Vehicle control device, vehicle control method, and storage medium

Abstract

Provided is a vehicle control device, a vehicle control method, and a storage medium that enable more appropriate vehicle control in accordance with a surrounding situation. A vehicle control device according to an embodiment includes an identification unit that identifies a surrounding situation of a host vehicle, and a driving control unit that controls one or both of steering and acceleration / deceleration of the host vehicle to cause the host vehicle to travel, the driving control unit causing the host vehicle to travel in any one of a plurality of driving modes including a first driving mode in which the host vehicle is caused to travel in such a manner that a speed of the host vehicle becomes a target speed, the driving control unit at least limiting execution of the first driving mode in a case where a specific object is identified in a direction of travel of the host vehicle on the basis of an identification result identified by the identification unit or map information in execution of the first driving mode.

Description

Technical Field

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

[0002] In recent years, research on autonomous driving, which automatically controls vehicle travel, has been progressing. Relatedly, a technology is known that checks the roads a vehicle is traveling on to determine whether high-precision map information necessary for autonomous driving is available, determines whether autonomous driving is possible, and then notifies the driver of the information obtained based on the determination (e.g., Japanese Patent Application Laid-Open No. 2018-189594). Summary of the Invention

[0003] However, even when using a high-precision map, conventional technologies cannot guarantee that the map matches the road conditions on which the vehicle is traveling. Therefore, appropriate vehicle driving control corresponding to the surrounding conditions may not be performed.

[0004] The present invention has been made in consideration of such circumstances, and one object of the present invention is to provide a vehicle control device, a vehicle control method, and a storage medium capable of executing more appropriate vehicle control according to surrounding conditions.

[0005] The vehicle control device, vehicle control method, and storage medium of the present invention employ the following structures.

[0006] (1): A vehicle control device according to one embodiment of the present invention comprises: an identification unit that identifies the surrounding conditions of the vehicle; and a driving control unit that controls one or both of the steering and acceleration / deceleration of the vehicle to drive the vehicle, the driving control unit driving the vehicle in any one of a plurality of driving modes including a first driving mode, and in the first driving mode, driving the vehicle so that the speed of the vehicle becomes a target speed, and when the driving control unit identifies a specific object in the direction of travel of the vehicle based on the recognition result identified by the identification unit or map information during the execution of the first driving mode, the driving control unit at least limits the execution of the first driving mode.

[0007] (2) Based on the solution of (1) above, the specific object includes a traffic signal on the road where the vehicle is traveling and is within a predetermined distance from the vehicle.

[0008] (3): Based on the solution of (1) above, the specific object includes a tunnel within a specified distance from the vehicle.

[0009] (4) : In the aspect of (1) above, the first driving mode is a mode in which the host vehicle follows a preceding vehicle, and the driving control portion at least restricts execution of the first driving mode when, in execution of the first driving mode, the preceding vehicle no longer exists in front of the host vehicle and a distance from the host vehicle to a more preceding preceding vehicle than the preceding vehicle is equal to or greater than a prescribed distance.

[0010] (5) : In the aspect of (1) above, the specific object includes a two-wheeled vehicle, and the driving control portion at least restricts execution of the first driving mode when, in the host vehicle, a preceding vehicle is a two-wheeled vehicle and the two-wheeled vehicle is recognized for a prescribed time or more.

[0011] (6) : In the aspect of (1) above, the driving control portion at least restricts execution of the first driving mode when, in execution of the first driving mode, a shoulder of a lane in which the host vehicle travels is recognized by the recognition portion and another vehicle is recognized on the shoulder.

[0012] (7) : In the aspect of (1) above, the specific object is a specific vehicle or a specific obstacle, and the driving control portion at least restricts execution of the first driving mode when, in execution of the first driving mode, the specific vehicle or the specific obstacle is recognized in front of the host vehicle.

[0013] (8) : In the aspect of (1) above, the driving control portion releases the restriction on execution of the first driving mode when a release condition is satisfied after the restriction on execution of the first driving mode is imposed.

[0014] (9) : In the aspect of (1) above, the first driving mode is a mode in which the host vehicle follows a preceding vehicle, and the restriction on execution of the first driving mode includes changing to a second driving mode in which a task on a passenger arrangement of the host vehicle is greater than in the first driving mode.

[0015] (10) : A vehicle control method according to an aspect of the present invention causes a computer to perform the following processing: a recognition portion recognizes a surrounding situation of a host vehicle; the host vehicle is caused to travel while one or both of steering and acceleration / deceleration of the host vehicle are controlled; the host vehicle is caused to travel in any one of a plurality of driving modes including a first driving mode in which the host vehicle is caused to travel in such a manner that a speed of the host vehicle becomes a target speed; and execution of the first driving mode is at least restricted when, in execution of the first driving mode, a specific object is recognized in a traveling direction of the host vehicle on the basis of a recognition result recognized by the recognition portion or map information.

[0016] (11): A storage medium of one embodiment of the present invention stores a program, wherein the program causes a computer to perform the following processing: an identification unit identifies the surrounding conditions of the vehicle; controls one or both of the steering and acceleration / deceleration of the vehicle to drive the vehicle; drives the vehicle through any one of a plurality of driving modes including a first driving mode, wherein the vehicle is driven in such a manner that the speed of the vehicle becomes a target speed in the first driving mode; and when a specific object is identified in the direction of travel of the vehicle based on the identification result or map information identified by the identification unit during the execution of the first driving mode, at least restricts the execution of the first driving mode.

[0017] According to the above-mentioned aspects (1) to (11), more appropriate vehicle control can be performed according to the surrounding conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a configuration diagram of a vehicle system using the vehicle control device according to the embodiment.

[0019] Figure 2 This is a functional structure diagram of the first control unit and the second control unit.

[0020] Figure 3 1 is a diagram showing an example of the relationship among the driving mode, the control state of the host vehicle M, and the task.

[0021] Figure 4 This is a diagram for explaining the determination of a specific object and the switching of the driving mode in the first control pattern.

[0022] Figure 5 This is a diagram for explaining how the second threshold value is changed according to the speed.

[0023] Figure 6 It is a diagram for explaining the determination of a specific object and the switching of the driving mode in the second control pattern.

[0024] Figure 7 This is a diagram for explaining how the third threshold value is changed according to the speed.

[0025] Figure 8 This is a diagram for explaining the determination of a specific object and the switching of the driving mode in the third control pattern.

[0026] Figure 9 This is a diagram for explaining the determination of a specific object and the switching of the driving mode in the fourth control pattern.

[0027] Figure 10 This is a diagram for explaining the determination of a specific object and the switching of the driving mode in the fifth control pattern.

[0028] Figure 11 is a graph for explaining the sixth threshold value.

[0029] Figure 12 is a graph for explaining the seventh threshold value.

[0030] Figure 13 is a graph for explaining the determination of a specific object in the sixth control pattern and the switching of the driving mode.

[0031] Figure 14 is a flowchart showing an example of a flow of processing executed by the automatic driving control device of the embodiment. DETAILED DESCRIPTION

[0032] Hereinafter, an embodiment of a vehicle control device, a vehicle control method, and a storage medium of the present application will be described with reference to the accompanying drawings.

[0033] [Overall Structure]

[0034] Figure 1 is a structural 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 vehicle of two wheels, three wheels, four wheels, or the like, 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 power generated by a generator coupled to the internal combustion engine, or power discharged from a secondary battery or a fuel cell. Hereinafter, as an example, an embodiment in which the vehicle control device is applied to an automatic driving vehicle will be described. The automatic driving refers to, for example, automatically controlling one or both of the steering and the acceleration and deceleration of the vehicle to perform driving control. In the driving control of the vehicle described above, various driving supports such as ACC (Adaptive Cruise Control), LKAS (Lane Keeping Assistance System), and the like can be included. The automatic driving vehicle can also be controlled by manual driving by an occupant (driver) at times.

[0035] The vehicle system 1 is provided with, 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 driver monitoring camera 70, a driving operation member 80, an automatic driving control device 100, a travel driving force output device 200, a brake device 210, and a steering device 220. These devices and apparatuses are connected to each other through a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, and a wireless communication network. Figure 1 The illustrated structure is merely an example, and a part of the structure can be omitted or another structure can be further added. The automatic driving control device 100 is an example of a "vehicle control device".

[0036] 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 attached to an arbitrary portion of a vehicle (hereinafter referred to as the host vehicle M) on which the vehicle system 1 is mounted. In the case of photographing a front direction, the camera 10 is attached to an upper portion of a front windshield glass, a back surface of a door mirror, or the like. The camera 10 repeatedly photographs a periphery of the host vehicle M, for example, periodically. The camera 10 can also be a stereo camera.

[0037] The radar device 12 radiates an electric wave such as a millimeter wave to a periphery of the host vehicle M, and detects a position (distance and direction) of an object by detecting an electric wave (reflected wave) reflected by the object. The radar device 12 is attached to an arbitrary portion of the host vehicle M. The radar device 12 can also detect a position and a speed of an object by an FM-CW (Frequency Modulated Continuous Wave) method.

[0038] The LIDAR 14 radiates light (or an electromagnetic wave close to light in wavelength) to a periphery of the host vehicle M, and measures scattered light. The LIDAR 14 detects a distance to an object on the basis of a time from light emission to light reception. The radiated light is, for example, a pulsed laser light. The LIDAR 14 is attached to an arbitrary portion of the host vehicle M.

