Vehicle control device

Abstract

A vehicle control device capable of making lane change operation easy is provided. The vehicle control device includes an identification unit (130) that identifies an environment around a host vehicle (M), and a travel control unit (170) that is capable of performing lane change of the host vehicle (M) based on an identification result of the identification unit (130). The travel control unit (170) selectively performs lane change of the host vehicle (M) based on suggestion information of lane change output to a driver of the host vehicle (M) by the travel control unit (170) and lane change of the host vehicle (M) not based on the suggestion information, according to a first operation (pressing of a lane change button (86)) of the same content by the driver.

Description

TECHNICAL FIELD

[0001] The present application relates to a vehicle control device. BACKGROUND

[0002] As a function of automatic driving and driving assistance of a vehicle, a function in which a vehicle performs a lane change without depending on an operation of a driver is developed. For example, a lane change assistance device is disclosed in Patent Literature 1, which is configured to start a lane change assistance control based on an operation of a driver on a direction indicator lever control lever by the direction indicator lever control lever being held at a first operation position for a prescribed time or more, and to stop the lane change assistance control by the direction indicator lever control lever being operated to a second operation position. The direction indicator lever control lever of the assistance device is configured to be selectively operable to a first operation position that is turned from a neutral position by a first stroke and a second operation position that is turned from the neutral position by a second stroke deeper than the first operation position, with respect to each of a clockwise operation direction and a counterclockwise operation direction.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2018-103767 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, in the lane change assistance device of Patent Literature 1, when accepting the assistance control of the lane change, it is necessary to hold the direction indicator lever control lever at the first operation position among the first operation position and the second operation position that are operation positions of the direction indicator lever control lever for a prescribed time or more. In addition, it is necessary to operate the direction indicator lever control lever while changing the operation direction (counterclockwise operation or clockwise operation) of the direction indicator lever control lever in accordance with the direction of changing the lane (left lane change or right lane change). Therefore, the operation for accepting the assistance control of the lane change is not necessarily a simple direction indicator lever control lever operation, and there is room for improvement in the operation content thereof.

[0008] An object of the present application is to provide a vehicle control device capable of making an operation of a lane change easy.

[0009] MEANS FOR SOLVING THE PROBLEMS

[0010] The present application provides a vehicle control device in which,

[0011] The vehicle control device includes:

[0012] a recognition unit that recognizes an environment of a periphery of the vehicle; and

[0013] a travel control section that is capable of executing a lane change of the vehicle based on a result of recognition by the recognition section,

[0014] The travel control section selectively executes, based on a first operation of the same content by a driver of the vehicle, a lane change of the vehicle based on suggestion information of the lane change output to the driver by the travel control section, and a lane change of the vehicle without being based on the suggestion information.

[0015] Effects of Invention

[0016] According to the present application, it is possible to make the operation of the lane change easy. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a block diagram showing the structure of a vehicle system in which a vehicle control device is mounted.

[0018] Figure 2 is a diagram showing a first control section, a second control section, and a travel control section of the vehicle control device.

[0019] Figure 3 is a diagram showing an example of a correspondence relationship between a driving mode and a control state of the host vehicle and a task.

[0020] Figure 4 is a diagram showing an example of a road on which the host vehicle travels.

[0021] Figure 5 is a flowchart showing an example of a process by the travel control section.

[0022] Figure 6 is a diagram showing an example of a lane change button provided to a steering wheel.

[0023] Figure 7 is a diagram showing an example of a road for explaining a suggested automatic lane change (overtaking).

[0024] Figure 8 is a flowchart showing an example of a process of the suggested automatic lane change (overtaking).

[0025] Figure 9 is a diagram showing an example of a road for explaining a suggested automatic lane change (avoidance).

[0026] Figure 10 is a flowchart showing an example of a process of the suggested automatic lane change (avoidance).

[0027] Figure 11 is a diagram showing an example of a road for explaining an intended automatic lane change.

