 17This is a diagram for another example of the processing performed by the autonomous driving control device.

[0037] Figure 18 This is a diagram showing an example of the hardware configuration of the autonomous driving control device according to the embodiment. Detailed Embodiment

[0038] Hereinafter, embodiments of the vehicle control device, vehicle control method, and storage medium of the present invention will be described with reference to the accompanying drawings.

[0039] [Overall Structure]

[0040] Figure 1 This is a structural diagram of the vehicle system 1 using the vehicle control device according to the embodiment. The vehicle equipped with the vehicle system 1 is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using the generated electric power from a generator connected to the internal combustion engine, or the discharge electric power of a secondary battery or a fuel cell.

[0041] The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, an MPU (Map Positioning Unit) 60, a driving operation member 80, an autonomous driving control device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are interconnected through a multi-channel communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, etc. Figure 1 The structure shown is only an example, and a part of the structure may be omitted, or other structures may be added.

[0042] The camera 10 is, for example, a digital camera using a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is installed at an arbitrary position of the vehicle (hereinafter referred to as the host vehicle M) equipped with the vehicle system 1. When shooting the front, the camera 10 is installed on the upper part of the front windshield, the back of the in-vehicle rearview mirror, etc. The camera 10 periodically and repeatedly shoots the periphery of the host vehicle M. The camera 10 may also be a stereo camera.

[0043] The radar device 12 emits radio waves such as millimeter waves around the host vehicle M, and detects the radio waves (reflected waves) reflected by an object to detect at least the position (distance and azimuth) of the object. The radar device 12 is installed at any part of the host vehicle M. The radar device 12 can also detect the position and speed of an object by the FM-CW (Frequency Modulated Continuous Wave) method.

[0044] The LIDAR 14 irradiates light (or an electromagnetic wave with a wavelength close to light) around the host vehicle M, and measures the scattered light. The LIDAR 14 detects the distance to the object based on the time from light emission to light reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 is installed at any part of the host vehicle M.

[0045] The object recognition device 16 performs sensor fusion processing on the detection results detected by a part or all of the camera 10, the radar device 12, and the LIDAR 14 to identify the position, type, speed, etc. of the object. The object recognition device 16 outputs the recognition result to the autonomous driving control device 100. The object recognition device 16 can directly output the detection results of the camera 10, the radar device 12, and the LIDAR 14 to the autonomous driving control device 100. The object recognition device 16 can also be omitted from the vehicle system 1.

[0046] The communication device 20 communicates with other vehicles existing around the host vehicle M, for example, using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), etc., or communicates with various server devices via a radio base station.

[0047] The HMI 30 presents various information to the occupants of the host vehicle M and accepts input operations performed by the occupants. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, buttons, etc.

[0048] The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, an azimuth sensor that detects the orientation of the host vehicle M, etc.

[0049] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 stores first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory. The GNSS receiver 51 determines the position of the host vehicle M based on signals received from GNSS satellites. The position of the host vehicle M can also be determined or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, buttons, etc. Part or all of the navigation HMI 52 can also be shared with the aforementioned HMI 30. The route determination unit 53 determines, for example, a route (hereinafter referred to as a map route) from the position of the host vehicle M determined by the GNSS receiver 51 (or an arbitrary input position) to a destination input by the occupant using the navigation HMI 52 with reference to the first map information 54. The first map information 54 is information representing the shape of a road, for example, by a line indicating the road and nodes connected by the line. The first map information 54 may also include information such as the curvature of the road and POI (Point Of Interest) information. The map route is output to the MPU 60. The navigation device 50 can also perform route guidance using the navigation HMI 52 based on the map route. The navigation device 50 can be implemented, for example, by the functions of a terminal device such as a smartphone or a tablet terminal held by the occupant. The navigation device 50 can also send the current position and the destination to the navigation server via the communication device 20 and obtain a route equivalent to the map route from the navigation server.

[0050] The MPU 60 includes, for example, a recommended lane determination unit 61, and second map information 62 is stored in a storage device such as an HDD or a flash memory. The recommended lane determination unit 61 divides the map route provided from the navigation device 50 into a plurality of blocks (for example, divided every 100 [m] in the vehicle traveling direction), and determines the recommended lane for each block with reference to the second map information 62. The recommended lane determination unit 61 makes a determination as to which lane from the left to drive in. When there is a branch point in the map route, the recommended lane determination unit 61 determines the recommended lane so that the host vehicle M can travel on a reasonable route for traveling to the branch destination.

[0051] The second map information 62 is map information with higher precision than the first map information 54. The second map information 62 includes, for example, information on the center of a lane or information on the boundary of a lane. In the second map information 62, road information, traffic restriction information, address information (address and postal code), facility information, telephone number information, etc. may be included. The second map information 62 can be updated at any time by communicating with other devices through the communication device 20.

[0052] The driving operation member 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a non-circular steering wheel, a joystick, and other operation members. A sensor for detecting an operation amount or the presence or absence of an operation is installed in the driving operation member 80, and the detection result is output to a part or all of the automatic driving control device 100, or the driving force output device 200, the braking device 210, and the steering device 220.

[0053] The automatic driving control device 100 includes, for example, a first control unit 120 and a second control unit 160. The first control unit 120 and the second control unit 160 are respectively implemented, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). A part or all of these components may also be implemented by hardware (including a circuit part: circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), and may also be implemented by the cooperation of software and hardware. The program may be pre-stored in a storage device (a storage device having a non-transitory storage medium) such as an HDD or a flash memory of the automatic driving control device 100, or may be stored in a removable storage medium such as a DVD or a CD-ROM, and installed in the HDD or flash memory of the automatic driving control device 100 by being mounted on a driving device through the storage medium (non-transitory storage medium). The automatic driving control device 100 is an example of a "vehicle control device".

[0054] Figure 2This is a functional block diagram of the first control unit 120 and the second control unit 160. The first control unit 120 includes, for example, an identification unit 130 and an action plan generation unit 140. The first control unit 120 implements, for example, functions based on AI (Artificial Intelligence) and functions based on a pre-given model in parallel. For example, the function of "identifying an intersection" can be implemented by "parallelly executing the identification of an intersection based on deep learning, etc. and the identification based on pre-given conditions (presence of signals, road signs, etc. that can be pattern-matched), scoring both, and comprehensively evaluating". Thereby, the reliability of autonomous driving is ensured.

[0055] Based on the information input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16, the identification unit 130 identifies the position, speed, acceleration, and other states of the objects surrounding the host vehicle M. The position of the object is, for example, identified as a position on the absolute coordinates with the representative point (center of gravity, center of drive shaft, etc.) of the host vehicle M as the origin, and is used for control. The position of the object can be represented by the representative points such as the center of gravity and corners of the object, or can be represented by the exhibited area. The "state" of the object can also include the acceleration, jerk, or "action state" of the object (for example, whether it is in the process of or about to perform a lane change).