[0039] The object recognition device 16 performs sensor fusion processing on the detection results detected by some or all of the camera 10, the radar device 12, and the LIDAR 14, to recognize the position, the kind, the 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 also output the detection results of the camera 10, the radar device 12, and the LIDAR 14 directly to the autonomous driving control device 100. The object recognition device 16 can also be omitted from the vehicle system 1.

[0040] The communication device 20 communicates with other vehicles existing in the periphery of the host vehicle M, or communicates with various server devices via a wireless base station, using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), and the like.

[0041] The HMI 30 is prompted by the occupant of the host vehicle M, and accepts an input operation by the occupant, by the control of the HMI control section 170. The HMI 30 includes, for example, various display devices, a speaker, a microphone, a buzzer, a touch panel, a switch, a button, and the like. The switch includes, for example, a direction indicator switch (direction indicator) 32. The direction indicator switch 32 is provided, for example, to a steering column or a steering wheel. The direction indicator switch 32 is, for example, an example of an operation section that accepts an instruction of a lane change of the host vehicle M by the occupant. For example, in a case where the direction indicator switch 32 is operated in a direction in which a lane change is performed to the host vehicle M, a point outside the vehicle that establishes a correspondence relationship with the direction in which the lane change is performed flashes.

[0042] 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, a direction sensor that detects the orientation of the host vehicle M, and the like. The vehicle sensor 40 can also be provided with a position sensor that detects the position of the host vehicle M. The position sensor is, for example, a sensor that acquires position information (longitude, latitude information) of the host vehicle M from a GPS (Global Positioning System) device. The position sensor can also be a sensor that acquires position information of the host vehicle M using a GNSS (Global Navigation Satellite System) receiver 51 of the navigation device 50. The results detected by the vehicle sensor 40 are output to the autonomous driving control device 100.

[0043] The navigation device 50 includes, for example, a GNSS receiver 51, a navigation HMI 52, a route decision section 53. The navigation device 50 holds first map information 54 in a storage device such as a HDD (Hard Disk Drive), a flash memory, or the like. The GNSS receiver 51 determines the position of the host vehicle M based on a signal received from a GNSS satellite. The position of the host vehicle M can also be determined or supplemented by an INS (Inertial Navigation System) that utilizes the output of the vehicle sensor 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, a button, or 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 host 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 represents the shape of a road by road segments and nodes connected by the road segments. The first map information 54 can also include the curvature of a road, POI (Point Of Interest) information, or the like. The first map information 54 can also be stored in the storage section of the automated driving control device 100, for example. 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 realized by the functions of a terminal device such as a smartphone, a tablet terminal, or the like 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.

[0044] The MPU 60 includes, for example, a recommended lane decision section 61 and holds second map information 62 in a storage device such as a HDD, a flash memory, or the like. 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] in the vehicle advancing direction) and determines a recommended lane for each block with reference to the second map information 62. The recommended lane decision section 61 performs the determination to travel on the nth lane from the left, for example. In the case where there is a branch site in the on-map route, the recommended lane decision section 61 determines the recommended lane so that the host vehicle M can travel on a reasonable route for advancing to a branch destination, for example.

[0045] The second map information 62 is map information of higher precision than the first map information 54. The second map information 62 includes, for example, information of the center of a lane or information of a road division line such as a boundary of a lane, information related to a shoulder or a roadside verge, and the like. In the second map information 62, road information, traffic regulation information, dwelling information (a dwelling, a postal code), facility information, telephone number information, the setting position of a traffic sign, a traffic signal, and the like can be included. The second map information 62 can be updated at any time by the communication device 20 communicating with another device. The second map information 62 can also be stored in the storage section of the automatic driving control device 100, for example.

[0046] The driver monitoring camera 70 is, for example, a digital camera using a solid-state imaging element such as a CCD or a CMOS. The driver monitoring camera 70 is installed at an arbitrary position in the host vehicle M, for example, in a position and orientation capable of photographing the head of an occupant (hereinafter referred to as a driver) seated on the driver's seat of the host vehicle M from the front (in a direction in which the face is photographed). For example, the driver monitoring camera 70 is installed on the upper portion of a display device provided in the central portion of the instrument panel of the host vehicle M.

[0047] The driver operation member 80 includes, for example, in addition to the steering wheel 82, an accelerator pedal, a brake pedal, a shift lever, and other operation members. A sensor that detects the operation amount or the presence or absence of operation is installed on the driver operation member 80, and the detection result 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. The steering wheel 82 is an example of an "operation member that receives a steering operation by a driver". The operation member need not necessarily be ring-shaped, and can be in the form of a special-shaped steering wheel, a joystick, a button, or the like. The steering wheel 82 is provided with a steering wheel grip sensor 84. The steering wheel grip sensor 84 is implemented by an electrostatic capacity sensor or the like, and outputs a signal capable of detecting whether or not the driver is gripping (contacting in a force-applied state) the steering wheel 82 to the automatic driving control device 100.

[0048] The autonomous driving control device 100, for example, is provided with a first control section 120, a second control section 160, an HMI control section 170, and a storage section 180. The first control section 120, the second control section 160, and the HMI control section 170 are each realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components can be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), or the like, or can be realized by a combination of software and hardware. The program can be stored in advance in a storage device (a storage device provided with a non-transitory storage medium) such as an HDD, a flash memory, or the like of the autonomous driving control device 100, or can be stored in a removable storage medium such as a DVD, a CD-ROM, or the like, and installed in the HDD, the flash memory, or the like of the autonomous driving control device 100 by mounting the storage medium (a non-transitory storage medium) in a drive device. The action plan generation section 140 and the second control section 160 together are an example of a "driving control section".

[0049] The storage section 180 can also be realized by various storage devices described above, or an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), or a RAM (Random Access Memory), or the like. In the storage section 180, for example, information required for execution of driving control in the present embodiment, other various information, programs, and the like are stored. In the storage section 180, the first map information 54 and the second map information 62 described above can also be stored.

[0050] Figure 2Fig. 1 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, a recognition section 130, a behavior plan generation section 140, and a pattern determination section 150. The first control section 120 implements, for example, an AI (Artificial Intelligence)-based function and a function based on a model given in advance in parallel. For example, the function of "recognizing an intersection" can be implemented by "performing recognition of an intersection based on deep learning or the like and recognition based on a condition given in advance (presence of a signal capable of pattern matching, road marking, or the like), and comprehensively evaluating both by scoring". Thus, the reliability of automated driving is ensured.

[0051] The recognition section 130 recognizes the situation around the host vehicle M based on information input from the outside detection section (camera 10, radar device 12, LIDAR 14) via the object recognition device 16. For example, the recognition section 130 recognizes the position, speed, acceleration, and the like of an object in the vicinity of the host vehicle M. The vicinity is, for example, within a prescribed distance from the position of the host vehicle M. The prescribed distance can be a fixed distance, or can be set based on the performance and accuracy of sensing by the outside detection section. The object includes other vehicles, people, fallen objects on the road, and obstacles such as objects temporarily set due to accidents, construction, and the like. The position of the object is, for example, recognized as a position on an absolute coordinate with a representative point (for example, the center, the center of gravity, the center of the drive shaft, or the like) of the host vehicle M as the 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 a region. The "state" of the object can also include the acceleration, jerk, or "behavior state" (for example, whether or not a lane change is being performed or is to be performed) of the object.

[0052] The recognition section 130, for example, recognizes a lane (travel lane) in which the host vehicle M is traveling. For example, the recognition section 130 compares the pattern of the road division line (for example, the arrangement of solid lines and dashed lines) obtained from the second map information 62 with the pattern of the road division line in the vicinity of the host vehicle M recognized from the image captured by the camera 10, thereby recognizing the travel lane. The recognition section 130 is not limited to recognizing the road division line, and can recognize the travel lane by recognizing the road division line, the travel road boundary (road boundary) including the shoulder, the roadside area, the curb, the median strip, the guardrail, and the like. In this recognition, the position of the host vehicle M obtained from the navigation device 50 and the processing result of the INS processing can also be added. The recognition section 130 recognizes a stop line, an obstacle, a red light, a toll gate, and other road phenomena. The recognition section 130 recognizes an adjacent lane adjacent to the travel lane. The adjacent lane is, for example, a lane along which travel in the same direction as the travel lane is possible.

[0053] The recognition unit 130 identifies the position and posture of the host vehicle M with respect to the travel lane when identifying the travel lane. The recognition unit 130 can also identify, for example, the deviation of the reference point of the host vehicle M from the center of the lane and the angle of the travel direction of the host vehicle M with respect to the line connecting the center of the lane, as the relative position and posture of the host vehicle M with respect to the travel lane. Alternatively, the recognition unit 130 can identify the position of the reference point of the host vehicle M with respect to the arbitrary side end portion (road division line or road boundary) of the travel lane, as the relative position of the host vehicle M with respect to the travel lane. Here, the reference point of the host vehicle M can be the center of the host vehicle M or the center of gravity. The reference point can be the end portion (front end portion or rear end portion) of the host vehicle M or the position of one of the plurality of wheels provided in the host vehicle M.

