Vehicle control device, vehicle control method, and computer-readable storage medium

Abstract

A vehicle control device, a vehicle control method, and a computer-readable storage medium storing a program, which can suppress a sense of discomfort to an occupant. The vehicle control device includes a first acquisition unit that acquires holding information indicating that a driver of a vehicle is holding a steering wheel, a second acquisition unit that acquires operation information indicating that the driver is performing an operation related to driving of the vehicle, a recognition unit that recognizes a road lane line of a lane in which the vehicle is traveling, and an assistance unit that assists in such a manner that the vehicle does not deviate from the road lane line when a possibility that the vehicle deviates from the road lane line is equal to or greater than a predetermined level, and the assistance unit delays initiation of the assistance when the holding information is acquired and the operation information is not acquired, compared to when the holding information and the operation information are not acquired, and when the operation information is acquired, initiation of the assistance is suppressed within a predetermined time regardless of whether the holding information is acquired or not.

Description

TECHNICAL FIELD

[0001] The present application relates to a vehicle control device, a vehicle control method, and a computer-readable storage medium. BACKGROUND

[0002] In the past, a lane departure avoidance device has been disclosed which, in a case where a control execution condition is established in which a possibility that a vehicle departs from a travel lane is high, and in a case where the travel lane is a straight road, vibrates a steering handle while executing a lane departure avoidance control (for example, refer to Patent Literature 1).

[0003] [Related Art]

[0004] [Patent Literature]

[0005] [Patent Literature 1] Japanese Patent Laid-Open No. 2020-011562 SUMMARY

[0006] [Problems to be Solved by the Invention]

[0007] However, in the technology, the occupant sometimes feels a sense of discomfort.

[0008] The present application was completed in consideration of such a situation, and one of the objects thereof is to provide a vehicle control device, a vehicle control method, and a computer-readable storage medium which suppress a sense of discomfort to an occupant.

[0009] [Means of Solving the Problems]

[0010] The vehicle control device, the vehicle control method, and the computer-readable storage medium of the present application adopt the following structure.

[0011] (1) A vehicle control device includes: a first acquisition section that acquires holding information indicating that a driver of a vehicle is holding a steering wheel; a second acquisition section that acquires operation information indicating that the driver is performing an operation related to driving of the vehicle; a recognition section that recognizes a road stripe of a lane in which the vehicle is traveling; and an assistance section that assists in such a manner that the vehicle does not depart from the road stripe in a case where a possibility that the vehicle departs from the road stripe is a prescribed degree or more, and the assistance section delays start of the assistance in a case where the holding information is acquired and the operation information is not acquired, compared to a case where the holding information and the operation information are not acquired, and in a case where the operation information is acquired, suppresses start of the assistance within a prescribed time regardless of whether the holding information is acquired or not.

[0012] (2) In the aspect of (1), the operation related to the driving includes an operation of turning on a direction indicator, an operation of controlling acceleration / deceleration of the vehicle, an operation of controlling braking of the vehicle, and an operation of the steering wheel of the vehicle.

[0013] (3) In the aspect of (2), the assistance section sets the prescribed time longer in a case where operation information indicating that the operation of turning on the direction indicator is acquired than in a case where the operation information indicating one or more of the operation of controlling acceleration / deceleration of the vehicle, the operation of controlling braking of the vehicle, or the operation of the steering wheel of the vehicle is acquired, thereby suppressing the start of the assistance.

[0014] (4) In the aspect of (1), the operation related to the driving includes the operation of controlling acceleration / deceleration of the vehicle, the operation of controlling braking of the vehicle, or the operation of the steering wheel of the vehicle.

[0015] (5) In the aspect of (4), the assistance section sets the prescribed time longer in a case where the operation information indicating the operation of controlling braking of the vehicle is acquired than in a case where the operation information indicating the operation of controlling acceleration / deceleration of the vehicle or the operation of the steering wheel of the vehicle is acquired, thereby suppressing the start of the assistance.

[0016] (6) In any one of the aspects of (1) to (5), the assistance section assists in such a manner that the vehicle does not deviate from the lane marker after the prescribed time elapses in a case where a possibility that the vehicle deviates from the lane marker is a prescribed degree or more.

[0017] (7) A vehicle control device includes an acquisition section that acquires operation information indicating that a driver of a vehicle is performing an operation related to driving of the vehicle, a recognition section that recognizes a lane marker of a lane in which the vehicle travels, and an assistance section that assists in such a manner that the vehicle does not deviate from the lane marker in a case where a possibility that the vehicle deviates from the lane marker is a prescribed degree or more, and the assistance section suppresses a start of the assistance in a case where the operation information is acquired compared to a case where the operation information is not acquired.

[0018] (8) In any one of the aspects of (1) to (7), the operation information is a plurality of information indicating an operation of turning on a direction indicator, information indicating an operation of controlling acceleration / deceleration of the vehicle, information indicating an operation of controlling braking of the vehicle, or information indicating an operation of a steering wheel of the vehicle, and the assistance section differs the degree of the suppression of the start of the assistance depending on a category of the operation information in a case where the start of the assistance is suppressed.

[0019] (9) A vehicle control method according to one aspect of the present application is a method in which: a road lane marker of a lane in which a vehicle is traveling is recognized by a computer; in a case where a possibility that the vehicle deviates from the road lane marker is equal to or higher than a predetermined level, assistance is performed in such a manner that the vehicle does not deviate from the road lane marker; in a case where grip information indicating that a driver of the vehicle is gripping a steering wheel is acquired and operation information indicating that the driver is performing an operation related to driving of the vehicle is not acquired, activation of the assistance is delayed as compared with a case where the grip information and the operation information are not acquired; and in a case where the operation information is acquired, activation of the assistance is suppressed within a predetermined time regardless of whether or not the grip information is acquired.