[0028] Figure 12is a flowchart showing one example of a process indicating an intention to automatically change lanes.

[0029] Explanation of reference numerals:

[0030] 1 vehicle system

[0031] 31 display device

[0032] 32 overtaking lane

[0033] 33, 35 return lane

[0034] 34 avoidance lane

[0035] 36, 37 movable lane

[0036] 82 steering wheel (one example of a steering device)

[0037] 86 lane change button (one example of a button)

[0038] 87 reverse lane change button

[0039] 130 recognition section

[0040] 170 travel control section

[0041] C (C1, C2) other vehicle

[0042] M host vehicle DETAILED DESCRIPTION

[0043] Hereinafter, an embodiment of the present application will be described with reference to the drawings.

[0044] [Overall structure]

[0045] Figure 1 is a block diagram showing the structure of a vehicle system 1 equipped with a vehicle control device of the embodiment. The vehicle equipped with the vehicle system 1 is, for example, a two-wheeled, three-wheeled, four-wheeled, or the like vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using generated electric power generated by a generator coupled to the internal combustion engine, or discharge electric power of a secondary battery or a fuel cell.

[0046] 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 driver monitoring camera 50, a navigation device 60, an MPU (Map Positioning Unit) 70, a driving operation member 80, a vehicle control device 100, a travel drive 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, a wireless communication network, and the like.

[0047] The camera 10 is, for example, a digital camera that uses a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is installed at an arbitrary position of a vehicle (hereinafter referred to as the host vehicle M) on which the vehicle system 1 is mounted.

[0048] The radar device 12 radiates an electric wave such as a millimeter wave to the periphery of the host vehicle M and detects a reflected wave (reflected wave) reflected by an object to detect at least the position (distance and direction) of the object. The radar device 12 is installed at an arbitrary position of the host vehicle M.

[0049] The LIDAR 14 irradiates light (or an electromagnetic wave of a wavelength close to light) to the periphery of the host vehicle M and measures scattered light. The LIDAR 14 detects the distance to an object based on the time from light emission to light reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 is installed at an arbitrary position of the host vehicle M.

[0050] The object recognition device 16 performs sensor fusion processing on the detection results of some or all of the camera 10, the radar device 12, and the LIDAR 14 to recognize the position, type, speed, and the like of an object. The object recognition device 16 outputs the recognition result to the vehicle control device 100. The object recognition device 16 can directly output the detection results of the camera 10, the radar device 12, and the LIDAR 14 to the vehicle control device 100.

[0051] The communication device 20 communicates with other vehicles existing in the periphery of the host vehicle M, for example, using a cellular network, a Wi-Fi (registered trademark) network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like, or communicates with various server devices via a wireless base station.

[0052] The HMI 30 prompts various information to the occupant of the host vehicle M and accepts an input operation by the occupant. The HMI 30 includes various display devices, a speaker, a buzzer, a touch panel, switches, keys, and the like.

[0053] 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 direction of the host vehicle M, and the like.

[0054] The driver monitoring camera 50 is, for example, a digital camera that uses a solid-state imaging element such as a CCD or a CMOS. The driver monitoring camera 50 is installed at an arbitrary portion of the host vehicle M at a position and in a direction that enable the head of an occupant (hereinafter, referred to as a driver) seated in the driver's seat of the host vehicle M to be imaged from the front (in a direction in which the face is imaged).

[0055] The navigation device 60 includes, for example, a GNSS (Global Navigation Satellite System) receiver 61, a navigation HMI (Human Machine Interface) 62, and a route decision section 63. The navigation device 60 stores first map information 64 in a storage device such as an HDD (Hard Disk Drive), a flash memory, or the like.

[0056] The GNSS receiver 61 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 uses the output of the vehicle sensor 40.

[0057] The navigation HMI 62 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 62 can also be partially or wholly shared with the aforementioned HMI 30.