[0054] The recognition unit 130 can also identify the travel road region in which the host vehicle M travels. In this case, the recognition unit 130 identifies, for example, which road and which lane the host vehicle M is traveling on in the map, by comparing the position of the host vehicle M determined by the navigation device 50, the image captured by the camera 10, the output of the orientation sensor included in the vehicle sensor 40, and the like with the second map information 62. Furthermore, the recognition unit 130 identifies, based on the above-described various information, which position in the width direction of the recommended lane (hereinafter referred to as lateral position) the representative point of the host vehicle M is in and the posture of the host vehicle M at the time point is inclined by how many degrees with respect to the extension direction of the recommended lane (hereinafter referred to as yaw angle). Furthermore, the recognition unit 130 identifies the first travel road region obtained by applying the extension region of the recommended lane obtained from the second map information 62 to the vehicle coordinate system based on the host vehicle M, based on the above-described recognition results.

[0055] The recognition unit 130 analyzes the image captured by the camera 10, thereby identifying the second travel road region obtained by applying the extension region of the recommended lane to the vehicle coordinate system based on the host vehicle M. For example, the recognition unit 130 extracts edge points having a large difference in brightness between adjacent pixels in the image, connects the edge points assumed to be on both sides of the recommended lane, and identifies the road division line. Furthermore, the recognition unit 130 virtually sets the road division line in the vehicle coordinate system by transforming the positions of the points of the road division line in the image plane to the vehicle coordinate system, and sets the range divided by the road division line as the second travel road region.

[0056] The recognition unit 130 sets the third travel road based on a trajectory of a vehicle (a preceding vehicle) traveling in front of the host vehicle M on the same lane as the host vehicle M or on the recommended lane. For example, the recognition unit 130 recognizes a representative point such as a rear end portion or a central portion of the preceding vehicle, finds a trajectory of the representative point on the road, and sets a region obtained by expanding one half of a general lane width (for example, about 3 to 5 [m]) to the left and right of the trajectory as a third travel road region.

[0057] Also, the recognition unit 130 determines a travel road region to be output to the behavior plan generation unit 140 based on some or all of the first travel road region, the second travel road region, and the third travel road region. For example, the recognition unit 130 can determine the travel road region by giving priority in such a manner that the first travel road region is selected if the first travel road region is obtained, the second travel road region is selected if the first travel road region is not obtained or the reliability thereof is low, and the third travel road region is selected if neither the first travel road region nor the second travel road region is obtained or the reliability thereof is low. The recognition unit 130 can also determine the travel road region by combining any of the first travel road region, the second travel road region, and the third travel road region. This is because the sizes of the first travel road region, the second travel road region, and the third travel road region in the length direction are sometimes different, and a longer travel road region can sometimes be obtained by combination.

[0058] The behavior plan generation unit 140 generates a target trajectory along which the host vehicle M is to travel automatically (independently of the operation of the driver) in the future, in such a manner that the host vehicle M travels on the recommended lane determined by the recommended lane determination unit 61 or the travel road region recognized by the recognition unit 130 in principle, and that the host vehicle M can cope with the surrounding situation. The target trajectory includes, for example, a speed element. For example, the target trajectory is expressed as a trajectory in which points (trajectory points) at which the host vehicle M should arrive are arranged in order. The trajectory points are points at which the host vehicle M should arrive at every prescribed travel distance (for example, about several [m]) along the route, and, in addition thereto, a target speed and a target acceleration at every prescribed sampling time (for example, about several tenths of a [sec]) are generated as a part of the target trajectory. The trajectory points can also be positions at which the host vehicle M should arrive at every prescribed sampling time. In this case, information of the target speed and the target acceleration is expressed by the interval of the trajectory points.

[0059] The behavior plan generation unit 140 can set an event (a function) of automatic driving when generating the target trajectory. In the event of automatic driving, there are a following event in congestion, a constant speed travel event, a low speed following travel event, a lane change event, a branch event, a merging event, a takeover event, and the like. The behavior plan generation unit 140 generates a target trajectory corresponding to the event that is started.

[0060] The mode decision unit 150 decides the driving mode in which the host vehicle M is to be driven, as any one of a plurality of driving modes in which the task imposed on the driver differs, or in other words, a plurality of modes in which the degree of automation in the driving control of the host vehicle M differs, in accordance with the situation of the host vehicle M. The mode decision unit 150 can also restrict the execution of the mode, or release the restriction of the execution. The driving control unit causes the host vehicle M to travel based on the mode decided by the mode decision unit 150. The mode decision unit 150, for example, is provided with a driver state determination unit 152, a specific object determination unit 154, and a mode change processing unit 156. As for the individual functions thereof, see later.

[0061] Figure 3 is a diagram showing an example of the relationship of the driving mode, the control state of the host vehicle M, and the task. In the driving mode of the host vehicle M, for example, there are five modes, Mode A to Mode E. Among these modes, in terms of the degree of automation in the control state, that is, the driving control of the host vehicle M, Mode A is the highest, and then decreases in the order of Mode B, Mode C, Mode D, and Mode E is the lowest. On the contrary, in terms of the task imposed on the driver (occupant), Mode A is the smallest (mild), and then increases (becomes severe) in the order of Mode B, Mode C, Mode D, and Mode E in which manual driving is performed is the largest (severe). Mode A is an example of the first driving mode. Modes B to E are examples of the second driving mode. In Modes B to E, the control state becomes not automatic driving, and therefore the automatic driving control device 100 is responsible for ending the control involved in automatic driving, and moves to driving support or manual driving. Hereinafter, the content of each mode will be exemplified.

[0062] In the mode A, a state of automatic driving, the driver is not assigned any task of the periphery monitoring of the host vehicle M, the holding of the steering wheel 82 (hereinafter referred to as "steering wheel holding"). As to whether the driver is performing the periphery monitoring, it is determined, for example, based on the analysis result of the captured image of the driver monitoring camera 70, and as to whether the steering wheel holding is being performed, it is determined, for example, from the detection result of the steering wheel holding sensor 84. The periphery monitoring includes at least the monitoring of the front of the host vehicle M (front monitoring in the figure). The front refers to the space of the traveling direction of the host vehicle M visually recognized through the front windshield. Even in the mode A, however, the driver is required to be in a physical posture capable of shifting to the manual driving promptly in response to the request from the system centered on the automatic driving control device 100. The automatic driving herein refers to the steering and the speed of the host vehicle M being controlled without depending on the operation of the driver. The mode A is, for example, a mode in which the host vehicle M is caused to travel in such a manner that the speed of the host vehicle M becomes a target speed. The mode A is, for example, a driving mode in which the follow-up travel following a preceding vehicle is able to be performed in the case where the host vehicle M is traveling at or below a prescribed speed (e.g., about 50 [km / h]) on an exclusive road for motor vehicles such as an expressway, and there is a preceding vehicle or the like as a follow-up target vehicle traveling on the same lane or a recommended lane as the host vehicle M, and the mode A is sometimes referred to as a traffic jam pilot (TJP) mode. The traffic jam pilot mode is an example of the "first driving mode". In the case where the condition is not satisfied, the mode determining portion 150 changes the driving mode of the host vehicle M to the mode B.

[0063] In the execution of the mode A, the occupant is able to perform a secondary task. The secondary task is, for example, an action of the occupant other than the driving allowed in the automatic driving of the host vehicle M. The secondary task includes, for example, television viewing, telephone conversation of a portable telephone, transmission and reception of mail, eating, and the like.

[0064] In the mode B, a state of driving support, the driver is assigned a task of monitoring the front of the host vehicle M (hereinafter referred to as front monitoring), but is not assigned a task of holding the steering wheel 82. In the mode B, for example, a lane change of the host vehicle M based on the route setting to the destination or the like made by the navigation device 50 is performed by the judgment on the vehicle system 1 side, without accepting the lane change instruction from the occupant. The lane change refers to the movement of the host vehicle M from the lane (first lane) in which the host vehicle M is traveling to the adjacent lane (second lane) adjacent to the lane.

[0065] In the mode C, a state where the driving support is performed, the tasks of monitoring the front and holding the steering wheel 82 are assigned to the driver. For example, in the mode C, in a case where it is determined on the vehicle system 1 side that the lane change of the host vehicle M is required, the occupant is inquired via the HMI 30, and in a case where the lane change is accepted from the HMI 30 or the like by the occupant, the driving support to perform the lane change is implemented.

[0066] The mode D is a driving mode in which at least one of the steering and the acceleration / deceleration of the host vehicle M requires a certain degree of driving operation by the driver. For example, in the mode D, the driving support such as the ACC, the LKAS is performed. In the mode D, in a case where the instruction to make the host vehicle M perform the lane change is accepted by the operation of the direction indicator switch 32 by the driver, the driving support to perform the lane change to the instructed direction is implemented. The lane change in the mode D is an example of the lane change performed by detecting the intention of the driver. The lane change in the mode D can be performed in the mode C. The operation of the direction indicator switch 32 by the driver is an example of the driving operation. The driving operation in the mode D can include the driving operation to control the steering or the acceleration / deceleration. The lane change in the modes B to D can be an example of the lane change event.

[0067] In the mode E, a state where the steering and the acceleration / deceleration of the host vehicle M both require the driving operation by the driver, that is, the manual driving. Naturally, in the mode D and the mode E, the task of monitoring the front of the host vehicle M is assigned to the driver. The driver is the driving subject in the modes C to E.