[0020] (10) A computer-readable storage medium according to one aspect of the present application stores a program that causes a computer to execute the following processing: a road lane marker of a lane in which a vehicle is traveling is recognized; in a case where a possibility that the vehicle deviates from the road lane marker is equal to or higher than a predetermined level, assistance is performed in such a manner that the vehicle does not deviate from the road lane marker; in a case where grip information indicating that a driver of the vehicle is gripping a steering wheel is acquired and operation information indicating that the driver is performing an operation related to driving of the vehicle is not acquired, activation of the assistance is delayed as compared with a case where the grip information and the operation information are not acquired; and in a case where the operation information is acquired, activation of the assistance is suppressed within a predetermined time regardless of whether or not the grip information is acquired.

[0021] [Effects of the Invention]

[0022] According to (1), (2), (4), (7), (9), and (10), the vehicle control device appropriately performs assistance in such a manner that the vehicle does not deviate from the road lane marker in accordance with the state of the driver, whereby a sense of discomfort can be suppressed from being imparted to an occupant of the vehicle.

[0023] According to (3), the vehicle control device can perform control that more reliably reflects an intention of the driver to change lanes. In a case where the driver operates a direction indicator, the intention to change lanes is apparent, and the assistance is suppressed during a period in which the intention to change lanes is supposed to be implemented, so the driver can perform the change of lanes without a sense of discomfort.

[0024] According to (5), the vehicle control device can perform control that more reliably reflects an intention of the driver. In a case where the driver performs an operation of controlling braking, an intention of the driver to deviate from the road lane marker in order to avoid an obstacle or the like or to change lanes can be predicted, and control of the assistance is suppressed, whereby the driver can avoid the obstacle or the like or change lanes without a sense of discomfort.

[0025] According to (6), the vehicle control device, after the lapse of a prescribed time, assists in a manner in which the vehicle does not depart from the road division line, in a case where the possibility that the vehicle departs from the road division line is a prescribed degree or more, thereby assisting even in a case where the intention of the driver has changed, and thus improving the convenience for the driver.

[0026] According to (8), the vehicle control device, in a case where the start of assistance is suppressed, makes the degree of suppression different according to the category of the operation information, thereby being able to suppress the feeling of incongruity to the occupant, and being able to start the start of assistance at an appropriate timing. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a configuration diagram of a vehicle system 1 that utilizes the vehicle control device of the embodiment.

[0028] Figure 2 is a functional configuration diagram of the first control section 120 and the second control section 160.

[0029] Figure 3 is a diagram that shows an example of a scenario in which the departure suppression assistance section 148 controls the vehicle M.

[0030] Figure 4 is a diagram that shows an example of a scenario in which the lane change suppression assistance section 150 controls the vehicle M.

[0031] Figure 5 is a flowchart that shows an example of a processing flow executed by the assistance section 146.

[0032] Figure 6 is a diagram for explaining the normal start.

[0033] Figure 7 is a diagram for explaining the delay of the start.

[0034] Figure 8 is a diagram for explaining the suppression of the start.

[0035] Figure 9 is a diagram that shows an example of a functional configuration centered on the assistance device 100A.

[0036] Figure 10 is a flowchart that shows an example of a processing flow executed by the assistance section 146 of the second embodiment.

[0037] Figure 11 is a diagram that shows an example of a hardware configuration of the automatic driving control device 100 of the embodiment.

[0038] [Explanation of Symbols]

[0039] 1: Vehicle system

[0040] 100: autonomous driving control device

[0041] 100A: assist device

[0042] 120: first control section

[0043] 130: recognition section

[0044] 140: action plan generation section

[0045] 146: assist section

[0046] 148: disengagement suppression assist section

[0047] 150: lane change suppression assist section

[0048] 160: second control section

[0049] 162A: first acquisition section

[0050] 162B: second acquisition section DETAILED DESCRIPTION

[0051] Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a computer-readable storage medium according to the present application will be described with reference to the accompanying drawings.

[0052] <First Embodiment>

[0053] [Overall Structure]

[0054] Figure 1 is a configuration diagram of a vehicle system 1 that utilizes the vehicle control device of the embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a two-wheeled or three-wheeled, four-wheeled, or the like 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 generated electric power from a generator coupled to the internal combustion engine, or discharge electric power from a secondary battery or a fuel cell.

[0055] The vehicle system 1 includes, for example, a camera 10, a radar device 12, a laser radar (LIDAR) 14, an object recognition device 16, a communication device 20, a human machine interface (HMI) 30, a vehicle sensor 40, a navigation device 50, a map positioning unit (MPU) 60, a driving operation 80, an autonomous driving control device 100, a travel driving force output device 200, a brake device 210, and a steering device 220. These devices or machines are connected to each other through a plurality of communication lines such as a Controller Area Network (CAN) communication line or a serial communication line, a wireless communication network, or the like. In addition, Figure 1 The illustrated structure is merely an example, and a part of the structure can be omitted, or other structures can be further added.

[0056] The camera 10 includes a first camera 10A and a second camera 10B. The first camera 10A and the second camera 10B are, for example, digital cameras using a solid-state imaging element such as a Charge Coupled Device (CCD) or a Complementary Metal Oxide Semiconductor (CMOS). The first camera 10A and the second camera 10B are installed at any position of a vehicle (hereinafter referred to as a vehicle M) on which the vehicle system 1 is mounted. The first camera 10A is, for example, installed on an upper portion of a front window shield, a back surface of a rearview mirror, or the like. The first camera 10A captures an image of a front of the vehicle M. The second camera 10B is, for example, installed on a rear window, a rear bumper, or the like. The second camera 10B is a camera that captures an image of a rear of the vehicle M. The first camera 10A and the second camera 10B repeatedly capture an image of a periphery of the vehicle M, for example, periodically. The first camera 10A or the second camera 10B can be a stereo camera.

[0057] The radar device 12 emits an electric wave such as a millimeter wave to a periphery of the vehicle M, and detects an electric wave (reflected wave) reflected by an object to detect at least a position (distance and direction) of the object. The radar device 12 is installed at any position of the vehicle M. The radar device 12 can also detect a position and a speed of an object by a Frequency Modulated Continuous Wave (FM-CW) method.

[0058] The LIDAR 14 irradiates light (or electromagnetic waves close to light in wavelength) toward the periphery of the vehicle M and measures scattered light. The LIDAR 14 detects the distance to an object based on the time from light emission until light reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 is installed at any position of the vehicle M.