[0056] The identification unit 130, for example, identifies the lane (travel lane) on which the host vehicle M is traveling. For example, the identification unit 130 identifies the travel lane by comparing the pattern of the road dividing lines obtained from the second map information 62 (for example, the arrangement of solid lines and dashed lines) with the pattern of the road dividing lines around the host vehicle M recognized from the image captured by the camera 10. The identification unit 130 is not limited to road dividing lines, and can also identify the travel lane by identifying the road dividing lines, the travel road boundaries (road boundaries) including the road shoulders, curbs, median strips, guardrails, etc. In this identification, the position of the host vehicle M obtained from the navigation device 50 and the processing result based on the INS can also be considered. The identification unit 130 identifies the temporary stop line, obstacles, red lights, toll booths, and other road phenomena.

[0057] When identifying the travel lane, the identification unit 130 identifies the position and attitude of the host vehicle M relative to the travel lane. For example, the identification unit 130 can also identify the deviation of the reference point of the host vehicle M from the center of the lane and the angle formed by the traveling direction of the host vehicle M with the line connecting the centers of the lanes as the relative position and attitude of the host vehicle M relative to the travel lane. Instead of this, the identification unit 130 can identify the position of the reference point of the host vehicle M relative to any side end (road dividing line or road boundary) of the travel lane as the relative position of the host vehicle M relative to the travel lane.

[0058] The recognition unit 130 recognizes the position and speed of the host vehicle M. When the recognition unit 130 recognizes that the host vehicle M is traveling on a merging road, the recognition unit 130 recognizes the position and speed of a main-road vehicle (hereinafter referred to as the main-road vehicle mA) traveling on the main road that is the merging destination.

[0059] The action plan generation unit 140 generates a target trajectory for the host vehicle M to automatically travel in the future (without depending on the driver's operation) in a manner that the vehicle travels on the recommended lane determined by the recommended lane determination unit 61 in principle and can respond to the surrounding conditions of the host vehicle M. The target trajectory includes, for example, a speed element. For example, the target trajectory is represented by arranging in sequence the locations (trajectory points) that the host vehicle M should reach. The trajectory points are the locations that the host vehicle M should reach at regular driving distances (for example, on the order of several [m]) along the travel distance, and in contrast, the target speed and target acceleration at regular sampling times (for example, on the order of zero point several [sec]) are generated as part of the target trajectory. The trajectory points may also be the positions that the host vehicle M should reach at regular sampling times at the sampling moments. In this case, the information on the target speed and target acceleration is represented by the interval of the trajectory points.

[0060] When generating the target trajectory, the action plan generation unit 140 can set an event for autonomous driving. In the event of autonomous driving, there are a constant-speed driving event, a low-speed following driving event, a lane change event, a branch event, a merging event, a takeover event, and the like. The action plan generation unit 140 generates a target trajectory corresponding to the started event.

[0061] The action plan generation unit 140 includes, for example, a merging control unit 142. The merging control unit 142 generates a first plan for changing lanes in front of or behind another vehicle on the main road at the merging destination based on the relative relationship between the position and speed of the host vehicle M and the position and speed of the main-road vehicle. For the details of this process, see the following description.

[0062] The relative relationship includes, for example, the relative position between the host vehicle M and the main-road vehicle, and the relative speed between the host vehicle M and the main-road vehicle. The relative relationship is, for example, information for deriving an index for quantifying the interference risk (or the degree of influence of interference) between the host vehicle M and the main-road vehicle mA. This index is the speed difference between the host vehicle M and the main-road vehicle, the time to collision (hereinafter referred to as TTC) between the host vehicle M and the main-road vehicle, and the time headway (hereinafter referred to as THW) between the host vehicle M and the main-road vehicle.

[0063] The second control unit 160 controls the driving force output device 200, the braking device 210, and the steering device 220 so that the vehicle M passes through the target trajectory generated by the action plan generation unit 140 at a predetermined time.

[0064] Return Figure 2 , for example, the second control unit 160 includes an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires information on the target trajectory (trajectory points) generated by the action plan generation unit 140 and stores the information in a memory (not shown). The speed control unit 164 controls the driving force output device 200 or the braking device 210 based on the speed element attached to the target trajectory stored in the memory. The steering control unit 166 controls the steering device 220 according to the curvature of the target trajectory stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized, for example, by a combination of feedforward control and feedback control. As an example, the steering control unit 166 executes a combination of feedforward control corresponding to the curvature of the road ahead of the vehicle M and feedback control based on the deviation from the target trajectory.

[0065] The driving force output device 200 outputs the driving force (torque) for driving the vehicle to the drive wheels. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU (Electronic Control Unit) that controls them. The ECU controls the above structure according to the information input from the second control unit 160 or the information input from the driving operation member 80.

[0066] The braking device 210 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a brake ECU. The brake ECU controls the electric motor according to the information input from the second control unit 160 or the information input from the driving operation member 80 so that a braking torque corresponding to the braking operation is output to each wheel. The braking device 210 may include a mechanism that transmits the hydraulic pressure generated by the operation of the brake pedal included in the driving operation member 80 to the hydraulic cylinder via a master hydraulic cylinder as a backup. The braking device 210 is not limited to the structure described above and may also be an electronically controlled hydraulic braking device that controls an actuator according to the information input from the second control unit 160 to transmit the hydraulic pressure of the master hydraulic cylinder to the hydraulic cylinder.

[0067] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to a rack-pinion mechanism to change the orientation of the steering wheels. The steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the driving operation member 80 to change the orientation of the steering wheels.

[0068] [Function of the merging control unit]

[0069] Hereinafter, the details of the function of the merging control unit 142 will be described. The merging control unit 142 determines whether to merge the host vehicle M in front of or behind the arterial vehicle mA based on the relative relationship between the position and speed of the host vehicle and the position and speed of the arterial vehicle.

[0070] Figure 3 This is a diagram showing the first scenario. The first scenario is the scenario at time t0. Time t0 is, for example, the timing when the recognition unit 130 of the host vehicle M starts recognizing the position, speed, etc. of the arterial vehicle mA.

[0071] In Figure 3 this example, the arterial road (lanes L2 and L3) extending along the arrow in the illustrated traveling direction and the merging lane (lane L1) merging from the left with respect to the traveling direction of lane L2 are shown. The host vehicle M is performing autonomous driving along the path set by the navigation device 50 to the destination and is traveling on lane L1 toward the merging point (or merging area, the definition of which will be described later). There is no stop line near the merging point, and the arterial vehicle mA is traveling on lane L2.

[0072] Lane L1 and the arterial lanes L2 and L3 are separated by a fence F, a branching zone CC, a zebra crossing (diversion strip) ZZ, etc. in front of the merging point in the traveling direction of each vehicle. The fence F and the branching zone CC physically separate lane L1 from lane L2, but the zebra crossing ZZ is only drawn on the road surface and does not physically separate lane L1 from lane L2. The fence F may be of a height such that one lane among lane L1 and lane L2 cannot visually recognize the other lane.