[0068] Also, among the plurality of driving modes in which the host vehicle M is executed, in addition to the modes A to E, a driving mode in which a risk that is generated along with travel of the host vehicle M is minimized as a goal (for example, a MRM (Minimum Risk Maneuver) mode) can also be included. The MRM mode is executed, for example, in a case where, in the host vehicle M traveling in the host lane, a situation in which the host vehicle M cannot continue the current driving mode of the host vehicle M has not started before a section in which the host vehicle M is to change lanes to an adjacent lane, a situation in which at least a part of the outside detection portion (the camera 10, the radar device 12, the LIDAR 14) of the host vehicle M has generated an abnormality, or a situation in which it is determined based on a result of analysis of a captured image of the driver monitoring camera 70 that the driver is not fit to drive, or the like. In the MRM mode, the host vehicle M does not depend on an operation of the driver, and at least decelerates the host vehicle M, and makes the host vehicle M stop at a target position in an emergency. In the MRM mode, steering control of the host vehicle M can be executed as necessary. The target position is, for example, a position that is presumed to be safe for the host vehicle M. The target position can be, for example, a shoulder of a road on which the host vehicle M is traveling, or can be an empty space, a parking lot, or the like in the vicinity of the road. In a case where there is no empty space, parking lot, or the like, the host vehicle M can also be parked in a lane on which the host vehicle M is traveling. The target position can be acquired, for example, by analyzing a captured image of the camera 10, or can be acquired based on position information of the host vehicle M and by referring to map information (the first map information 54, the second map information 62) in a range of a predetermined distance or less from the host vehicle M in a direction in which the host vehicle M is traveling.

[0069] The mode decision portion 150 changes to an appropriate mode corresponding to a situation in a case where the host vehicle M is in a situation in which the current driving mode cannot be executed. The mode decision portion 150 can also acquire an execution state of a task, and in a case where the driver does not execute a task related to the decided driving mode, change the driving mode of the host vehicle M to a driving mode in which the task is more intensive.

[0070] For example, in the execution of the mode A, in a case where the driver is in a physical posture that cannot shift to the manual driving in accordance with the request from the system (for example, a case where the driver continues to look around outside the allowed area, a case where a precursor to difficult driving is detected), the mode decision portion 150 performs control that urges the driver to shift to the manual driving of the mode E using the HMI 30 by the HMI control portion 170. The mode decision portion 150 performs the following control in a case where the driver does not respond even after the HMI control portion 170 performs the control that urges the shift to the manual driving, a case where it is presumed that the driver is not in a state of performing the manual driving: stop the host vehicle M at the target position by the automatic driving in the MRM mode, and stop (end) the automatic driving after the stop. After the automatic driving is stopped, the host vehicle M becomes in the state of the mode D or the mode E, and the host vehicle M can be started by the manual operation of the driver. The same applies to the following "stop the automatic driving".

[0071] In the mode B, in a case where the driver does not monitor the front, the mode decision portion 150 urges the driver to monitor the front using the HMI 30, and performs the control that stops the host vehicle M at the target position and stops the automatic driving if the driver does not respond. In the mode C, in a case where the driver does not monitor the front or does not hold the steering wheel 82, the mode decision portion 150 urges the driver to monitor the front and / or hold the steering wheel 82 using the HMI 30, and performs the control that stops the host vehicle M at the target position and stops the automatic driving if the driver does not respond. In the mode C and the mode D, the control that stops the host vehicle M at the target position and stops the automatic driving can also be performed in a case where the lane change is not performed to the section for the host vehicle M to reach the prescribed place.

[0072] The driver state determination section 152 determines whether the occupant (driver) is in a state suitable for driving. For example, the driver state determination section 152 monitors the state of the driver in order to change (switch) the mode described above, and determines whether the state of the driver is a state corresponding to the task. For example, the driver state determination section 152 performs a posture estimation process by analyzing the image captured by the driver monitoring camera 70, and determines whether the driver is in a physical posture that cannot move to manual driving in accordance with the request from the system. The driver state determination section 152 performs a line-of-sight estimation process by analyzing the image captured by the driver monitoring camera 70, and determines whether the driver is monitoring the surroundings (more specifically, the front) of the host vehicle M. In a case where it is determined that the state is not a state corresponding to the task for a prescribed time or more, the driver state determination section 152 determines that the driver is in a state unsuitable for driving of the task. In a case where it is determined that the state is a state corresponding to the task, the driver state determination section 152 determines that the driver is in a state suitable for driving of the task. The driver state determination section 152 can also determine whether the occupant is in a state capable of performing driving replacement.

[0073] The specific object determination section 154 determines whether a specific object exists in the traveling direction (front) of the vehicle M on the basis of the recognition result recognized by the recognition section 130 or the map information. The specific object determination section 154 can also perform the determination described above while the host vehicle M is in execution of a prescribed driving mode. Details of the function of the specific object determination section 154 will be described later.

[0074] The mode determination section 150 determines the driving mode of the host vehicle M on the basis of the determination result by the driver state determination section 152 and the specific object determination section 154. The mode change processing section 156 performs various processes for switching to the mode determined by the mode determination section 150. For example, the mode change processing section 156 makes a work instruction to a driving support device (not shown), or causes the HMI control section 170 to control the HMI 30 in order to urge the driver to perform a prescribed action (task or the like), or instructs generation of a target trajectory for emergency stop based on the action plan generation section 140.

[0075] 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 host vehicle M passes through the target trajectory generated by the action plan generation section 140 at a predetermined timing.

[0076] 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 trajectory (trajectory point) generated by the travel plan generation section 140, and causes a memory (not shown) to store the information. The speed control section 164 controls the travel drive force output device 200 or the brake device 210 based on a speed element attached to the target trajectory stored in the memory. The steering control section 166 controls the steering device 220 according to the bending condition of the target trajectory stored in the memory. The processing of the speed control section 164 and the steering control section 166 is realized, for example, by a combination of feedforward control and feedback control. As an example, the steering control section 166 performs a combination of feedforward control corresponding to the curvature of the road ahead of the host vehicle M and feedback control based on the deviation from the target trajectory.

[0077] The HMI control section 170 notifies the occupant of the host vehicle M of prescribed information through the HMI 30. The prescribed information includes, for example, information related to the state of the host vehicle M, information related to the driving control, and the like, which is associated with the travel of the host vehicle M. The information related to the state of the host vehicle M includes, for example, the speed of the host vehicle M, the engine speed, the gear position, and the like. The information related to the driving control includes, for example, a query as to whether or not to perform a lane change, information as to whether or not the driving control is executed, information related to the change of the driving control, information related to the condition of the driving control (for example, the content of the event being executed), and the like. The information related to the driving control can also include, for example, the current driving mode, information related to the task arranged to the driver due to the switching of the driving mode, information urging the execution of the task, and the like. The prescribed information can also include information unrelated to the travel control of the host vehicle M, such as a television program, an entry (for example, a movie) stored in a storage medium such as a DVD, and the like. The prescribed information can include, for example, information related to the current position of the host vehicle M, the destination, and the remaining amount of fuel.

[0078] The HMI control section 170 can generate an image including the prescribed information described above, and cause the generated image to be displayed on the display device of the HMI 30, or can generate a sound representing the prescribed information, and cause the generated sound to be output from the speaker of the HMI 30. The HMI control section 170 can also output information accepted by the HMI 30 to the communication device 20, the navigation device 50, the first control section 120, and the like.

[0079] 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 ECU (Electronic Control Unit) that controls them. The ECU controls the above-described structure in accordance with information input from the second control section 160 or information input from the driving operation member 80.

[0080] The brake 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 in accordance with information input from the second control section 160 or information input from the driving operation member 80, and outputs a brake torque corresponding to a brake operation to each wheel. The brake device 210 can include, as a backup, a mechanism that transmits hydraulic pressure generated by operation of a brake pedal included in the driving operation member 80 to the hydraulic cylinder via a master hydraulic cylinder. The brake device 210 is not limited to the above-described structure, and can be an electronically controlled hydraulic brake device that controls an actuator in accordance with information input from the second control section 160, and thereby transmits hydraulic pressure of the master hydraulic cylinder to the hydraulic cylinder.

[0081] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack-and-pinion mechanism to change the orientation of a steered wheel. The steering ECU drives the electric motor in accordance with information input from the second control section 160 or information input from the steering wheel 82 of the driving operation member 80, and thereby changes the orientation of the steered wheel.

[0082] [Switching driving control of the driving mode based on the determination result of the specific object]

[0083] Hereinafter, the details of the functions in the specific object determination section 154 will be described. Hereinafter, the control of the mode determination section 150 to switch the driving mode of the host vehicle M based on the specific object determined by the specific object determination section 154 will be described mainly as the center, and will be described in several control patterns. Hereinafter, it is assumed that the occupant performs a task corresponding to the switched mode.

[0084] [First control pattern]

[0085] Figure 4 is a view for explaining the determination of the specific object and the switching of the driving mode in the first control pattern. The first control pattern indicates a control pattern in which a traffic signal is recognized as a specific object in the direction of travel of the host vehicle M. In the first control pattern, the specific object determination section 154 determines that the traffic signal is a specific object, and the mode determination section 150 determines the driving mode of the host vehicle M in accordance with the determination result of the specific object determination section 154. Figure 4In the example of FIG. 1, a road RD having lanes L1 and L2 that can travel in the same direction is shown. The lanes L1 and L2 are lanes that extend in the X-axis direction. The lane L1 is divided by road dividing lines LL and CL, and the lane L2 is divided by road dividing lines CL and RL. The road RD is, for example, an exclusive road for motor vehicles such as an expressway. In addition, in the example of FIG. 1, a vehicle m2 is shown as a vehicle that is traveling in the lane L2 in front of the host vehicle M. The vehicle m2 is a vehicle that is traveling in the lane L2 in front of the host vehicle M. In the following, the vehicle m2 is sometimes referred to as a "preceding vehicle m2". The same also applies to the following description of the control patterns. Figure 4 In the example of FIG. 1, the host vehicle M and the other vehicle m1 are shown, the host vehicle M is traveling in the lane L1 at a speed VM, and the other vehicle m1 is traveling in front of the host vehicle M in the same lane L1 at a speed Vm1. In the following, the other vehicle m1 is sometimes referred to as a "preceding vehicle m1". The same also applies to the following description of the control patterns.