[0059] The object recognition device 16 performs sensor fusion processing on the detection results obtained by some or all of the camera 10, the radar device 12, and the LIDAR 14 to recognize the position, type, speed, and the like of an 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 and the like to the autonomous driving control device 100. The object recognition device 16 can also be omitted from the vehicle system 1.

[0060] The communication device 20 communicates with other vehicles located in the periphery of the vehicle M or communicates with various server devices via a wireless base station, for example, using a cellular network or a Wireless Fidelity (Wi-Fi) network, Bluetooth (registered trademark), Dedicated Short Range Communication (DSRC), or the like.

[0061] The HMI 30 prompts various information to the occupant of the vehicle M and accepts input operations by the occupant. The HMI 30 includes various display devices, speakers, buzzers, touch screens, switches, keys, and the like.

[0062] [Vehicle Sensors]

[0063] The vehicle sensors 40 include a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, a direction sensor that detects the orientation of the vehicle M, and the like. The vehicle sensors 40 also include a holding sensor 42 or an accelerator operation sensor 44, a brake operation sensor 46, a steering operation sensor 48, and the like.

[0064] The holding sensor 42 provides information indicating that the driver is holding the steering wheel to the autonomous driving control device 100 when the driver is holding the steering wheel. The holding sensor 42 provides information indicating the degree of change in the electrostatic capacitance (or the resistance value) that changes according to the area of contact by the hand or the like to the autonomous driving control device 100. Information in which the degree of change in the electrostatic capacitance is equal to or greater than a threshold value is, for example, information indicating that the driver is holding the steering wheel.

[0065] The accelerator operation sensor 44 provides information indicating that the driver is operating the accelerator pedal to the automatic driving control device 100 when the driver is operating the accelerator pedal. The accelerator operation sensor 44 detects the opening degree of the accelerator pedal and provides the detection result to the automatic driving control device 100. Information in which the opening degree of the accelerator pedal is a threshold value or more is, for example, information indicating that the driver is operating the accelerator pedal.

[0066] The brake operation sensor 46 provides information indicating that the driver is operating the brake pedal to the automatic driving control device 100 when the driver is operating the brake pedal. The brake operation sensor 46 detects the depression force of the brake pedal and provides the detection result to the automatic driving control device 100. Information in which the depression force of the brake pedal is a threshold value or more is, for example, information indicating that the driver is operating the brake pedal. Further, in the case of a vehicle in which acceleration, deceleration, and braking are performed using only the accelerator pedal operation, the brake operation sensor 46 can be omitted.

[0067] The steering operation sensor 48 provides information indicating that the driver is operating the steering wheel to the automatic driving control device 100 when the driver is operating the steering wheel. The steering operation sensor 48 is a torque sensor that detects the steering torque acting on the steering shaft or a steering sensor that detects the rotation angle of the steering shaft. The steering operation sensor 48 detects the steering torque or the rotation angle and provides the detection result to the automatic driving control device 100. Information in which the steering torque or the rotation angle is a threshold value or more is, for example, information indicating that the driver is operating the steering wheel.

[0068] The navigation device 50 includes, for example, a Global Navigation Satellite System (GNSS) receiver 51, a navigation HMI 52, and a route decision section 53. The navigation device 50 holds first map information 54 in a storage device such as a Hard Disk Drive (HDD) or a flash memory. The GNSS receiver 51 determines the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M can also be determined or supplemented by an Inertial Navigation System (INS) that utilizes the output of the vehicle sensors 40. The navigation HMI 52 includes a display device, a speaker, a touch screen, a key, and the like. The navigation HMI 52 can also be partially or wholly shared with the aforementioned HMI 30. The route decision section 53 determines, for example, a route (hereinafter referred to as an on-map route) from the position of the vehicle M determined by the GNSS receiver 51 (or an arbitrary position input) to a destination input by a passenger using the navigation HMI 52, with reference to the first map information 54. The first map information 54 is, for example, information that expresses the shape of a road using links that represent roads and nodes that are connected by the links. The first map information 54 can also include curvature of a road or Point Of Interest (POI) information, and the like. The on-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 on-map route. The navigation device 50 can also be implemented by the functions of a terminal device such as a smartphone or a tablet terminal held by a passenger. The navigation device 50 can also transmit the current position and the destination to a navigation server via the communication device 20, and acquire a route equivalent to the on-map route from the navigation server.

[0069] The MPU 60 includes, for example, a recommended lane decision section 61 that holds second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane decision section 61 divides the on-map route provided from the navigation device 50 into a plurality of blocks (for example, divided every 100 [m] with respect to the direction of travel of the vehicle), and determines a recommended lane for each block with reference to the second map information 62. The recommended lane decision section 61 performs determination of the lane on which to travel, from the left. The recommended lane decision section 61 determines the recommended lane in such a manner that the vehicle M is able to travel on a reasonable route to a branching target in the case where there is a branching site in the on-map route.

[0070] The second map information 62 is map information having higher precision than the first map information 54. The second map information 62, for example, contains information of a center of a lane or information of a boundary of a lane, or the like. In addition, in the second map information 62, road information, traffic restriction information, dwelling information (dwellings, postal codes), facility information, telephone number information, or the like can be contained. The second map information 62 can be updated at any time by causing the communication device 20 to communicate with other devices. In the second map information 62, information indicating a position or a range of a zebra crossing (diversion strip) is stored. The zebra crossing is a road marking for guiding a vehicle to travel. The zebra crossing is, for example, a marking indicated by a striped pattern.

[0071] The driving operation member 80 contains, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a joy stick, a lever, and other operation members. In the driving operation member 80, a sensor that detects an operation amount or presence or absence of an operation is installed, and a detection result thereof is output to the automatic driving control device 100, or to some or all of the travel driving force output device 200, the brake device 210, and the steering device 220.