[0073] The merging point is the point connecting lane L1 and lane L2 and includes, for example, the area from the soft nose SN (soft nose) of lane L1 to the end nose EN (end nose). The host vehicle M needs to merge into lane L2 before traveling in the area from the soft nose SN to the end nose EN. The host vehicle M does not merge into lane L2 through the zebra crossing ZZ, which is an area where traffic is restricted by regulations even though it is physically passable.

[0074] The merging control unit 142 selects the main road vehicle mA, for example, from the timing when the reference position (the front of the vehicle, the center of gravity, the center of the front wheel axle, the center of the rear wheel axle, etc.) of the own vehicle M reaches the branch belt CC until the timing when the reference position of the own vehicle M reaches the end of the zebra crossing ZZ, i.e., the soft isolation end SN. For example, when the merging control unit 142 recognizes a plurality of vehicles traveling on the lane L2, it selects the vehicle that is close to the own vehicle M among the plurality of vehicles, or the vehicle that is close to the own vehicle M and is located behind the own vehicle M in the traveling direction as the main road vehicle mA. Thus, the merging control unit 142 can select an appropriate one of the front and the rear of the own vehicle M with respect to the main road vehicle mA to perform merging control.

[0075] The merging control unit 142 acquires the speed VM of the own vehicle M, the position of the own vehicle M, the position of the main road vehicle mA, and the speed of the main road vehicle mA at time t0.

[0076] In Figure 3 the example of, at time t0, the merging control unit 142 recognizes that the reference position of the own vehicle M is at a forward distance d0 in the traveling direction compared to the reference position of the main road vehicle mA. The merging control unit 142 obtains the relative speed between the own vehicle M and the main road vehicle mA based on the speed VM of the own vehicle M and the speed VmA of the main road vehicle mA.

[0077] Figure 4 FIG. is a diagram showing a second scenario. The second scenario is the scenario at time t1 when the time has advanced compared to time t0. The merging control unit 142 acquires the speed VM of the own vehicle M, the position of the own vehicle M, the position of the main road vehicle mA, and the speed of the main road vehicle mA at time t1. The merging control unit 142 detects the relative relationship that the reference position of the own vehicle M is at a forward distance d1 in the traveling direction compared to the reference position of the main road vehicle mA.

[0078] In the second scenario, since the position of the main road vehicle mA that cannot be clearly recognized in the first scenario can be continuously recognized by the merging control unit 142, when the position of the own vehicle M in the traveling direction on the merging road for merging into the lane L2 as the main road is closer to the front than a specified position and the relative relationship is in a specified state, the following control is performed: changing the relative relationship between the own vehicle M and the main road vehicle by the acceleration and deceleration control of the own vehicle M. The specified position is a position determined by the road structure.

[0079] "The position of the own vehicle M is closer to the front than the specified position" means, for example, that the own vehicle M is closer to the front than the position where lane change can be performed. More specifically, as Figure 3 and Figure 4As shown, it is the position between the hard nose HN (hard nose), which is the position where lane change can be performed according to the M regulations of this vehicle, and the soft nose SN.

[0080] The so-called "state where the relative relationship satisfies the regulations" includes, for example, a position reference obtained based on the relative position relationship between this vehicle M and the main road vehicle mA, and a speed reference obtained based on the relative speed relationship between this vehicle M and the main road vehicle mA satisfying the regulations. The so-called "state where the relative relationship satisfies the regulations" means that an index quantifying the interference risk between this vehicle M and the main road vehicle mA represents the specified state. Specifically, it includes a state where one or more of the TTC between this vehicle M and the main road vehicle mA, the speed difference between the speed of this vehicle M and the main road vehicle mA, and the THW between this vehicle M and the main road vehicle mA are in the specified state. For the details of the specified state, see the following description.

[0081] The so-called "changing the relative relationship between this vehicle M and the main road vehicle through the acceleration and deceleration control of this vehicle M" includes this vehicle M converging behind the main road vehicle mA by decelerating, and this vehicle M converging to a position in front of the main road vehicle mA by further accelerating, etc.

[0082] After the position of this vehicle M in the traveling direction on the merging road merging into lane L2 as the main road reaches the specified position and the relative relationship satisfies the specified state, the merging control unit 142 suppresses the acceleration control of this vehicle M and performs merging control to merge behind the main road vehicle mA through the deceleration control of this vehicle M.

[0083] [Example of the vehicle's driving track]

[0084] Figure 5 It is a diagram showing the third scenario. The third scenario is the scenario at time t2 when the time has advanced compared to time t1. It is a diagram for explaining an example of the driving track of this vehicle M obtained based on the control performed by the merging control unit 142. In the following description, Figure 5 The example where this vehicle M merges in front of the main road vehicle mA shown is called "Case a".

[0085] In Figure 5 In the scenario, for example, at time t2 after a specified time has passed compared to time t1, the merging control unit 142 obtains a relative relationship where the speed VM of this vehicle M is relatively faster than the speed VmA of the main road vehicle mA, and the reference position of this vehicle M is at a forward distance da in the traveling direction compared to the reference position of the main road vehicle mA. Based on the obtained relative relationship, the merging control unit 142 decides to make this vehicle M merge in front of the main road vehicle mA.

[0086] The action plan generation unit 140 generates a target trajectory Ka based on the determination result determined by the merging control unit 142. The merging control unit 142 performs acceleration control on the host vehicle M as needed. An example of the positions of the host vehicle M and the arterial road vehicle mA at the completion of the merging control is indicated by the dashed lines (M(a) and mA(a)) in the figure.

[0087] Figure 6 It is a diagram showing the fourth scenario. The fourth scenario is a scenario at time t2 representing a scenario different from the third scenario described above Figure 5 In the following description, the example in which the host vehicle M merges in the direction of the arterial road vehicle mA shown Figure 6 is referred to as "Case b".

[0088] For example, at time t2, the merging control unit 142 recognizes that the speed VM of the host vehicle M is relatively slow compared to the speed VmA of the arterial road vehicle mA, and that the reference position of the host vehicle M is at a forward distance db in the traveling direction compared to the reference position of the arterial road vehicle mA. The distance db may be a distance shorter than the distance da shown above Figure 5 or a distance where the reference position of the arterial road vehicle mA is in front of the reference position of the host vehicle M in the traveling direction. Based on the relative relationship, the merging control unit 142 determines to merge the host vehicle M behind the arterial road vehicle mA.

[0089] The action plan generation unit 140 generates a target trajectory Kb based on the determination result determined by the merging control unit 142. The merging control unit 142 performs acceleration control on the host vehicle M as needed. An example of the positions of the host vehicle M and the arterial road vehicle mA at the completion of the merging control is indicated by the dashed lines (M(b) and mA(b)) in the figure.