[0086] In the first control pattern, the driving control portion has caused the host vehicle M to travel by the first driving mode (for example, mode A (TJP mode)). In the mode A, the speed and the steering of the host vehicle M are controlled by the driving control portion so as to cause the host vehicle M to follow the preceding vehicle m1 while maintaining the distance D11 between the reference point of the host vehicle M and the reference point of the preceding vehicle m1 as the first threshold value Dth1. In the following, the first control pattern is sometimes referred to as a "TJP mode". Figure 4 In the example of FIG. 1, the reference point of the host vehicle M is the end portion in front of the host vehicle M, and the reference point of the preceding vehicle m1 is the end portion behind the preceding vehicle m1.

[0087] In the first control pattern, the specific object determination portion 154 determines whether or not there is a traffic signal OB1 in the traveling direction of the host vehicle M on the basis of the recognition result recognized by the recognition portion 130. The traffic signal OB1 is an indicator that indicates permission or denial of passage of a vehicle traveling on the lane L1 (may also include the lane L2). The traffic signal OB1 notifies the vehicle of the indication corresponding to the color by causing any of a plurality of light source portions of different colors to emit light, for example. The specific object determination portion 154 determines whether or not there is the traffic signal OB1 in the traveling direction of the host vehicle M on the basis of the analysis result of the image captured by the camera 10, for example, from the characteristic information of the shape, size, and the like of the object included in the image. The specific object determination portion 154 refers to the second map information 62 on the basis of the position information of the host vehicle M obtained from the vehicle sensor 40 or the navigation device 50 to determine the road on which the host vehicle M is traveling, and determines whether or not there is the traffic signal OB1 at the position in the traveling direction from the position of the host vehicle M on the determined road. The specific object determination portion 154 can also acquire the position P11 of the traffic signal OB1 and the distance D12 from the position of the host vehicle M in the case where it is determined that there is the traffic signal OB1. The specific object determination portion 154 can also determine whether or not the distance D12 from the position of the host vehicle M to the position P11 of the traffic signal OB1 is within the second threshold value Dth2.

[0088] When the specific object determination unit 154 determines that a traffic signal OB1 is present and that the distance D12 between the vehicle M and the traffic signal OB1 is within a second threshold value Dth2, the mode determination unit 150 restricts execution of mode A for the vehicle M. "Restricting execution of mode A" refers, for example, to changing from mode A, a first driving mode, to mode B, C, D, or E, a second driving mode that places a greater burden on the occupants than the first driving mode. In addition to the aforementioned changes, "restricting execution of mode A" also refers to suspending or reducing some of the functions of the mode without changing the current mode. For example, in the case of restricted mode A, while forward monitoring and steering control are not required, temporary driving support is implemented, taking into account the temporary requirement for forward monitoring and steering control when the vehicle M passes near traffic signal OB1.

[0089] The mode determination unit 150 may also remove the restriction on the execution of mode A when a restriction removal condition is satisfied after the execution of the restricted mode A. The restriction removal condition in the first control pattern may be, for example, a case where the host vehicle M has arrived at a point P12, which is a point a predetermined distance D13 forward from the position P11 of the traffic signal OB1 (farther away as viewed from the host vehicle M).

[0090] The first control pattern described above enables switching to a more appropriate mode based on the presence or absence of a traffic signal OB1 on road RD. For example, even if the location of traffic signal OB1 can be determined based on images captured by camera 10 or map information, it is not possible to determine the specific indication issued by traffic signal OB1 (specifically, whether it grants or denies passage). Therefore, as in the first control pattern, if a traffic signal OB1 associated with lane L1 in which vehicle M is traveling exists, execution of mode A in vehicle M is restricted, and the task assigned to the occupants is set to a higher level than the current one. This allows the occupants to immediately respond to any situation where vehicle M intends to behave differently from the indication issued by traffic signal OB1.

[0091] The specific object determination unit 154 may change the value of the second threshold value Dth2 according to the magnitude of the speed VM of the host vehicle M. Figure 5 This is a diagram for explaining how the second threshold value Dth2 is changed according to the speed. Figure 5 The horizontal axis represents the speed [km / h] of the host vehicle M, and the vertical axis represents the second threshold value Dth2 [m] serving as a reference for changing the mode. Figure 5 The numerical values ​​shown are examples, and other numerical values ​​may be used. This also applies to the subsequent description of the figures using the same numerical values.

[0092] like Figure 5As shown, the specific object determination section 154 linearly or nonlinearly increases the second threshold Dth2 [m] as the speed of the host vehicle M VM increases, for example, from 10 to 50 [km / h]. Thus, even if the speed VM increases, a certain amount of time can be ensured before the mode is switched, so the occupant can be given a margin to perform the task in the case where the task assigned to the occupant is switched to a heavy one.

[0093] The specific object determination section 154 makes the second threshold Dth2 constant in the case where the speed of the host vehicle M is less than 10 [km / h]. Thus, it is possible to suppress the mode from being limited and a heavy task being assigned to the occupant at the point of reaching the traffic signal OB1. The specific object determination section 154 can also make the distance Dth2 constant in the case where the speed of the host vehicle M exceeds 50 [km / h]. Thus, it is possible to suppress the execution of the mode A from being limited from a point far from the traffic signal OB1. According to the above-described first control pattern, in the case where there is a traffic signal in the travel direction, more appropriate driving control can be performed.

[0094] <Second Control Pattern>

[0095] Next, the second control pattern will be described. Figure 6 is a view for explaining the determination of a specific object and the switching of the driving mode in the second control pattern. The second control pattern indicates a control pattern in the case where a tunnel OB2 is recognized as a specific object in the travel direction of the host vehicle M. In the second control pattern, the specific object determination section 154 determines whether the tunnel OB2 exists in the travel direction of the host vehicle M on the basis of the recognition result recognized by the recognition section 130. Figure 6 In the example of Fig. 10, the host vehicle M is executing the mode A of following the preceding vehicle ml as in the first control pattern.

[0096] In the second control pattern, the specific object determination section 154 determines whether the tunnel OB2 exists in the travel direction of the host vehicle M on the basis of the recognition result recognized by the recognition section 130. For example, the specific object determination section 154 determines whether the tunnel OB2 exists in the travel direction of the host vehicle M on the basis of the feature information such as the shape and size of the object included in the image on the basis of the analysis result of the image captured by the camera 10. The specific object determination section 154 can also determine whether the tunnel OB2 exists in the travel direction of the host vehicle M on the basis of the position information of the host vehicle M and with reference to the map information. The specific object determination section 154 can acquire the distance D21 from the position of the host vehicle M to the entrance point P21 of the tunnel OB2 and can also acquire the position P22 of the exit point P22 of the tunnel OB2 in the case where it is determined that the tunnel OB2 exists.

[0097] The mode decision portion 150 restricts execution of the mode A of the host vehicle M in a case where the distance D21 from the host vehicle M to the tunnel OB2 is within the third threshold value Dth3. Thus, even in a case where a part of the outside detection portion of the host vehicle M erroneously recognizes due to a change in the surrounding situation before and after traveling in the tunnel OB2, the vehicle can be more safely caused to travel by previously assigning the tasks of the front monitoring, the steering wheel holding, and the like to the occupant.

[0098] The specific object determination portion 154 can also change the third threshold value Dth3 according to the magnitude of the speed VM of the host vehicle M. Figure 7 is a graph for explaining the change of the third threshold value Dth3 according to the speed. Figure 7 The horizontal axis of indicates the speed VM [km / h] of the host vehicle M, and the vertical axis indicates the third threshold value Dth3 [m]. As shown in Figure 7 The specific object determination portion 154 linearly or nonlinearly increases the third threshold value Dth3 [m] in the range of 50 to 200 [m] as the speed VM increases in a case where the speed VM of the host vehicle M is 20 to 50 [km / h]. Thus, in a case where the mode is switched to a task in which the task assigned to the occupant is made larger, the occupant can be caused to perform the task with a margin.

[0099] The specific object determination portion 154 makes the third threshold value Dth3 constant to the lower limit value (50 [m]) in a case where the speed of the host vehicle M is less than 20 [km / h]. Thus, it is possible to suppress the mode from being restricted and the task from being assigned to the occupant at the point of reaching the tunnel OB2. The specific object determination portion 154 can also make the third threshold value Dth3 constant to the upper limit value (200 [m]) in a case where the speed of the host vehicle M exceeds 50 [km / h]. Thus, it is possible to suppress the mode from being restricted from a point far from the tunnel OB2.

[0100] The mode decision portion 150 can also release the restriction of the execution of the mode A in a case where the restriction release condition is satisfied after restricting the execution of the mode A. The restriction release condition in the second control pattern is, for example, a case where the host vehicle M reaches a point P23 that is a point at a distance D33 forward (farther away when viewed from the host vehicle M) from the entrance point P21.