[0072] The automatic driving control device 100 includes, for example, a first control section 120 and a second control section 160. The first control section 120 and the second control section 160 are each realized by, for example, a hardware processor such as a Central Processing Unit (CPU) executing a program (software). In addition, some or all of these constituent elements can be realized by a hardware (including circuitry) such as a Large Scale Integration (LSI) or an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), a Graphics Processing Unit (GPU), or the like, and can be realized by a cooperation of software and hardware. The program can be stored in advance in a storage device (including a storage device of a non-volatile storage medium) such as a HDD or a flash memory of the automatic driving control device 100, or in a removable storage medium such as a Digital Versatile Disk (DVD) or a Compact Disc-Read Only Memory (CD-ROM), and can be installed to the HDD or the flash memory of the automatic driving control device 100 by mounting the storage medium (non-volatile storage medium) to a drive device. The automatic driving control device 100 is an example of a "vehicle control device".

[0073] [First control section]

[0074] Figure 2 is a functional configuration diagram of the first control section 120 and the second control section 160. The first control section 120 includes, for example, the recognition section 130 and the action plan generation section 140. The first control section 120 implements, for example, functions by artificial intelligence (AI) and functions by a model given in advance in parallel. For example, the "recognize intersection" function can be implemented by executing recognition of an intersection by deep learning or the like and recognition based on a condition given in advance (a signal that pattern matching can be performed, a road sign, or the like) in parallel, and comprehensively evaluating by scoring both. Thus, the reliability of automated driving is ensured.

[0075] The recognition section 130 recognizes the position of an object located around the vehicle M and the state of the speed, acceleration, or the like of the object, based on information input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16. The position of the object is, for example, a position recognized as an absolute coordinate with a representative point (center of gravity or center of the drive shaft, or the like) of the vehicle M as an origin, and is used for control. The position of the object can be represented by a representative point such as the center of gravity or a corner of the object, or can be represented by an expressed region. The "state" of the object can also include acceleration or jerk of the object, or an "action state" (for example, whether or not a lane change is being performed, or whether or not a lane change is intended to be performed).

[0076] The recognition section 130, for example, recognizes a lane (travel lane) in which the vehicle M is traveling. For example, the recognition section 130 recognizes the travel lane by comparing a pattern of road division lines (for example, arrangement of solid lines and broken lines) obtained from the second map information 62 with a pattern of road division lines around the vehicle M recognized from an image captured by the camera 10. Furthermore, the recognition section 130 can recognize the travel lane by recognizing a runway boundary (road boundary) including road division lines or a shoulder, a curb, a median, a guardrail, or the like, not limited to road division lines. In the recognition, the position of the vehicle M acquired from the navigation device 50 or a processing result derived by the INS can also be taken into account. In addition, the recognition section 130 recognizes a temporary stop line, an obstacle, a red light signal, a toll booth, and other road things / events.

[0077] The recognition unit 130, when recognizing the travel lane, recognizes a position or a posture of the vehicle M with respect to the travel lane. The recognition unit 130, for example, can also recognize a position of a reference point of the vehicle M from the center of the lane, and an angle of a travel direction of the vehicle M with respect to a line connecting the center of the lane, as a relative position and a posture of the vehicle M with respect to the travel lane. Instead, the recognition unit 130 can also recognize a position of a reference point of the vehicle M with respect to either side end portion (road division line or road boundary) of the travel lane, as a relative position of the vehicle M with respect to the travel lane.

[0078] The action plan generation unit 140 generates a target track on which the vehicle M is to travel automatically (independently of the operation of the driver) in future, so as to travel on the recommended lane decided by the recommended lane decision unit 61 in principle, and to be able to cope with the surrounding situation of the vehicle M. The target track includes, for example, a speed element. The target track is expressed, for example, as a sequence of points (track points) at which the vehicle M is to arrive. Unlike the track points, a target speed and a target acceleration at every prescribed sampling time (for example, around several tenths of a second) are generated as part of the target track. In addition, the track points can also be positions at which the vehicle M is to arrive at every prescribed sampling time at the sampling time. At this time, information of the target speed or the target acceleration is expressed at intervals of the track points.

[0079] The action plan generation unit 140 can set an event of automatic driving every time the target track is generated. The event of automatic driving is 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 track corresponding to the event started.

[0080] The action plan generation unit 140 includes, for example, an assisting unit 146. The assisting unit 146 assists in a manner in which the vehicle does not depart from the road division line, in a case where a possibility that the vehicle departs from the road division line is a prescribed degree or more. The possibility that the vehicle M departs from the lane is a prescribed degree or more means that the vehicle M moves with a tendency to depart from the lane, and a relationship between a reference position (for example, a tire) of the vehicle M and the lane is a prescribed relationship (for example, a relationship in which the reference position is close to the lane). The assistance means automatic control of output of an alarm or steering of the vehicle M. The alarm means a sound or an image, a vibration, or the like that indicates to the driver that the possibility that the vehicle M departs from the lane is high, or a sound or an image, a vibration, or the like that urges the driver to control the vehicle M in a manner in which the vehicle does not depart from the lane. The automatic control of the steering of the vehicle M means automatic control of the steering in a manner in which the vehicle M does not depart from the lane, or in a manner in which the vehicle M approaches the center side of the lane.

[0081] The assist section 146 delays the start of the assist in a case where the holding information is acquired and the operation information is not acquired, compared to a case where neither the holding information nor the operation information is acquired. The holding information and the operation information are provided by the second control section 160 described later.

[0082] The assist section 146 includes, for example, a departure suppression assist section 148 and a lane change suppression assist section 150. The departure suppression assist section 148 suppresses the vehicle M from departing from the lane in a case where the possibility of the vehicle M departing from the lane is equal to or higher than a prescribed level (hereinafter, a case where a first condition is satisfied).

[0083] Figure 3 is a diagram representing an example of a scenario in which the departure suppression assist section 148 controls the vehicle M. The departure suppression assist section 148 causes the HMI 30 to output an alarm in a case where the first condition is satisfied. In addition, the departure suppression assist section 148 controls the steering in such a manner that the vehicle M moves in the direction of the center of the lane in a case where the first condition is satisfied. For example, the departure suppression assist section 148 controls the steering in such a manner that the vehicle M moves in the direction of the center of the lane in a case where the first condition is satisfied after the alarm is output, in a case where the state in which the first condition is satisfied is not resolved. The control performed by the departure suppression assist section 148 is sometimes referred to as “RDM (Road Departure Mitigation)”.