[0090] [Regarding a specified state]

[0091] "Satisfying the specified state" means, for example, (at the time point when the merging control unit 142 obtains the relative relationship between the host vehicle M and the arterial road vehicle mA or near the specified position) that the reference position of the host vehicle M is within a specified distance in front of or behind the reference position of the arterial road vehicle mA in the traveling direction, and that the relative relationship between the host vehicle M and the arterial road vehicle mA shown below is included in Figure 7The specified regions shown (Region A1 - Region A5, or the regions surrounded by the dashed lines D1 - D4) are established for both parties. That is, the state of meeting the specification means that it is presumed that when the host vehicle M makes a lane change, it will interfere with the arterial vehicle mA, or it is presumed that when the host vehicle M makes a lane change, it will have an impact on the arterial vehicle mA. Being presumed to interfere or being presumed to have an impact means that it is presumed that the arterial vehicle mA will accelerate by a specified degree or more, or decelerate by a specified degree or more, or show a behavior different from the behavior in the case where the host vehicle M does not make a lane change due to the behavior of the host vehicle M based on the lane change.

[0092] Figure 7 It is a diagram showing the visualization of the determination information including the specified state. The merging control unit 142 uses the determination information to determine whether the target vehicle is in the specified state. Figure 7 The diagram shown has the speed difference as the vertical axis and the THW as the horizontal axis, and uses the coordinate system composed of these two axes of the speed difference and the THW to represent the relative relationship between the host vehicle M and the arterial vehicle mA. Figure 7 The diagram shown is an example of the "determination information" obtained by associating the reference for the interference between the two vehicles (the degree of influence of the lane change of the host vehicle M on the arterial vehicle) based on the relative relationship between the two vehicles. Hereinafter, the relative relationship between the two vehicles may sometimes be simply referred to as the "relative relationship".

[0093] The speed difference is, for example, the difference between the speed of the arterial vehicle mA and the speed of the host vehicle M, and is an index derived based on the value obtained by subtracting the speed of the host vehicle M from the speed of the arterial vehicle mA. When the speed difference is positive, the speed of the arterial vehicle mA is greater than the speed of the host vehicle M. When the speed difference is negative, the speed of the arterial vehicle mA is less than the speed of the host vehicle M. When the THW is positive, the arterial vehicle mA is traveling in front of the host vehicle M. When the THW is negative, the arterial vehicle mA is traveling behind the host vehicle M. Figure 7 The diagram shown is applicable, for example, to the case where the position of the host vehicle M is at a position closer to the front than the specified position.

[0094] And Figure 7 The relationship between the host vehicle M and the arterial vehicle mA in the first quadrant - fourth quadrant corresponding to Figure 8 is the relationship shown.

[0095] First quadrant: The arterial vehicle mA is traveling in front of the host vehicle M, and the speed of the arterial vehicle mA is faster than the speed of the host vehicle M.

[0096] Second quadrant: The host vehicle M is traveling in front of the arterial vehicle mA, and the speed of the arterial vehicle mA is faster than the speed of the host vehicle M.

[0097] Third quadrant: The vehicle M is traveling in front of the arterial vehicle mA, and the speed of the vehicle M is faster than that of the arterial vehicle mA.

[0098] Fourth quadrant: The arterial vehicle mA is traveling in front of the vehicle M, and the speed of the vehicle M is faster than that of the arterial vehicle mA.

[0099] For example, taking the intersection of the vertical axis and the horizontal axis as described above Figure 7 or Figure 8 as a reference, when the relative relationship is in the positive direction of the vertical axis, it indicates that the vehicle M has a tendency to easily choose to merge behind the arterial vehicle mA, and when the relative relationship is in the negative direction of the vertical axis, it indicates that the vehicle M has a tendency to easily choose to merge in front of the arterial vehicle mA.

[0100] The merging control unit 142 determines that the specified state is satisfied, for example, when the speed difference and THW between the vehicle M and the arterial vehicle mA are within the regions A1 to A5 of the graph as described above Figure 7 . The regions A1 to A5 are regions indicating a high possibility of interference between the two at the merging point when the vehicle M and the arterial vehicle mA directly travel at their original speeds. Therefore, when the relative relationship exists within the regions A1 to A5, it is preferable to eliminate this situation by accelerating or decelerating the vehicle M.

[0101] For example, in region A2, the arterial vehicle mA is behind the vehicle M and the speed of the arterial vehicle mA is faster than that of the vehicle M. Therefore, if this state continues from the specified position to the merging point, there is a high possibility that the arterial vehicle mA will catch up with the vehicle M and interfere. For example, in region A3, the vehicle M is behind the arterial vehicle mA and the speed of the vehicle M is faster than that of the arterial vehicle mA. Therefore, if this state continues from the specified position to the merging point, there is a high possibility that the vehicle M will catch up with the arterial vehicle mA and interfere. "Satisfying the specified state" means that in the Figure 7 graph shown, "the coordinates derived from the speed difference and THW between the vehicle M and the arterial vehicle mA are within the regions A1 to A5 (or within the region surrounded by the dotted lines D1 - D5 described later)".

[0102] Figure 7 The inclination of the regions A2, A3, and A5 shown, for example, is such that when THW changes by 1, the speed difference changes by about 4. Since the merging control unit 142 tends to preferentially choose to merge behind the arterial vehicle mA rather than in front of the arterial vehicle mA with respect to the vehicle M, the above inclination is set for the regions A2, A3, and A5. The sizes of the regions A1 to A5 and the inclination of the regions A2, A3, and A5 can also be set according to the performance of the vehicle M, the settings of the occupants of the vehicle M, etc.

[0103] The boundary lines of regions A1 to A5 represent the thresholds of the relative relationship. When the relative relationship is within the inner sides of regions A1 to A5, the merging control unit 142 controls the acceleration and deceleration of the host vehicle M to move to the outer sides of regions A1 to A5 and to positions outside the target values or the target values indicated by the dashed lines D1 to D4.

[0104] When the merging control unit 142 can change the relative relationship by accelerating or decelerating, it determines which of acceleration and deceleration is used to change the relative relationship according to which of regions A1 to A5 the relative relationship conforms to. Figure 9 It is for explaining that the merging control unit 142 is based on Figure 7 The figure shows a specific example of determining which of acceleration and deceleration is used to change the relative relationship according to the chart shown.

[0105] [Acceleration control example]

[0106] For example, when the relative relationship is a point within region A1 ( Figure 9 The point P1 illustrated), since the position of the host vehicle M in the traveling direction on the merging road merging into the lane L2 as the main road is closer to the front than the specified position and satisfies the specified state, the merging control unit 142 changes the relative relationship between the host vehicle M and the main road vehicle mA through the acceleration and deceleration control of the host vehicle M, and performs control to accelerate the host vehicle M so that the relative relationship becomes a point on the dashed line D3 representing the target value (or a point at a position exceeding the dashed line D3 starting from the point P1, for example Figure 9 The point NP1 illustrated).