[0101] In the second control pattern, the execution of the mode A of the host vehicle M can also be restricted on the basis of (or in addition to) the entry point P21 of the tunnel OB2, instead of the exit point P22. In this case, the mode decision portion 150 restricts the execution of the mode A in a case where the mode of the host vehicle M in the tunnel OB2 is the mode A and the host vehicle reaches a point P24 that is a point located a distance D23 forward of the exit point P22. The mode decision portion 150 can also release the restriction on the execution of the mode A in a case where the restriction release condition is satisfied after the execution of the mode A is restricted before the exit of the tunnel OB2. The restriction release condition in this case is, for example, a case where the host vehicle M reaches a point P25 that is a point located a distance D24 forward of the exit point P22.

[0102] The mode decision portion 150 can also suppress the execution of the mode A in a case where the length D23 from the entry point P21 to the exit point P22 of the tunnel OB2 is within the fourth threshold Dth4. Thereby, it is possible to suppress a case where the driving mode is frequently restricted and switched every time the host vehicle M passes through the tunnel OB2, and it is possible to continuously execute the mode A.

[0103] According to the second control pattern described above, it is possible to perform more appropriate driving control in a case where a tunnel exists on the road.

[0104] <Third Control Pattern>

[0105] Next, the third control pattern will be described. Figure 8 is a view for explaining the determination of the specific object and the switching of the driving mode in the third control pattern. The third control pattern indicates a control pattern in a case where a two-wheeled vehicle is recognized as the specific object in the traveling direction of the host vehicle M. In the third control pattern, the execution of the mode A is restricted in a case where the two-wheeled vehicle is present in the traveling direction of the host vehicle M. Figure 8 In the example of the view of

[0106] In this scenario, the specific object determination portion 154 determines whether the other vehicle m2 that is traveling in the traveling direction of the host vehicle M among the other vehicles recognized by the recognition portion 130 is a two-wheeled vehicle. In this case, the specific object determination portion 154 determines whether the preceding vehicle m2 is a two-wheeled vehicle on the basis of the characteristic information such as the shape and size of the object included in the image captured by the camera 10, on the basis of the analysis result of the image. The specific object determination portion 154 can also determine whether the preceding vehicle m2 is a two-wheeled vehicle on the basis of the vehicle class (for example, the motor vehicle number) indicated by the license plate included in the image and provided at the rear of the preceding vehicle m2.

[0107] The mode determination portion 150 restricts execution of the mode A of the host vehicle M in a case where the preceding vehicle m2 is determined by the specific object determination portion 154 to be a two-wheeled vehicle. Normally, when the mode A is executed, the control of following the preceding vehicle is performed even if the preceding vehicle is a two-wheeled vehicle. However, a two-wheeled vehicle is smaller than a four-wheeled vehicle and can travel even on a narrow travel road. Therefore, a situation can occur where even if a travel road is one on which a two-wheeled vehicle can travel, a four-wheeled vehicle (the host vehicle M) cannot travel. For example, in a case where there is a large-sized obstacle on a travel lane, even if a two-wheeled vehicle can avoid the obstacle without going beyond the travel lane, in the case of a four-wheeled vehicle, it is necessary to enter an adjacent lane. Therefore, according to the third control pattern, execution of the mode A is restricted in a case where the preceding vehicle m2 is a two-wheeled vehicle, and thus more appropriate driving support can be performed.

[0108] The mode determination portion 150 can also restrict execution of the mode A of the host vehicle M in a case where the two-wheeled vehicle is recognized for a prescribed time or more from the time when the preceding vehicle m2 is determined by the specific object determination portion 154 to be a two-wheeled vehicle. The prescribed time is, for example, about 3 to 5 [s]. A two-wheeled vehicle can easily overtake a vehicle ahead, and thus even in a case where the two-wheeled vehicle has cut in ahead of the host vehicle M, there is a high possibility that the two-wheeled vehicle will overtake a vehicle (another vehicle ml in the figure) further ahead in a short time. In a case where the preceding vehicle m2 has overtaken the other vehicle ml, the other vehicle ml becomes the preceding vehicle again and the following travel is executed. Therefore, even in a case where the preceding vehicle is determined to be a two-wheeled vehicle, during a period until the determination continues for the prescribed time or more, the execution of the mode A is restricted, and thus more stable driving control can be executed.

[0109] The mode determination portion 150 can also release the restriction of the execution of the mode A in a case where the restriction release condition is satisfied after the execution of the mode A is restricted. The restriction release condition in the third control pattern is, for example, a case where the two-wheeled vehicle m2 has overtaken the other vehicle ml and the other vehicle ml has become the preceding vehicle of the host vehicle M again, and the like.

[0110] <Fourth Control Pattern>

[0111] Next, the fourth control pattern will be described. Figure 9 is a view for explaining the determination of a specific object and the switching of a driving mode in the fourth control pattern. The fourth control pattern indicates a control pattern in a case where the preceding vehicle ml followed by the host vehicle M is no longer a vehicle to be followed because the preceding vehicle ml has deviated (moved) in the lateral direction (road width direction) of the travel lane (or has performed a lane change to an adjacent lane). In the fourth control pattern, the host vehicle M is controlled so as to be able to follow the preceding vehicle ml even in a case where the preceding vehicle ml has deviated in the lateral direction of the travel lane. In the fourth control pattern, the host vehicle M is controlled so as to be able to follow the preceding vehicle ml even in a case where the preceding vehicle ml has deviated in the lateral direction of the travel lane. Figure 9In the example of FIG. 10, time t2 is a time later than time t1. The positions of the vehicle M, the other vehicles ml, m3 at time t* are denoted as M(t*), ml(t*), m3(t3), respectively, and the speeds of the vehicle M, the other vehicles ml, m3 are denoted as VM(t*), Vml(t*), Vm3(t3), respectively. At time t1, the host vehicle M(t1) is executing the mode A, following the preceding vehicle ml(t1). The preceding vehicle ml(t1) is traveling on the lane LI at a speed Vml(t1), and the other vehicle (more preceding preceding vehicle with respect to the host vehicle) m3(t1) traveling at a position more ahead of the preceding vehicle ml(t1) is traveling on the lane LI at a speed Vm3(t1).

[0112] At the time of the following travel at time t1 (at the time of execution of the mode A), the recognition unit 130 performs a recognition process of a road division line (white line) based on the map information and the analysis result of the captured image of the camera 10, acquires a travel trajectory of the preceding vehicle ml, and recognizes a travel lane region of the host vehicle M based on the acquired travel trajectory, and causes the host vehicle M to travel in the recognized travel lane region.

[0113] At this time, at time t2, the preceding vehicle ml has executed a lane change from the lane LI to the lane L2. The specific object determination unit 154 determines whether the preceding vehicle ml(t2) being followed is an object of following. Specifically, the specific object determination unit 154 calculates a distance D31 between the center C1 of the lane LI in which the host vehicle M is traveling and the center C2 of the preceding vehicle ml(t2), and determines whether the calculated distance D31 is equal to or greater than a fourth threshold value Dth4. The fourth threshold value Dth4 is, for example, about 1 [m] or so. In a case where the distance D31 is equal to or greater than the fourth threshold value Dth4, the specific object determination unit 154 determines that the preceding vehicle ml(t2) is not an object of following because the preceding vehicle ml(t2) is offset (moved) in the lateral direction (road width direction) of the lane LI (or has executed a lane change to the lane L2).

[0114] Further, in a case where it is determined that the preceding vehicle ml(t2) is not an object of following, the specific object determination unit 154 determines whether there is a preceding vehicle (more preceding preceding vehicle existing at a position more ahead than the other vehicles from the host vehicle) traveling on the same lane LI (travel lane region) as the host vehicle M(t2) and ahead of the host vehicle M(t2). For example, as shown in FIG. 10, in a case where there is a preceding vehicle m3(t2) traveling on the same lane LI (travel lane region) as the host vehicle M(t2) and ahead of the host vehicle M(t2), the specific object determination unit 154 determines that the preceding vehicle ml(t2) is not an object of following because the preceding vehicle ml(t2) is offset (moved) in the lateral direction (road width direction) of the lane LI (or has executed a lane change to the lane L2). Figure 9In the case where the preceding vehicle m3(t2) further ahead is recognized, the specific object determination unit 154 acquires the distance D32 from the reference point of the host vehicle M(t2) to the reference point of the preceding vehicle m3(t2) further ahead, and determines whether the acquired distance D32 is less than the fifth threshold value Dth5. In the case where the distance D32 is determined to be less than the fifth threshold value Dth5, the mode determination unit 150, with respect to the host vehicle M(t2), causes the preceding vehicle m3(t2) further ahead to be a new preceding vehicle, causes the host vehicle M to follow the preceding vehicle m3, and thereby continues the mode A.

[0115] The mode determination unit 150 restricts the execution of the mode A of the host vehicle M in the case where the distance D32 is not less than the fifth threshold value Dth5 (the distance D32 is the fifth threshold value Dth5 or more) or in the case where the preceding vehicle further ahead does not exist (is not recognized). Also, the mode determination unit 150 can restrict the execution of the mode A of the host vehicle M in the case where the distance D32 is not less than the fifth threshold value Dth5 or in the case where the state where the preceding vehicle further ahead does not exist continues for a prescribed time or more.