[0084] The lane change suppression assist section 150 suppresses the vehicle M from departing from the lane in a case where the possibility of the vehicle M entering an adjacent lane is equal to or higher than a prescribed level (for example, the vehicle M is to change to the adjacent lane), and in a case where another vehicle exists on the adjacent lane at a position behind the vehicle M and at a prescribed distance from the vehicle M (hereinafter, a case where a second condition is satisfied). The possibility of the vehicle M entering the adjacent lane being equal to or higher than a prescribed level means that the vehicle M moves with a tendency to enter the adjacent lane, and that the relationship between a reference position (for example, a tire) of the vehicle M and the lane is a prescribed relationship (for example, the reference position is close to the lane).

[0085] Figure 4 is a diagram representing an example of a scenario in which the lane change suppression assist section 150 controls the vehicle M. The lane change suppression assist section 150 causes the HMI 30 to output an alarm in a case where the second condition is satisfied. In addition, the departure suppression assist section 148 controls the steering in such a manner that the vehicle M moves in the direction of the center of the lane in a case where the second condition is satisfied. For example, the departure suppression assist section 148 controls the steering in such a manner that the vehicle M moves in the direction of the center of the lane in a case where the second condition is satisfied after the alarm is output, in a case where the state in which the second condition is satisfied is not resolved. The control performed by the lane change suppression assist section 150 is sometimes referred to as “LCCM (Lane Change Collision Mitigation)”.

[0086] [Second control section]

[0087] The second control section 160 controls the travel driving force output device 200, the brake device 210, and the steering device 220 so that the vehicle M passes through the target track generated by the action plan generation section 140 at a predetermined timing.

[0088] The second control section 160 includes, for example, an acquisition section 162, a speed control section 164, and a steering control section 166. The acquisition section 162 acquires information of the target track (track point) generated by the action plan generation section 140 and stores it in a memory (not shown). The speed control section 164 controls the travel driving force output device 200 or the brake device 210 on the basis of a speed element attached to the target track stored in the memory. The steering control section 166 controls the steering device 220 in accordance with a bending situation of the target track stored in the memory. The processing of the speed control section 164 and the steering control section 166 is implemented, for example, by a combination of feedforward control and feedback control. As an example, the steering control section 166 combines and executes feedforward control corresponding to the curvature of the road ahead of the vehicle M and feedback control based on deviation from the target track.

[0089] In addition, the acquisition section 162 includes, for example, a first acquisition section 162A and a second acquisition section 162B. The first acquisition section 162A acquires holding information indicating that the driver of the vehicle is holding the steering wheel. The second acquisition section 162B acquires operation information indicating that the driver is performing an operation related to the driving of the vehicle. The operation related to the driving includes one or more of the operation of turning on the direction indicator DI, the operation of controlling the acceleration and deceleration of the vehicle, the operation of controlling the braking of the vehicle, or the operation of the steering wheel of the vehicle. The steering control section 166 suppresses the start of assistance within a prescribed time in the case where the operation information is acquired, regardless of whether or not the holding information is acquired. The functional section in which the assistance section 146 and the steering control section 166 are combined is an example of the "assistance section" of the claims. Furthermore, part or all of the processing performed by the first control section 120 can be performed by the second control section 160, and part or all of the processing performed by the second control section 160 can be performed by the first control section 120.

[0090] Instead of determining whether or not the driver is holding the steering wheel or whether or not the driver is performing a driving operation on the basis of information provided by the vehicle sensor 40, the automatic driving control device 100 can determine whether or not the driver is holding the steering wheel or whether or not the driver is performing a driving operation on the basis of an image captured by a camera provided inside the vehicle cabin. The in-cabin camera captures, for example, the driver's arms or hands, or feet. The automatic driving control device 100 can analyze the image captured by the in-cabin camera, extract the behavior of the driver, and perform the determination on the basis of the extracted behavior.

[0091] Returning to Figure 1 The travel drive force output device 200 outputs a travel drive force (torque) for travel of the vehicle to the drive wheels. The travel drive force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an electronic control unit (ECU) that controls them. The ECU controls the structure in accordance with information input from the second control section 160 or information input from the driving operation member 80.

[0092] The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that causes the cylinder to generate hydraulic pressure, and a brake ECU. The brake ECU controls the electric motor in accordance with information input from the second control section 160 or information input from the driving operation member 80 to output a brake torque corresponding to a brake operation to each wheel. The brake device 210 can include a mechanism that transmits hydraulic pressure generated by operation of a brake pedal included in the driving operation member 80 to the cylinder via a master cylinder as a backup. In addition, the brake device 210 is not limited to the structure described above, and can be an electronically controlled hydraulic brake device that controls an actuator in accordance with information input from the second control section 160 to transmit hydraulic pressure of the master cylinder to the cylinder.

[0093] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, causes force to act on a rack-and-pinion mechanism to change the orientation of the steered wheels. The steering ECU drives the electric motor in accordance with information input from the second control section 160 or information input from the driving operation member 80 to change the orientation of the steered wheels.

[0094] [Flowchart]

[0095] Figure 5 is a flowchart that shows an example of a processing flow executed by the assist section 146. More specifically, the present processing is processing executed by the departure suppression assist section 148 or the lane change suppression assist section 150. Hereinafter, the assist executed by the departure suppression assist section 148 or the lane change suppression assist section 150 will be referred to as "departure suppression assist".

[0096] First, the assist section 146 determines whether the possibility that the vehicle M will depart from the lane is equal to or greater than a prescribed degree (step S100). In the case where the possibility that the vehicle M will depart from the lane is equal to or greater than the prescribed degree, the automatic driving control device 100 determines whether the driver is performing a driving operation (step S102). The automatic driving control device 100 determines that the driver is performing a driving operation in the case where the operation information is acquired by the second acquisition section 162B, and determines that the driver is not performing a driving operation in the case where the operation information is not acquired by the second acquisition section 162B. The automatic driving control device 100 can also consider that the driver is not performing a driving operation in the case where the operation amount indicating the degree of operation provided by the vehicle sensor 40 is equal to or less than a threshold value.