[0107] For example, when the relative relationship is a point within region A2, the position of the host vehicle M in the traveling direction on the merging road merging into the lane L2 as the main road is closer to the front than the specified position and satisfies the specified state. Therefore, the merging control unit 142 performs control to accelerate the host vehicle M in such a way as to change the relative relationship between the host vehicle M and the main road vehicle mA through the acceleration and deceleration control of the host vehicle M, so that the relative relationship becomes a point on the dashed line D4 representing the target value (or a point at a position exceeding the dashed line D4 starting from the point within region A2).

[0108] [Deceleration control example]

[0109] For example, when the relative relationship is a point within region A3 ( Figure 10In the case of the illustrated point P3), the position of the host vehicle M in the traveling direction on the merging road merging into the lane L2 as the main road is closer to the front than the specified position and satisfies the specified state. Therefore, the merging control unit 142 suppresses the acceleration control of the host vehicle M and performs control to decelerate the host vehicle M so that the relative relationship becomes a point on the dotted line D2 representing the target value (or a point at a position exceeding the dotted line D2 starting from the point P3), for example Figure 10 the illustrated point NP3).

[0110] Even when the speed difference is negative (as in the case of the point P3 within the region A3 in the illustrated relative relationship), the merging control unit 142 does not perform acceleration control but performs deceleration control. This is because Figure 10 when the speed difference and the THW in the illustrated state are close to 0, when performing merging control with the speed VM of the host vehicle M being faster than the speed Vma of the main road vehicle mA, the acceleration load of the host vehicle M becomes large. Therefore, compared with accelerating in such a way that the speed VM of the host vehicle M significantly exceeds the speed Vma of the main road vehicle mA, decelerating the host vehicle M does not impose a large load on the drive source of the host vehicle M and enables continued appropriate driving. Because in the region where the speed difference is a large negative value and the THW is a large positive value Figure 10 the position of the main road vehicle mA in the illustrated state is relatively close to the cut-off end EN. Therefore, compared with accelerating in such a way that the speed VM of the host vehicle M significantly exceeds the speed Vma of the main road vehicle mA, decelerating the host vehicle M does not impose a large load on the drive source of the host vehicle M and enables continued appropriate driving.

[0111] For example, in the case of a point within the region A4, the position of the host vehicle M in the traveling direction on the merging road merging into the lane L2 as the main road is closer to the front than the specified position and satisfies the specified state. Therefore, the merging control unit 142 suppresses the acceleration control of the host vehicle M and performs control to decelerate the host vehicle M so that the relative relationship becomes a point on the dotted line D1 representing the target value (or a point at a position exceeding the dotted line D1 starting from a point within the region A4).

[0112] For example, in the case of a point within the region A5, the position of the host vehicle M in the traveling direction on the merging road merging into the lane L2 as the main road is closer to the front than the specified position and satisfies the specified state. Therefore, the merging control unit 142 suppresses the acceleration control of the host vehicle M and performs control to decelerate the host vehicle M so that the relative relationship becomes a point on the dotted line D1 representing the target value (or a point at a position exceeding the dotted line D1 starting from a point within the region A5).

[0113] As described above, when there is a possibility of interference with the main road vehicle mA when the autonomous driving control device 100 merges the host vehicle M into the main road, the host vehicle M can be controlled by controlling the acceleration and deceleration of the host vehicle M so that the host vehicle M avoids interference with the main road vehicle mA. As a result, a more appropriate merging corresponding to the traffic conditions can be performed.

[0114] [Processing in the case of multiple main road vehicles]

[0115] When it is assumed that the host vehicle M has changed lanes to the first main road based on the first plan, the lane change control unit 142, based on the position and speed of the third vehicle that is the first vehicle or the second vehicle behind the host vehicle M, and the position and speed of the fourth vehicle traveling around the third vehicle on the second main road adjacent to the first main road, and when it is presumed that the third vehicle can change lanes to the second main road without interfering with the fourth vehicle, causes the host vehicle to change lanes to the first main road based on the first plan.

[0116] Figure 11 It is a diagram for explaining an example of processing in the case of multiple main road vehicles. In Figure 11 this example, there are lanes L2 - L4 as main roads. Lane L4 is a lane adjacent to lane L3. Main road vehicle a and main road vehicle b are traveling on lane L2. Main road vehicle c and main road vehicle d are traveling on lane L3. Main road vehicle e and main road vehicle f are traveling on lane L4. In the traveling direction, main road vehicle b, main road vehicle d, main road vehicle f, the host vehicle M, main road vehicle a, main road vehicle c, and main road vehicle e exist in sequence. Hereinafter, the area between main road vehicle a and main road vehicle b may be referred to as the first area AR1, the area between main road vehicle c and main road vehicle d may be referred to as the second area AR2, and the area between main road vehicle e and main road vehicle f may be referred to as the third area AR3.

[0117] Main road vehicle a is an example of the "first vehicle" or the "third vehicle". Main road vehicle c is an example of the "fourth vehicle". Main road vehicle e is an example of the "fifth vehicle". Lane L1 is an example of the "merging road". Lane L2 is an example of the "first main road". Lane L3 is an example of the "second main road". Lane L4 is an example of the "third main road".

[0118] The automatic driving control device 100 derives the degree of influence of the behavior of the host vehicle M on the arterial vehicle a when the host vehicle M changes lanes to the first area AR1, the degree of influence on the arterial vehicle c when the arterial vehicle a changes lanes to the second area AR2, and the degree of influence on the arterial vehicle e when the arterial vehicle c changes lanes to the third area AR3 based on the determination information. When these degrees of influence are less than a specified level, the host vehicle M changes lanes. That is, when it is assumed that the host vehicle M has changed lanes, when it is presumed that the host vehicle M can change lanes to the first area AR1 without interfering with the arterial vehicle a, and it is presumed that the arterial vehicle a can change lanes to the second area AR2 without interfering with the arterial vehicle c, and it is presumed that the arterial vehicle c can change lanes to the third area AR3 without interfering with the arterial vehicle e, the host vehicle M changes lanes to the first area AR1.

[0119] The so-called degree of influence is obtained, for example, based on the position where the relative relationship between the vehicle changing lanes in the above-mentioned Figure 7 and the vehicle at the lane change destination is drawn. The degree of influence being less than the specified level means that when the vehicle has changed lanes, the degree of deceleration or acceleration of the vehicle at the lane change destination is less than the specified level. For example, in the case of plotting the relative relationship on the above-mentioned Figure 7 chart, when the plotted position is included in any of the areas A1 - A5 of the above-mentioned Figure 7 (or the area surrounded by the dotted lines D1 - D4), the degree of influence exceeds the specified level, and when the plotted position is not included in any of the areas A1 - A5 of the above-mentioned Figure 7 , the degree of influence is less than the specified level. The degree of influence being less than the specified level can also be described as the presumption that the two target vehicles do not interfere.