[0116] The mode determination unit 150 can release the restriction of the execution of the mode A in the case where the restriction release condition is satisfied after the execution of the mode A is restricted. The restriction release condition in the fourth control pattern is, for example, a case where the preceding vehicle that is the follow-up object is recognized within a prescribed time from the start of the restriction of the execution of the mode A, and the like. According to the fourth control pattern described above, more appropriate driving control can be executed in accordance with the situation around the host vehicle M.

[0117] <the fifth control pattern>

[0118] Next, the fifth control pattern will be described. Figure 10 is a view for explaining the determination of the specific object and the switching of the driving mode in the fifth control pattern. The fifth control pattern indicates a control pattern in the case where a shoulder exists on the travel lane, and another vehicle exists as a specific object at the shoulder in the advancing direction of the host vehicle M. The shoulder is, for example, a road region provided outside the division line LL, RL that divides the lanes L1, L2 when viewed from the center of the road RD. The shoulder is formed in a band shape along the extension direction of the road RD. The shoulder is, for example, a region provided between the lane and a sidewalk. The shoulder can be recognized based on map information, or can be acquired by analyzing an image captured by the camera 10. In the case where the shoulder exists on the travel lane, the preceding vehicle m3(t2) that is the specific object can exist at the shoulder. In the case where the preceding vehicle m3(t2) exists at the shoulder, the preceding vehicle m3(t2) can be recognized by analyzing the image captured by the camera 10. Figure 10In the example of FIG. 1, the road RD has a lane L1 and a lane L2. The lane L1 is a lane on the left side of the road RD, and the lane L2 is a lane on the right side of the road RD. The lane L1 and the lane L2 are separated by a dividing line LL. The road RD has a shoulder LS on the left side of the road RD, and a shoulder RS on the right side of the road RD. The road RD has a vehicle M, a preceding vehicle ml, and a vehicle m4. The vehicle M is a vehicle that is being driven by the mode A. The vehicle m4 is a vehicle that is parked in a region including the shoulder LS, or is being driven at a speed Vm4. Hereinafter, the vehicle m4 is referred to as a shoulder vehicle m4. The shoulder vehicle m4 is a vehicle whose body portion is present on the side of the lane L1 beyond the dividing line LL.

[0119] In the fifth control pattern, in a case where the shoulder LS is recognized by the recognition unit 130, and the shoulder vehicle m4 is recognized, it is determined whether a distance D41 from a side end portion on the side of the lane L1 of the shoulder vehicle m4 to the center Cl of the lane L1 is less than a sixth threshold value Dth6. The distance D41 can also be used instead of the lane L1, using a travel road region recognized by the recognition unit 130. In a case where the distance D41 is less than the sixth threshold value Dth6, the mode decision unit 150 considers that the shoulder vehicle m4 has a high possibility of having an influence on the travel of the vehicle M, and therefore the mode decision unit 150 restricts execution of the mode A of the vehicle M.

[0120] The mode decision unit 150 can also restrict execution of the mode A based on a vehicle-related index value such as a THW (Time Headway), a TTC (Time-To Collision), or the like. The THW is a headway or a time to collision, and is calculated, for example, by dividing a distance between a reference point of the preceding vehicle ml or the shoulder vehicle m4 and a reference point of the vehicle M by the speed Vm of the vehicle M. The TTC is a time to contact between the vehicle M and the shoulder vehicle m4, and is calculated, for example, by dividing a distance from the reference point of the vehicle M to the reference point of the shoulder vehicle m4 by a relative speed between the vehicle M and the shoulder vehicle m4. The calculation method is not limited thereto. The mode decision unit 150 restricts execution of the mode A, for example, in a case where the speed Vm4 of the shoulder vehicle m4 is less than about 2 [km / h], and the THW between the vehicle M and the other vehicle is less than 1.5 [s], and the TTC between the vehicle M and the shoulder vehicle m4 is greater than 1 [s] and less than 8 [s].

[0121] The mode decision unit 150 can also restrict execution of the mode A in a case where the distance D41 is less than a distance obtained by linearly interpolating the sixth threshold value Dth6 and a seventh threshold value Dth7 according to the vehicle speed of the shoulder vehicle m4, and the speed Vm4 of the shoulder vehicle m4 is 2 [km / h] or more and less than 5 [km / h], and the THW between the vehicle M and the preceding vehicle ml is less than 1.5 [s], and the TTC between the vehicle M and the shoulder vehicle m4 is greater than 1 [s] and less than 8 [s].

[0122] The mode determination portion 150 can also limit execution of the mode A in a case where the distance D41 is less than the seventh threshold value Dth7, the speed Vm4 of the shoulder vehicle m4 is 5 [km / h] or more, the THW between the preceding vehicle ml and the shoulder vehicle m4 is less than 1.5 [s], and the TTC between the host vehicle M and the shoulder vehicle m4 is more than 1 [s] and less than 8 [s].

[0123] Here, one or both of the sixth threshold value Dth6 or the seventh threshold value Dth7 can be a fixed value or can be adjusted in accordance with the speed of the host vehicle M. Figure 11 is a graph for explaining the sixth threshold value Dth6. Figure 11 The horizontal axis of the graph of Figure 11 In the example of Figure 11 In the example of Figure 11 In the example of

[0124] Figure 12 is a graph for explaining the seventh threshold value Dth7. Figure 12 The horizontal axis of the graph of Figure 12 In the example of

[0125] The mode determination portion 150 can also release the limitation of execution of the mode A in a case where the release condition is satisfied after the execution of the mode A is limited. The release condition in the fifth control pattern is, for example, a case where the host vehicle M passes by the shoulder vehicle m4, and the like. In the fifth control pattern, the execution of the mode A of the host vehicle M is not limited in a case where the shoulder vehicle exists on the shoulder RS on which the host vehicle M does not travel. According to the above-described fifth control pattern, in a case where the shoulder vehicle exists, more appropriate driving control can be executed by limiting the driving mode so as not to follow the shoulder vehicle.

[0126] <Sixth control pattern>

[0127] Next, the sixth control pattern will be described. Figure 13 is a view for explaining the determination of a specific object and the switching of the driving mode in the sixth control pattern. The sixth control pattern indicates a control pattern in a case where a specific vehicle such as an ambulance, a fire engine, a police car, or the like, or a person (a worker or the like) present on a travel lane, a road cone, a pole, a no-entry fence, or the like, which indicates a lane closure accompanying a traffic accident or construction, is recognized as a specific object.

[0128] In the example of Fig. 30, Figure 13 as an example of a specific vehicle, an ambulance m5 is traveling at a speed Vm5 in front of the host vehicle M on the lane LI. In the example of Fig. 31, Figure 13 in the travel direction of the host vehicle M on the travel lane LI, a worker OB3 is present who is performing traffic regulation or the like by holding a flag.

[0129] In the sixth control pattern, the specific object determination section 154 determines whether a specific vehicle or a specific obstacle is recognized as a specific object in the travel direction of the host vehicle M on the basis of the recognition result recognized by the recognition section 130 in a case where the host vehicle M is in the execution of the mode A. For example, the specific object determination section 154 determines whether a specific vehicle or a specific obstacle is present in the travel direction of the host vehicle M on the basis of the feature information such as the shape, size, color, or the like of the object obtained as a result of the analysis of the image captured by the camera 10. In the example of Fig. 30, Figure 13 it is determined that the ambulance m5 and the worker OB3 are present in the travel direction of the host vehicle M.

[0130] The mode decision section 150 controls the execution of the mode A in a case where the host vehicle M is in the execution of the mode A and it is determined (recognized) by the specific object determination section 154 that a specific vehicle or a specific obstacle is present. In the example of Fig. 30, Figure 13 it is determined by the specific object determination section 154 that the ambulance m5 and the worker OB3 are present, and therefore the mode decision section 150 restricts the execution of the mode A of the host vehicle M.

[0131] The mode decision section 150 can also release the restriction of the execution of the mode A in a case where the restriction release condition is satisfied after the execution of the mode A is restricted. The restriction release condition in the sixth control pattern refers to, for example, a case where the preceding vehicle of the host vehicle M is no longer a specific vehicle, a case where the host vehicle M has passed a specific obstacle, or the like. According to the above-described sixth control pattern, the execution of the mode A of the host vehicle M is restricted in a case where a specific vehicle or a specific obstacle is present in the travel direction, and therefore more appropriate driving control can be executed even in a case where the road conditions are different from normal conditions due to the influence of a traffic accident, construction, or the like.

[0132] The first to sixth control patterns described above can also be combined with a part or all of other control patterns, respectively. The mode determination portion 150 can also limit the execution of other modes in addition to the execution of the mode A in a case where a prescribed condition for restricting the execution of the modes indicated by the first to sixth control patterns is satisfied. In this case, the mode determination portion 150 at least limits the execution of the mode A. The mode determination portion 150 can also limit the execution of the mode B, for example, in a case where the prescribed condition indicated by the first to sixth control patterns, respectively, is satisfied in the execution of the mode B at the host vehicle M. In a case where the execution of the mode B is limited, a mode that places a heavier task on the occupant arrangement than the mode B is executed.

[0133] [PROCESS FLOW]

[0134] Figure 14 is a flowchart of an example of a flow of processing performed by the automatic driving control device 100 of the embodiment. In Figure 14 In the example of Figure 14 The processing indicated by the flowchart described above can be repeatedly executed at a prescribed timing or with a prescribed period, for example, in the execution of automatic driving or driving support.