[0097] In the case where the driver is not performing a driving operation, the assist section 146 determines whether the driver has a driving intention (step S104). The assist section 146 determines that the driver has a driving intention in the case where the holding information is acquired by the first acquisition section 162A, and determines that the driver does not have a driving intention in the case where the holding information is not acquired by the first acquisition section 162A.

[0098] For example, in the case where the driver does not have a driving intention, the automatic driving is continued, and in the case where the driver has a driving intention, the automatic driving is stopped, and the vehicle M is controlled by the operation of the driver. In addition, for example, in the case where the driver does not have a driving intention, the automatic driving is continued, but it is also possible not to implement the automatic lane change triggered by the operation of the direction indicator, and to automatically control the acceleration and deceleration or the steering.

[0099] In the case where the driver does not have a driving intention, the assist section 146 normally starts the departure suppression assist (step S106). Figure 6 is a diagram for describing the normal start. Hereinafter, the timing at which the departure suppression assist is normally started will be described.

[0100] (01) In the case where the time (Time To Lane Crossing (TTLC)) at which the vehicle M is predicted to depart from the white line (road division line) of the road is "T01", the RDM control is started. The time at which departure is predicted refers to the time at which the reference position of the vehicle M is predicted to reach the object (road division line) in the case where the vehicle M maintains the current driving state.

[0101] (02) In the case where the time at which the vehicle M is predicted to depart from the road boundary of the road is "T02", the RDM control is started.

[0102] (03) In the case where a vehicle approaching the vehicle M is present within a prescribed distance from the vehicle M on the opposite lane, and the time at which the vehicle M is predicted to depart from the road division line of the road is "T03", the RDM control is started.

[0103] (04) In a case where the vehicle M intends to perform a lane change without turning on a direction indicator, the LCCM control is started in a case where a time at which the vehicle M is predicted to perform the lane change is "T04". The time at which the vehicle M is predicted to perform the lane change is a time at which, if the vehicle M maintains the current driving state, the reference position of the vehicle M is predicted to reach the lane of the lane change destination.

[0104] (05) In a case where the vehicle M intends to perform a lane change by turning on a direction indicator, the LCCM control is started in a case where a time at which the vehicle M is predicted to perform the lane change is "T05".

[0105] The time is longer in the order of "T05" > "T04" > "T03" or "T02" > "T01". "T03" and "T02" can be the same time or different times. "T02" is, for example, a time of 1 second or more.

[0106] Return Figure 5 The description of FIG. 8. In a case where the driver has a driving intention, the assistance section 146 delays the timing at which the start of the departure suppression assistance is started compared to the timing at which the start of the normal start is performed (step S108). That is, the assistance section 146 delays the start of the departure suppression assistance in a case where the holding information is acquired and the operation information is not acquired compared to a case where the holding information is not acquired and the operation information is not acquired.

[0107] Figure 7 is a diagram for describing the delay of the start.

[0108] (11) In a case where a time at which the vehicle M is predicted to depart from a white line (road division line) of a road is "T01xk", the RDM control is started. "k" is a coefficient that is not more than "1".

[0109] (12) In a case where a time at which the vehicle M is predicted to depart from a road boundary of a road is "T02xk", the RDM control is started.

[0110] (13) In a case where a vehicle that is approaching the vehicle M is present at a position within a prescribed distance from the vehicle M on an opposite lane, and a time at which the vehicle M is predicted to depart from a road division line of a road is "T03xk", the RDM control is started.

[0111] (14) In a case where the vehicle M intends to perform a lane change without turning on a direction indicator, the LCCM control is started in a case where a time at which the vehicle M is predicted to perform the lane change is "T04xk".

[0112] (15) In a case where the vehicle M intends to turn on a direction indicator to perform a lane change, in a case where the time at which the vehicle M is predicted to perform the lane change is "T05xk", the LCCM control is started.

[0113] In Figure 5 In a case where the driver is performing a driving operation, the second control section 160 suppresses the start of the departure suppression assist (step S110). The "start is suppressed" means that the output of an alarm or the control of the steering is not performed for a set time. After the set time elapses, in a case where the conditions for performing the departure suppression assist are satisfied (for example, in a case where the vehicle M approaches a road division line), the departure suppression assist is started.

[0114] The second control section 160 sets the prescribed time to be longer in a case where operation information indicating that the direction indicator is operated is acquired than in a case where operation information indicating one or more of an operation to control the acceleration and deceleration of the vehicle M, an operation to control the brake of the vehicle M, or an operation of the steering wheel of the vehicle M is acquired, thereby suppressing the start of the assist.

[0115] The second control section 160 sets the prescribed time to be longer in a case where operation information indicating an operation to control the brake of the vehicle M is acquired than in a case where operation information indicating an operation to control the acceleration and deceleration of the vehicle M or an operation of the steering wheel of the vehicle M is acquired, thereby suppressing the start of the assist.

[0116] Figure 8 is a diagram for explaining the suppression of the start.

[0117] (21) In a case where the operation information is information indicating that the direction indicator is being operated, the start of the RDM control or the LCCM is suppressed for a time "T14".

[0118] (22) In a case where the operation information is information indicating that the accelerator pedal is being operated, the start of the RDM control or the LCCM is suppressed for a time "T12".

[0119] (23) In a case where the operation information is information indicating that the brake pedal is being operated, the start of the RDM control or the LCCM is suppressed for a time "T13".

[0120] (24) In a case where the operation information is information indicating that the steering wheel is being operated, the start of the RDM control or the LCCM is suppressed for a time "T11".

[0121] The times become longer in the order of "T14" > "T13" > "T12" or "T11". "T12" and "T11" can be the same time or different times. The lengths of the times can also be changed as appropriate. In addition, the times can also be changed according to the operation amount.

[0122] The timing at which the counting of "T11" to "T13" is started can be the timing at which the operation is started or the timing at which the operation is ended. In the case where it is the timing at which the operation is started, even if the driver continues the operation, the inhibition of the departure inhibition assist is released after the time corresponding to the operation elapses from the timing at which the operation is started. In the case where it is the timing at which the operation is ended, if the driver continues the operation, the departure inhibition assist is inhibited even if the time corresponding to the operation elapses from the timing at which the operation is started.