[0120] As described above, the merging control unit 142 uses the determination information obtained based on the reference for the interference of two vehicles associated with the relative relationship of two vehicles in a group to determine whether the host vehicle M can change lanes to the arterial road L2, whether the arterial vehicle a can change lanes to the arterial road L3, and whether the arterial vehicle c can change lanes to the arterial road L4. The two vehicles being compared are the two vehicles that are the targets for which the degree of influence is derived (the vehicle changing lanes, the vehicle existing in the lane of the lane change destination). The merging control unit 142 can easily cause the host vehicle M to change lanes in a manner that reduces the processing load and avoids affecting the driving of the arterial vehicles while the host vehicle M changes lanes.

[0121] Figure 12 This is a diagram for explaining an example of the scenario where the host vehicle M changes lanes to the lane L2. AsFigure 12 As shown, when the host vehicle M changes lanes to lane L2, the host vehicle M changes lanes to lane L2 when it does not affect the driving of the arterial vehicle a and when the arterial vehicle a and the arterial vehicle c change lanes to adjacent lanes without affecting the vehicles driving in the adjacent lanes.

[0122] Figure 13 This is a diagram for explaining an example of the scenario where the host vehicle M changes lanes to lane L2. As Figure 13 shown, when it is assumed that the host vehicle M changes lanes to lane L2, when it is estimated that the host vehicle M will affect the driving of the arterial vehicle a, as Figure 13 shown, the host vehicle M does not change lanes to lane L2 but changes lanes to the rear of the arterial vehicle a, for example.

[0123] For example, when it is assumed that the host vehicle M changes lanes to lane L2, when it is estimated that the host vehicle M will not affect the driving of the arterial vehicle a but will affect the driving of the arterial vehicle c due to the lane change of the arterial vehicle a, the host vehicle M does not change lanes to lane L2 but changes lanes to the rear of the arterial vehicle a, for example. For example, when it is assumed that the arterial vehicle c changes lanes, when there is a possibility of interference between the arterial vehicle c and the arterial vehicle e, it is estimated that the lane change of the host vehicle M will affect the driving of the arterial vehicle.

[0124] [Flowchart]

[0125] Figure 14 This is a flowchart showing an example of the process executed by the autonomous driving control device 100. This process is executed, for example, when the host vehicle M can recognize the arterial vehicle and reaches a predetermined distance from the front side of the soft isolation end SN.

[0126] First, the recognition unit 130 recognizes the positions and speeds of the arterial vehicles present on the arterial road (step S100). Next, the merging control unit 142 determines the target area based on the recognition result of step S100 (step S102). The target area is a predetermined area (e.g., the first area AR1) where the host vehicle M changes lanes. Next, the merging control unit 142 determines whether, when the host vehicle M changes lanes to the target area, it will have a certain degree or more of influence on the arterial vehicle (step S104).

[0127] When it is determined that the impact on the main road vehicles will not exceed a specified level, the merging control unit 142 causes the host vehicle M to change lanes to the determined target area (step S106). When it is determined that the impact on the main road vehicles will exceed the specified level, the merging control unit 142 determines a target area that is presumed not to affect the main road vehicles (step S108). Next, the merging control unit 142 causes the host vehicle M to change lanes to the target area determined in step S108 (step S110). The merging control unit 142 generates a second plan different from the first plan, and based on the second plan, causes the host vehicle M to change lanes to the main road. The second plan is, for example, a plan for the host vehicle M to change lanes behind the main road vehicle a, or a plan for the host vehicle M to be separated from the main road vehicle a by a distance greater than a specified distance and not to be an object of a comparison and relative relationship with respect to the main road vehicle a. Thus, the processing of one routine of this flowchart ends.

[0128] As in the above processing, the merging control unit 142 considers the impact on the main road vehicles when the host vehicle M changes lanes, and determines the area for lane change, thereby enabling more appropriate merging corresponding to the traffic conditions.

[0129] Figure 15 It is a diagram showing an example of the relative relationship between the host vehicle M and the main road vehicles and a graph. Figure 15 The relative relationship indicates Figure 11 the relative relationship between the host vehicle M and the main road vehicles. The host vehicle M exists in front of the main road vehicle a, and the speed of the host vehicle M is faster than the speed of the main road vehicle a. That is, in the relative relationship between the host vehicle M and the main road vehicle a, it is associated with the third quadrant. The main road vehicle a exists in front of the main road vehicle c, and the speed of the main road vehicle a is faster than the speed of the main road vehicle c. That is, in the relative relationship between the main road vehicle a and the main road vehicle c, it is associated with the third quadrant. The main road vehicle c exists in front of the main road vehicle e, and the speed of the main road vehicle c is faster than the speed of the main road vehicle e. That is, in the relative relationship between the main road vehicle c and the main road vehicle e, it is associated with the third quadrant.

[0130] As described above, the host vehicle M, the main road vehicle a, and the main road vehicle c are associated with the third quadrant, and it is presumed that the host vehicle M, the main road vehicle a, and the main road vehicle c can respectively change lanes to the area in front of the target vehicle. Therefore, the host vehicle M changes lanes in a manner of entering in front of the main road vehicle a. That is, the lane change of the host vehicle M will not affect the driving of the main road vehicle, so the host vehicle M can change lanes.

[0131] Figure 16 It is a diagram showing an example of the relative relationship between the host vehicle M and the main road vehicles and a graph. Figure 16 The relative relationship indicates Figure 13The relative relationship between the host vehicle M and the main road vehicle. The host vehicle M is in front of the main road vehicle a, and the speed of the host vehicle M is faster than that of the main road vehicle a. That is, the host vehicle M is associated with the third quadrant in the relative relationship with the main road vehicle a. However, the main road vehicle a exists at a position overlapping with the main road vehicle c in the width direction, and the speed of the main road vehicle a is approximately the same as the speed of the main road vehicle c. That is, the main road vehicle a is associated with the area A4 in the relative relationship with the main road vehicle c.

[0132] As described above, when the host vehicle M changes lanes and the main road vehicle a changes lanes, the main road vehicle a interferes with the main road vehicle c. Therefore, the host vehicle M does not change lanes in a way that enters in front of the main road vehicle a. In this case, for example, the host vehicle M decelerates and changes lanes while being behind the main road vehicle (controlled so that the position and speed of the host vehicle M become in the first quadrant). As a result, a more appropriate merging corresponding to the traffic conditions can be performed.