[0135] In the example of Figure 14 In the example of

[0136] Next, the mode determination portion 150 determines whether or not the situation of the host vehicle M satisfies a restriction release condition (step S108). The restriction release condition refers to, for example, a situation in which the host vehicle M is following a preceding vehicle and a situation in which the host vehicle M is traveling at a speed equal to or lower than a prescribed speed. In a case where it is determined that the restriction release condition is satisfied, the mode determination portion 150 starts execution of the mode A again (step S110). In the processing of step S110, in a case where it is determined that the restriction release condition is satisfied, for example, the mode determination portion 150 starts the travel of the host vehicle M based on the first driving mode again from the second driving mode. Thereby, the processing of the present flowchart ends. In a case where it is determined in the processing of step S100 that the execution of the mode A is not in progress, in a case where it is determined in the processing of step S102 that the specific object is not recognized in the travel direction, in a case where it is determined in the processing of step S104 that the prescribed condition is not satisfied, or in a case where it is determined in the processing of step S108 that the restriction release condition is not satisfied, the processing of the present flowchart ends.

[0137] According to the above-described embodiment, the vehicle control device is provided with an identification portion 130 that identifies a situation of a periphery of a host vehicle M, and a driving control portion (action plan generation portion 140, second control portion 160) that controls one or both of a steering and acceleration / deceleration of the host vehicle M to cause the host vehicle to travel, the driving control portion causing the host vehicle M to travel in any one of a plurality of driving modes including a first driving mode, in which the host vehicle is caused to travel in such a manner that a speed of the host vehicle M becomes a target speed, and in a case where the driving control portion recognizes a specific object in a travel direction of the host vehicle based on an identification result identified by the identification portion 130 or map information in the execution of the first driving mode, at least the execution of the first driving mode is restricted, whereby more appropriate vehicle control can be executed in accordance with the situation of the periphery.

[0138] Specifically, according to the above-described embodiment, for example, in a case where the specific object is recognized in the execution of the TJP mode of the host vehicle M, the execution of the TJP mode is restricted, whereby more appropriate driving control can be executed in accordance with the situation of the periphery that cannot be judged based on the map information alone.

[0139] The above-described embodiment can be expressed as follows.

[0140] A vehicle control device is configured to include:

[0141] a storage device in which a program is stored; and

[0142] a hardware processor,

[0143] the program stored in the storage device is executed by the hardware processor to perform the following processing:

[0144] identifying a surrounding situation of the host vehicle by an identifying section;

[0145] controlling one or both of steering and acceleration / deceleration of the host vehicle to travel the host vehicle;

[0146] travelling the host vehicle by any one of a plurality of driving modes including a first driving mode in which the host vehicle is travelled in such a manner that a speed of the host vehicle becomes a target speed; and

[0147] in execution of the first driving mode, at least execution of the first driving mode is limited in a case where a specific object is identified in a travelling direction of the host vehicle based on an identifying result identified by the identifying section or map information.

[0148] The above describes the specific embodiments of the present application using the embodiments, but the present application is not at all limited by such embodiments, and various modifications and substitutions can be applied within a range not departing from the gist of the present application.

Claims

1. A vehicle control device, wherein the vehicle control device is provided with: an identification unit that identifies a surrounding situation of a host vehicle; and a driving control unit that controls one or both of steering and acceleration / deceleration of the host vehicle to cause the host vehicle to travel, the driving control unit causes the host vehicle to travel in any one of a plurality of driving modes including a first driving mode in which the host vehicle is caused to travel in such a manner that a speed of the host vehicle becomes a target speed, the driving control unit, in execution of the first driving mode, limits execution of the first driving mode when a shoulder of a lane in which the host vehicle travels is identified by the identification unit, a first other vehicle on the shoulder is identified, and a second other vehicle traveling ahead of the host vehicle is identified, and a distance from a side end portion of the host vehicle on a lane side of the first other vehicle to a center of the lane is less than a threshold value adjusted in accordance with a speed of the first other vehicle, the speed of the first other vehicle is within a first predetermined speed range, a headway time between the host vehicle and the second other vehicle is less than a predetermined time, and a contact margin time between the host vehicle and the first other vehicle is within a predetermined time range, the threshold value is changed between a lower limit value and an upper limit value in accordance with a speed of the host vehicle, and a degree of increase of the threshold value is changed in accordance with a second predetermined speed range, the driving control unit, in execution of the first driving mode, further limits execution of the first driving mode when a specific object is identified in a traveling direction of the host vehicle on the basis of an identification result identified by the identification unit or map information, the specific object including at least one of an ambulance, a fire engine, and a police vehicle, when the speed of the host vehicle increases, the threshold value increases in the second predetermined speed range between the lower limit value and the upper limit value, and a degree of increase of the threshold value in a first range of the second predetermined speed range is greater than a degree of increase of the threshold value in a second range of the second predetermined speed range, the speed of the host vehicle in the second range being greater than the speed of the host vehicle in the first range.

2. The vehicle control device according to claim 1, wherein the specific object further includes a traffic signal within a prescribed distance from the host vehicle on a road in which the host vehicle travels.

3. The vehicle control device according to claim 1, wherein the specific object further includes a tunnel within a prescribed distance from the host vehicle.

4. The vehicle control device according to claim 1, wherein the driving control unit, in execution of the first driving mode, further limits execution of the first driving mode when the second other vehicle no longer exists ahead of the host vehicle, and a distance from the host vehicle to a more forward preceding vehicle traveling ahead of the second other vehicle is a prescribed distance or more, or the more forward preceding vehicle does not exist.

5. The vehicle control device according to claim 1, wherein The driving control section releases the restriction on execution of the first driving mode when a restriction release condition is satisfied after the restriction on execution of the first driving mode is imposed.

6. The vehicle control device according to claim 1, wherein The restriction on execution of the first driving mode includes a change to a second driving mode in which a task imposed on an occupant of the host vehicle is greater than in the first driving mode.

7. A vehicle control method, wherein The vehicle control method causes a computer to perform the following processing: identifying, by an identification section, a surrounding situation of a host vehicle; controlling one or both of steering and acceleration / deceleration of the host vehicle to cause the host vehicle to travel; causing the host vehicle to travel in any one of a plurality of driving modes including a first driving mode in which the host vehicle is caused to travel with a speed of the host vehicle as a target speed; in execution of the first driving mode, identifying, by the identification section, a shoulder of a lane in which the host vehicle travels, identifying a first other vehicle on the shoulder, and identifying a second other vehicle traveling ahead of the host vehicle, and when a distance from a side end portion of the host vehicle on a side of the lane to a center of the lane is less than a threshold value adjusted in accordance with a speed of the first other vehicle, the speed of the first other vehicle is within a first predetermined speed range, a headway between the host vehicle and the second other vehicle is less than a predetermined time, and a contact margin time between the host vehicle and the first other vehicle is within a predetermined time range, the execution of the first driving mode is restricted, the threshold value is changed between a lower limit value and an upper limit value in accordance with a speed of the host vehicle, and a degree of increase of the threshold value is changed in accordance with a second predetermined speed range; and when a specific object is identified in a travel direction of the host vehicle on the basis of an identification result identified by the identification section or map information in execution of the first driving mode, the execution of the first driving mode is further restricted, the specific object including at least one of an ambulance, a fire engine, and a police vehicle, when the speed of the host vehicle increases, the threshold value increases in the second predetermined speed range between the lower limit value and the upper limit value, and a degree of increase of the threshold value in a first range of the second predetermined speed range is greater than a degree of increase of the threshold value in a second range of the second predetermined speed range, the speed of the host vehicle in the second range being greater than the speed of the host vehicle in the first range.

8. A storage medium storing a program, wherein The program causes a computer to perform the following processing: identifying, by an identification section, a surrounding situation of a host vehicle; controlling one or both of steering and acceleration / deceleration of the host vehicle to cause the host vehicle to travel; causing the host vehicle to travel in any one of a plurality of driving modes including a first driving mode in which the host vehicle is caused to travel with a speed of the host vehicle as a target speed; In execution of the first driving mode, a shoulder of a lane in which the host vehicle is traveling is recognized by the recognition unit, a first other vehicle on the shoulder is recognized, and a second other vehicle traveling ahead of the host vehicle is recognized, and a distance from a side end portion of the first other vehicle on a lane side to a center of the lane is less than a threshold value adjusted according to a speed of the first other vehicle, the speed of the first other vehicle is within a first predetermined speed range, a headway between the host vehicle and the second other vehicle is less than a predetermined time, and a contact margin time between the host vehicle and the first other vehicle is within a predetermined time range, the execution of the first driving mode is limited, the threshold value is changed between a lower limit value and an upper limit value according to a speed of the host vehicle, and an increase degree of the threshold value is changed according to a second predetermined speed range; and In execution of the first driving mode, a specific object is recognized in a traveling direction of the host vehicle based on recognition results recognized by the recognition unit or map information, the specific object includes at least one of an ambulance, a fire engine, and a police vehicle, and the execution of the first driving mode is further limited, when the speed of the host vehicle increases, the threshold value increases within the second predetermined speed range between the lower limit value and the upper limit value, and an increase degree of the threshold value within a first range of the second predetermined speed range is greater than an increase degree of the threshold value within a second range of the second predetermined speed range, the speed of the host vehicle within the second range is greater than the speed of the host vehicle within the first range.

Images