[0123] For example, in the case where a plurality of operations are performed within a prescribed time, the time of the inhibition can also be set according to the category of the operation or the order of the operations. For example, in the case where the operation of the accelerator pedal and the operation of the steering wheel are performed, the time of "T12", the time of "T11", or a time different from "T12" or "T11" can be set. The different time can be, for example, a time longer than "T12" and "T11". In the case where a plurality of operations are performed within a prescribed time, a time corresponding to an operation of a high priority set in advance can also be set. The operation of a high priority is, for example, an operation corresponding to a time longest among the times corresponding to the operations.

[0124] As described above, the second control section 160 can inhibit the feeling of strangeness to the occupant in the case where the start of the departure inhibition assist is inhibited, and can start the start of the assist at an appropriate timing by making the degree of the inhibition of the start different according to the category of the operation information.

[0125] The processing of one routine of the flowchart ends after the processing of step S106, step S108, or step S110. In addition, the order of the processing can also be changed. For example, the determination of step S104 can also be performed, the processing of step S106 can be performed in the case where the determination result is negative, and the determination of step S102 can be performed in the case where the determination result of step S104 is positive. Then, the processing of step S108 can be performed in the case where the determination result of step S102 is negative, and the processing of step S110 can be performed in the case where the determination result of step S102 is positive.

[0126] [SUMMARY]

[0127] As described above, in a case where the driver does not have a driving intention, the assisting section 146 controls the vehicle M in such a manner that the vehicle M does not depart from the lane by starting the departure suppression assist. In a case where the driver has a driving intention but does not perform a driving operation, the assisting section 146 can suppress excessive departure suppression assist by delaying the start of the departure suppression assist. For example, in a case where the lane width is narrow or the vehicle is traveling on a narrow road, excessive departure suppression assist is suppressed. Thereby, a sense of strangeness to the occupant can be suppressed.

[0128] Further, in a case where the driver is performing a driving operation, the second control section 160 can realize a control that takes the driver's intention into consideration by suppressing the start of the departure suppression assist. For example, in a case where the driver intentionally approaches the lane marking line in order to avoid an obstacle or the like or to make a change, by suppressing the start of the departure suppression assist, the start of the departure suppression assist against the driver's intention can be suppressed, and a control that reflects the driver's intention can be realized. Thereby, a sense of strangeness to the occupant can be suppressed. As such, the automatic driving control device 100 can suppress a sense of strangeness to the occupant.

[0129] According to the first embodiment described above, the automatic driving control device 100 performs assistance in such a manner that the vehicle M does not depart from the lane marking line in a case where the possibility that the vehicle M departs from the lane marking line is equal to or greater than a prescribed degree, delays the start of the assistance in a case where the holding information is acquired and the operation information is not acquired, compared to a case where the holding information and the operation information are not acquired, and suppresses the start of the assistance within a prescribed time in a case where the operation information is acquired, regardless of whether the holding information is acquired or not. Thereby, a sense of strangeness to the occupant can be suppressed.

[0130] <Modification of the First Embodiment>

[0131] In the first embodiment, the driving operation is not performed, but in a case where the operation information is not acquired and the holding information is acquired or in a case where the operation information is acquired, the start of the departure suppression assist is delayed, but instead of the delay, the assisting section 146 can reduce the output degree of the alarm or the control amount of the steering in a case where the operation information is not acquired and the holding information is acquired or in a case where the operation information is acquired, compared to the normal start.

[0132] <Second Embodiment>

[0133] Hereinafter, the second embodiment will be described. In the first embodiment, a case where automatic driving that controls acceleration and deceleration and steering is performed is described. In contrast, in the second embodiment, assistance control that assists steering is performed. Hereinafter, the points different from the first embodiment will be described.

[0134] The vehicle system 1A of the second embodiment includes an assist device 100A in place of the automatic driving control device 100. Figure 9 is a diagram that represents an example of a functional configuration centered on the assist device 100A. The vehicle system 1A omits the holding sensor 42. The assist device 100A includes, for example, a first control section 120A and a second control section 160. The first control section 120A includes, for example, an identification section 130 and an assist section 146. Each of the identification section 130, the assist section 146 (the departure suppression assist section 148, the lane change suppression assist section 150), and the second control section 160 is the same functional configuration as the identification section 130, the assist section 146 (the departure suppression assist section 148, the lane change suppression assist section 150), and the second control section 160 of the automatic driving control device 100, respectively. However, the first acquisition section 162A is omitted in the acquisition section 162 of the second control section 160.

[0135] [Flowchart]

[0136] Figure 10 is a flowchart that represents an example of a processing flow executed by the assist section 146 of the second embodiment. First, the assist section 146 determines whether the possibility of the vehicle M departing from the lane is equal to or greater than a prescribed degree (step S200). In a case where the possibility of the vehicle M departing from the lane is equal to or greater than the prescribed degree, the second control section 160 determines whether the driver is performing a driving operation (step S202).

[0137] In a case where the driver is performing the driving operation, the second control section 160 suppresses activation of the departure suppression assist (step S206). The second control section 160 performs the same processing as the processing of step S110 of Figure 5 .

[0138] In a case where the driver is not performing the driving operation, the assist section 146 activates the departure suppression assist (step S204). At this time, the assist section 146 performs the same processing as the processing of step S106 of Figure 5 or step S108 of Figure 5 . Alternatively, the assist section 146 can perform different processing from the processing of step S106 of Figure 5 or step S108 of Figure 5 . The different processing can be, for example, processing that is less suppressed than the processing of step S110.

[0139] After the processing of step S204 or step S206, the processing of one routine of the present flowchart ends.

[0140] Further, the vehicle system 1A of the second embodiment can include the holding sensor 42 and the second acquisition section 162B, and perform the same processing as the processing of the flowchart of Figure 5 .

[0141] According to the second embodiment described above, the assist device 100A assists in a manner in which the vehicle M does not depart from the road division line in a case where the possibility that the vehicle M departs from the road division line is equal to or greater than a prescribed degree, and in a case where the operation information is acquired, the start of the departure suppression assist is suppressed as compared with a case where the operation information is not acquired, whereby it is possible to suppress the sense of incongruity to the occupant.