[0058] The route decision unit 63 decides a route (hereinafter, referred to as an on-map route) from the position of the host vehicle M determined by the GNSS receiver 61 (or an arbitrary position input) to a destination input by the occupant using the navigation HMI 62, for example, with reference to the first map information 64. The first map information 64 is information representing a road shape, for example, by road segments and nodes connected by the road segments. The first map information 64 can also include road curvatures, POI (Point Of Interest) information, and the like. The on-map route is output to the MPU 70.

[0059] The navigation device 60 can also perform route guidance using the navigation HMI 62 based on the on-map route. The navigation device 60 can also transmit the current position and the destination to the navigation server via the communication device 20 and acquire a route equivalent to the on-map route from the navigation server.

[0060] The MPU 70 includes, for example, a recommended lane decision unit 71, and stores the second map information 72 in a storage device such as a HDD, a flash memory, or the like. The recommended lane decision unit 71 divides the on-map route provided from the navigation device 60 into a plurality of sections (for example, divided by 100 [m] in the vehicle travel direction), and decides a recommended lane by section with reference to the second map information 72. The recommended lane decision unit 71 performs decision, for example, to travel on the lane on the left side. The recommended lane decision unit 71 decides a recommended lane in such a manner that the host vehicle M can travel on a reasonable route for traveling to a branched destination in the case where there is a branching point in the on-map route.

[0061] The second map information 72 is map information of higher precision than the first map information 64. The second map information 72 includes, for example, information of the center of a lane or information of the boundary of a lane, or the like. In addition, the second map information 72 can contain road information, traffic regulation information, residence information, facility information, telephone number information, and the like. The second map information 72 can be updated at any time by communication with other devices via the communication device 20.

[0062] The driving operation member 80 includes, for example, in addition to a steering wheel 82 (an example of a steering device), an accelerator pedal, a brake pedal, a shift lever, and other operation members. The driving operation member 80 is provided with a sensor that detects an operation amount or the presence or absence of operation, and the detection result is output to the vehicle control device 100, or some or all of the travel driving force output device 200, the brake device 210, and the steering device 220. The steering wheel 82 does not necessarily have to be ring-shaped, and can be a shaped steering wheel, a joystick, a button, or the like.

[0063] The steering wheel 82 is provided with a steering wheel holding sensor 84. The steering wheel holding sensor 84 is implemented by an electrostatic capacitance sensor or the like, and outputs a signal capable of detecting whether or not the driver is holding the steering wheel 82 to the vehicle control device 100. In addition, the steering wheel 82 is provided with a lane change button 86 (an example of a button). The lane change button 86 is an operation member for causing the host vehicle M to perform a lane change, and is operated by the driver. The lane change button 86 outputs a lane change signal indicating a lane change to the vehicle control device 100 based on the situation of being operated.

[0064] The vehicle control device 100 is provided with a first control section 120 and a second control section 160. The first control section 120 and the second control section 160 are each implemented by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, a part or all of these constituent elements can be implemented 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, and can also be implemented by a combination of software and hardware. The program can also be stored in advance in a storage device such as an HDD or a flash memory of the vehicle control device 100.

[0065] Figure 2 is a block diagram indicating the functions of the first control section 120, the second control section 160, and the travel control section 170. The first control section 120 is provided with, for example, an identification section 130, a behavior plan generation section 140, and a mode determination section 150. The first control section 120 implements, for example, functions based on AI (Artificial Intelligence) and functions based on a model provided in advance in parallel. For example, the function of "recognizing an intersection" can be implemented by executing recognition of an intersection based on deep learning or the like and recognition based on a condition provided in advance (presence of a signal, a road sign, or the like capable of pattern matching) in parallel, scoring both, and comprehensively evaluating. Thereby, the reliability of automated driving is ensured.