[0133] Figure 17 It is a diagram for explaining another example of the process executed by the autonomous driving control device 100. For example, as Figure 17 shown, when the relationship between the speed and position of the host vehicle M is included inside the areas A1 to A5 or in the areas surrounded by the dotted lines D1 to D4, the autonomous driving control device 100 moves the relationship between the speed and position of the host vehicle M to the outside of the areas A1 to A5 or outside the areas surrounded by the dotted lines D1 to D4. Moreover, the autonomous driving control device 100 may also determine whether to change lanes in front of or behind the main road vehicle based on the degree of influence exerted by the host vehicle M on the main road vehicle when the host vehicle M changes lanes to the main road in this state.

[0134] Specifically, when the relationship between the speed and position of the host vehicle M is at the position P4 within the area surrounded by the dotted lines D1 to D4, the autonomous driving control device 100 envisions a state where the relationship between the speed and position of the host vehicle M is at the position NP4 outside the area surrounded by the dotted lines D1 to D4. Moreover, the autonomous driving control device 100 may also, when the influence of the lane change of the host vehicle M in the envisioned state does not affect the main road vehicle, accelerate the host vehicle M and move the relationship between the speed and position of the host vehicle M to the third quadrant to change lanes. However, the condition is that the relationship between the speed and position of the host vehicle M can move to the third quadrant before the host vehicle M reaches the soft isolation end SN (or a specific position in front of the cut-off end EN).

[0135] When the relationship between the speed and position of the vehicle M is at the position P5 within the area A3, the autonomous driving control device 100 assumes a state where the relationship between the speed and position of the vehicle M is at the position NP5 outside the area surrounded by the dotted lines D1 to D4. Moreover, when the influence of the lane change of the vehicle M in the assumed state does not affect the arterial road vehicles, the autonomous driving control device 100 decelerates the vehicle M to move the relationship between the speed and position of the vehicle M to the first quadrant for lane change. However, the condition is that the relationship between the speed and position of the vehicle M can move to the first quadrant before the vehicle M reaches the soft isolation end SN (or a specific position in front of the cut-off end EN).

[0136] As described above, when the relationship between the position and speed of the vehicle M exists within the area surrounded by the dotted lines D1 to D4, the autonomous driving control device 100 assumes a situation where the relationship between the position and speed of the vehicle M exists outside the area surrounded by the dotted lines D1 to D4, and determines whether the vehicle M can change lanes to the arterial road without affecting the arterial road vehicles. When the vehicle M can change lanes to the arterial road without affecting the arterial road vehicles, the autonomous driving control device 100 causes the vehicle M to change lanes to the arterial road. As a result, the vehicle M can change lanes more smoothly.

[0137] According to the embodiment of the modified example described above, when the autonomous driving control device 100 assumes that the vehicle has changed lanes to the first arterial road based on the first plan, the autonomous driving control device 100 causes the vehicle to change lanes to the first arterial road based on the degree of interference when changing lanes based on the arterial road vehicles, so that a more appropriate merging corresponding to the traffic conditions can be performed.

[0138] [Hardware Structure]

[0139] Figure 18FIG. is a diagram showing an example of the hardware configuration of the autonomous driving control device 100 according to the embodiment. As shown in the figure, the autonomous driving control device 100 has a structure in which a communication controller 100-1, a CPU 100-2, a RAM (Random Access Memory) 100-3 used as a working memory, a ROM (Read Only Memory) 100-4 that stores a bootstrap program, etc., a storage device 100-5 such as a flash memory and an HDD (Hard Disk Drive), a driving device 100-6, etc. are connected to each other via an internal bus or a dedicated communication line. The communication controller 100-1 performs communication with components other than the autonomous driving control device 100. In the storage device 100-5, a program 100-5a to be executed by the CPU 100-2 is stored. This program is expanded to the RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) etc. and executed by the CPU 100-2. Thereby, the first control unit 120, the second control unit 160, and some or all of the functional units included therein are realized.

[0140] The embodiment described above can be expressed as follows.

[0141] A vehicle control device configured to include:

[0142] a storage device that stores a program; and

[0143] a hardware processor,

[0144] wherein the hardware processor executes the following processing by executing the program stored in the storage device:

[0145] When the vehicle is traveling on a merging road, identifying the positions and speeds of vehicles traveling in lanes included in the main road at the merging destination of the merging road;

[0146] Based on the relative relationship between the position and speed of the vehicle itself and the position and speed of a first vehicle traveling on a first main road closest to the merging road among the main roads, generating a first plan for changing lanes of the vehicle itself to the front or rear of the first vehicle; and

[0147] In a case where it is assumed that the host vehicle has changed lanes to the first arterial road based on the first plan, when it is presumed, based on the position and speed of a third vehicle, which is the first vehicle or the second vehicle, existing behind the host vehicle and the position and speed of a fourth vehicle traveling around the third vehicle on a second arterial road adjacent to the first arterial road, that the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle, the host vehicle is caused to change lanes to the first arterial road based on the first plan.

[0148] The specific embodiments of the present invention have been described above using the usage embodiments, but the present invention is in no way limited to such embodiments, and various modifications and substitutions can be made without departing from the gist of the present invention.

Claims

1. A vehicle control device, wherein, The vehicle control device includes: an identification unit that, when the host vehicle is traveling on a merging road, identifies the position and speed of a vehicle traveling in a lane included in the main road at the merging destination of the merging road; and a merging control unit that generates a first plan for changing the lane of the host vehicle to the front or rear of the first vehicle based on the relative relationship between the position and speed of the host vehicle and the position and speed of a first vehicle traveling on a first main road closest to the merging road among the main roads; when it is assumed that the host vehicle has changed lanes to the first main road based on the first plan, the merging control unit, based on the relative relationship between the position and speed of a third vehicle that is the first vehicle existing behind the host vehicle or the second vehicle existing behind the host vehicle and the position and speed of a fourth vehicle traveling around the third vehicle on a second main road adjacent to the first main road, when it is presumed that the third vehicle can change lanes to the second main road without interfering with the fourth vehicle, causes the host vehicle to change lanes to the first main road based on the first plan; the merging control unit generates a first plan for changing the lane of the host vehicle to the front or rear of the first vehicle in the first main road based on the relative relationship between the position and speed of the host vehicle and the position and speed of the first vehicle, and determination information obtained based on a reference for associating the interference of two vehicles based on the relative relationship between the two vehicles; the merging control unit presumes whether the third vehicle can change lanes to the second main road without interfering with the fourth vehicle based on the relative relationship between the position and speed of the third vehicle and the position and speed of the fourth vehicle, and the determination information; 2. A vehicle control device, wherein, The vehicle control device includes: an identification unit that, when the host vehicle is traveling on a merging road, identifies the position and speed of a vehicle traveling in a lane included in the main road at the merging destination of the merging road; and a merging control unit that generates a first plan for changing the lane of the host vehicle to the front or rear of the first vehicle based on the relative relationship between the position and speed of the host vehicle and the position and speed of a first vehicle traveling on a first main road closest to the merging road among the main roads; when it is assumed that the host vehicle has changed lanes to the first main road based on the first plan, the merging control unit, based on the relative relationship between the position and speed of a third vehicle that is the first vehicle existing behind the host vehicle or the second vehicle existing behind the host vehicle and the position and speed of a fourth vehicle traveling around the third vehicle on a second main road adjacent to the first main road, when it is presumed that the third vehicle can change lanes to the second main road without interfering with the fourth vehicle, causes the host vehicle to change lanes to the first main road based on the first plan; When it is presumed that the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle, based on the relative relationship between the position and speed of the fourth vehicle and the position and speed of the fifth vehicle traveling around the fourth vehicle on the third arterial road adjacent to the second arterial road, when it is presumed that the fourth vehicle can change lanes to the third arterial road without interfering with the fifth vehicle, the merging control unit causes the host vehicle to change lanes to the first arterial road based on the first plan.