[0142] <Second Embodiment>

[0143] In the second embodiment, the start of the departure suppression assist is delayed in a case where the operation information is acquired, but instead of delaying, the assist section 146 can reduce the output degree of the alarm or the control amount of the steering in a case where the operation information is acquired as compared with a case where the operation information is not acquired.

[0144] [Hardware Structure]

[0145] Figure 11 is a diagram showing an example of a hardware structure of the automatic driving control device 100 (assist device 100A) of the embodiment. As shown in the figure, the automatic driving control device 100 is structured such that a communication controller 100-1, a CPU 100-2, a random access memory (RAM) 100-3 used as a work memory, a read only memory (ROM) 100-4 that stores a boot program and the like, a storage device 100-5 such as a flash memory or a hard disk drive (HDD), a drive device 100-6, and the like are connected to each other through an internal bus or a dedicated communication line. The communication controller 100-1 performs communication with constituent elements other than the automatic driving control device 100. In the storage device 100-5, a program 100-5a executed by the CPU 100-2 is stored. The program is expanded into the RAM 100-3 by a direct memory access (DMA) controller (not shown) or the like and is executed by the CPU 100-2. Thereby, a part or all of the first control section 120, the second control section 160, and the functional sections included therein are realized.

[0146] The embodiment described above can be expressed as follows.

[0147] A vehicle control device includes:

[0148] a storage device storing a program; and

[0149] a hardware processor,

[0150] executing, by the hardware processor, a program stored in the storage device,

[0151] a road stripe that identifies a lane in which a vehicle travels,

[0152] in a case where a possibility that the vehicle deviates from the road stripe is equal to or greater than a predetermined level, assisting in such a manner that the vehicle does not deviate from the road stripe,

[0153] in a case where the holding information indicating that the driver of the vehicle is holding the steering wheel is acquired and the operation information indicating that the driver is performing an operation related to the driving of the vehicle is not acquired, delaying the start of the assistance as compared to a case where neither the holding information nor the operation information is acquired,

[0154] in a case where the operation information is acquired, regardless of whether or not the holding information is acquired, suppressing the start of the assistance within a predetermined time.

[0155] The above describes the mode for implementing the present application using the embodiments, but the present application is not limited to any of the embodiments, and various modifications and substitutions can be made within the scope of the gist of the present application.

Claims

1. A vehicle control device, comprising: The first acquisition unit acquires information indicating that the driver of the vehicle is holding the steering wheel. The second acquisition unit acquires operation information indicating that the driver is performing an operation related to driving the vehicle, the operation information indicating one or more operations such as controlling the acceleration or deceleration of the vehicle, controlling the braking of the vehicle, or operating the steering wheel of the vehicle. The identification unit identifies the road markings of the lane in which the vehicle is traveling; as well as An auxiliary unit that, when the probability of the vehicle detaching from the road markings is greater than a predetermined level, assists in preventing the vehicle from detaching from the road markings. If the gripping information is obtained but the operation information is not obtained, the activation of the assistance is delayed compared to the case where neither the gripping information nor the operation information is obtained. If the operation information is obtained, the activation of the assistance is suppressed within a specified time, regardless of whether the holding information is obtained.

2. The vehicle control device according to claim 1, wherein... The driving-related operations include: The operation of activating the direction indicator, the operation of controlling the acceleration and deceleration of the vehicle, the operation of controlling the braking of the vehicle, and the operation of the steering wheel of the vehicle.

3. The vehicle control device according to claim 2, wherein... The auxiliary part Upon obtaining operation information indicating that the direction indicator has been operated... Compared to the case where operational information is obtained indicating one or more operations such as controlling the acceleration or deceleration of the vehicle, controlling the braking of the vehicle, or operating the steering wheel of the vehicle, setting the specified time longer suppresses the activation of the assistance.

4. The vehicle control device according to claim 1, wherein... The driving-related operations include: The operation of controlling the acceleration and deceleration of the vehicle, the operation of controlling the braking of the vehicle, or the operation of the steering wheel of the vehicle.

5. The vehicle control device according to claim 4, wherein... The auxiliary part In the case of obtaining the operation information indicating an operation to control the braking of the vehicle, Compared to the case where operational information indicating the control of the vehicle's acceleration or deceleration, or the operation of the vehicle's steering wheel, the predetermined time is set longer to suppress the activation of the assistance.

6. The vehicle control device according to any one of claims 1 to 5, wherein The auxiliary part After the specified time has elapsed, if the probability of the vehicle detaching from the road markings is greater than a specified level, assistance is provided to prevent the vehicle from detaching from the road markings.

7. A vehicle control method, comprising a computer: Road markings that identify the lanes in which vehicles are traveling; If the probability of the vehicle deviating from the road markings is greater than a predetermined level, assistance is provided to prevent the vehicle from deviating from the road markings. If information indicating that the driver is holding the steering wheel is obtained, but no information indicating that the driver is performing an operation related to driving the vehicle is obtained, the activation of the assistance is delayed compared to the case where neither the information indicating the driver is holding the steering wheel nor the information indicating the operation is obtained. The operation information indicates one or more operations such as controlling the acceleration or deceleration of the vehicle, controlling the braking of the vehicle, or operating the steering wheel of the vehicle. If the operation information is obtained, the activation of the assistance is suppressed within a specified time, regardless of whether the holding information is obtained.

8. A computer-readable storage medium storing a program that causes a computer to perform the following processes: Road markings that identify the lanes in which vehicles are traveling; If the probability of the vehicle deviating from the road markings is greater than a certain level, assistance is provided to prevent the vehicle from deviating from the road markings. If, when it is obtained that the driver of the vehicle is holding the steering wheel, but no operation information is obtained that indicates the driver is performing an operation related to driving the vehicle, the activation of the assistance is delayed compared to the case where neither the holding information nor the operation information is obtained. The operation information indicates one or more operations such as controlling the acceleration or deceleration of the vehicle, controlling the braking of the vehicle, or operating the steering wheel of the vehicle. If the operation information is obtained, the activation of the assistance is suppressed within a specified time, regardless of whether the holding information is obtained.

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