3. The vehicle control device according to claim 1 or 2, wherein, When it is presumed that the third vehicle will interfere with the fourth vehicle when changing lanes to the second arterial road, the merging control unit causes the host vehicle to change lanes to the first arterial road based on a second plan different from the first plan.

4. The vehicle control device according to claim 2, wherein, When it is presumed that the fourth vehicle will interfere with the fifth vehicle when changing lanes to the third arterial road, the merging control unit causes the host vehicle to change lanes to the first arterial road based on a second plan different from the first plan.

5. The vehicle control device according to claim 2, wherein, The merging control unit determines whether the host vehicle can change lanes to the first arterial road, whether the third vehicle can change lanes to the second arterial road, and whether the fourth vehicle can change lanes to the third arterial road based on the relative relationship between a set of two vehicles and determination information associated with a criterion for interference between the two vehicles.

6. A vehicle control method, wherein, The vehicle control method causes a computer to perform processes including: When the host vehicle is traveling on a merging road, identifying the position and speed of a vehicle traveling in a lane included in the arterial road that is the merging destination of the merging road; Based on the relative relationship between the position and speed of the host vehicle and the position and speed of a first vehicle traveling on the first arterial road closest to the merging road among the arterial roads, generating a first plan for causing the host vehicle to change lanes in front of or behind the first vehicle; When it is assumed that the host vehicle has changed lanes to the first arterial road based on the first plan, based on the relative relationship between the position and speed of the third vehicle, which is the first vehicle existing behind the host vehicle or the second vehicle existing behind the host vehicle, and the position and speed of the fourth vehicle traveling around the third vehicle on the second arterial road adjacent to the first arterial road, when it is presumed that the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle, causing the host vehicle to change lanes to the first arterial road based on the first plan; Based on the relative relationship between the position and speed of the host vehicle and the position and speed of the first vehicle, and determination information obtained by associating a criterion for interference between two vehicles based on the relative relationship between the two vehicles, generating a first plan for causing the host vehicle to change lanes in front of or behind the first vehicle on the first arterial road; and Based on the relative relationship between the position and speed of the third vehicle and the position and speed of the fourth vehicle, as well as the determination information, it is inferred whether the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle.

7. A storage medium storing a program, wherein, The program causes the computer to perform the following processing: When the host vehicle is traveling on a merging road, identify the position and speed of the vehicles traveling in the lanes included in the arterial road at the merging destination of the merging road; Based on the relative relationship between the position and speed of the host vehicle and the position and speed of the first vehicle traveling on the first arterial road closest to the merging road among the arterial roads, generate a first plan for the host vehicle to change lanes in front of or behind the first vehicle; When it is assumed that the host vehicle has changed lanes to the first arterial road based on the first plan, based on the relative relationship between the position and speed of the third vehicle, which is the first vehicle existing behind the host vehicle or the second vehicle existing behind the host vehicle, and the position and speed of the fourth vehicle traveling around the third vehicle on the second arterial road adjacent to the first arterial road, when it is inferred that the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle, cause the host vehicle to change lanes to the first arterial road based on the first plan; Based on the relative relationship between the position and speed of the host vehicle and the position and speed of the first vehicle, as well as the determination information, generate a first plan for the host vehicle to change lanes in front of or behind the first vehicle in the first arterial road, where the determination information is obtained by associating a reference for the interference of two vehicles based on the relative relationship between the two vehicles; And Based on the relative relationship between the position and speed of the third vehicle and the position and speed of the fourth vehicle, as well as the determination information, it is inferred whether the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle.

8. A vehicle control method, wherein, The processing performed by the computer in the vehicle control method includes: When the host vehicle is traveling on a merging road, identify the position and speed of the vehicles traveling in the lanes included in the arterial road at the merging destination of the merging road; Based on the relative relationship between the position and speed of the host vehicle and the position and speed of the first vehicle traveling on the first arterial road closest to the merging road among the arterial roads, generate a first plan for the host vehicle to change lanes in front of or behind the first vehicle; In a case where it is assumed that the host vehicle has changed lanes to the first arterial road based on the first plan, when it is presumed, based on the relative relationship between the position and speed of a third vehicle that is the first vehicle behind the host vehicle or the second vehicle behind the host vehicle and the position and speed of a fourth vehicle traveling around the third vehicle on a second arterial road adjacent to the first arterial road, that the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle, the host vehicle is made to change lanes to the first arterial road based on the first plan; and In a case where it is presumed that the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle, when it is presumed, based on the relative relationship between the position and speed of the fourth vehicle and the position and speed of a fifth vehicle traveling around the fourth vehicle on a third arterial road adjacent to the second arterial road, that the fourth vehicle can change lanes to the third arterial road without interfering with the fifth vehicle, the host vehicle is made to change lanes to the first arterial road based on the first plan.

9. A storage medium stores a program, wherein, The program causes a computer to execute the following processing: When the host vehicle is traveling on a merging road, identify the position and speed of a vehicle traveling in a lane included in the arterial road at the merging destination of the merging road; Generate a first plan for changing the lane of the host vehicle to the front or rear of the first vehicle based on the relative relationship between the position and speed of the host vehicle and the position and speed of the first vehicle traveling on the first arterial road closest to the merging road among the arterial roads; In a case where it is assumed that the host vehicle has changed lanes to the first arterial road based on the first plan, when it is presumed, based on the relative relationship between the position and speed of a third vehicle that is the first vehicle behind the host vehicle or the second vehicle behind the host vehicle and the position and speed of a fourth vehicle traveling around the third vehicle on a second arterial road adjacent to the first arterial road, that the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle, the host vehicle is made to change lanes to the first arterial road based on the first plan; And In a case where it is presumed that the third vehicle can change lanes to the second arterial road without interfering with the fourth vehicle, when it is presumed, based on the relative relationship between the position and speed of the fourth vehicle and the position and speed of a fifth vehicle traveling around the fourth vehicle on a third arterial road adjacent to the second arterial road, that the fourth vehicle can change lanes to the third arterial road without interfering with the fifth vehicle, the host vehicle is made to change lanes to the first arterial road based on the first plan.

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