[0066] The recognition unit 130 recognizes the position of an object in the periphery of the host vehicle M and the speed, acceleration, and the like of the object, on the basis of information input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16. The position of the object is recognized as a position on an absolute coordinate with a representative point (center of gravity, center of a drive shaft, or the like) of the host vehicle M as an origin, for example, and is used for control. The position of the object can be represented by a representative point such as a 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 "behavioral state" (for example, whether or not a lane change is being performed or is to be performed) of the object.

[0067] In addition, the recognition unit 130 recognizes the travel environment in which the host vehicle M is traveling, for example. For example, the recognition unit 130 recognizes the travel lane of the host vehicle M by comparing the pattern of the road division line (for example, the arrangement of solid lines and broken lines) obtained from the second map information 72 with the pattern of the road division line in the periphery of the host vehicle M recognized from the image captured by the camera 10. Note that the recognition unit 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 a shoulder, a curb, a median, a guardrail, and the like. In this recognition, the position of the host vehicle M obtained from the navigation device 60 and the processing result of the INS processing can also be added. In addition, the recognition unit 130 recognizes a stop line, an obstacle, a red light, a toll gate, and other road matters.

[0068] The recognition unit 130 recognizes the position and posture of the host vehicle M with respect to the travel lane when recognizing the travel lane. The recognition unit 130 can also recognize the deviation of a reference point of the host vehicle M from the center of the lane and the angle of the advancing direction of the host vehicle M with respect to a line connecting the center of the lane, as the relative position and posture of the host vehicle M with respect to the travel lane, for example. Instead, the recognition unit 130 can recognize the position of a reference point of the host vehicle M with respect to an arbitrary side end portion (road division line or road boundary) of the travel lane or the like as the relative position of the host vehicle M with respect to the travel lane.

[0069] The action plan generation section 140 generates a target track along which the host vehicle M is to travel automatically (independently of the operation of the driver) in the future, in a manner that, in principle, causes the host vehicle M to travel on the recommended lane decided by the recommended lane decision section 71 and that enables the host vehicle M to cope with the surrounding situation. The target track includes, for example, a speed element. The target track is expressed, for example, as a track in which points (track points) at which the host vehicle M should arrive are arranged in order. The track points are points at which the host vehicle M should arrive at prescribed travel distances (for example, several [m]) apart, counted along the track, and, in addition to this, target speeds and target accelerations at prescribed sampling times (for example, several tenths of a [sec]) apart are generated as part of the target track. In addition, the track points can be positions at which the host vehicle M should arrive at the sampling times at prescribed sampling times apart. In this case, information of the target speeds and target accelerations is expressed at intervals of the track points.

[0070] The action plan generation section 140 can set an event of automatic driving when generating the target track. The event of automatic driving includes a constant speed driving event, a low speed following driving event, a lane change event, a branch event, a merging event, a takeover event, and the like. The action plan generation section 140 generates a target track corresponding to the event that is started.

[0071] The mode decision section 150 decides the driving mode of the host vehicle M to be any one of a plurality of driving modes that differ in the task imposed on the driver. In addition, the mode decision section 150 changes the driving mode of the host vehicle M to a driving mode in which the task is heavier, in a case where the task of the decided driving mode (hereinafter, referred to as the current driving mode) is not performed by the driver.

[0072] Figure 3 is a diagram that shows an example of a correspondence relationship between the driving mode and the control state and the task of the host vehicle M. The driving mode of the host vehicle M has, for example, five modes of a first driving mode to a fifth driving mode. As for the control state, that is, the degree of automation of the driving control of the host vehicle M, the first driving mode is the highest, and then decreases in order of the second driving mode, the third driving mode, the fourth driving mode, and the fifth driving mode is the lowest. Conversely, the task imposed on the driver is the lightest in the first driving mode, and then becomes heavier in order of the second driving mode, the third driving mode, the fourth driving mode, and the fifth driving mode is the heaviest. Note that in the driving mode other than the first driving mode, the control state becomes one that is not automatic driving, and therefore the vehicle control device 100 is responsible for ending the control of automatic driving until shifting to driving assistance or manual driving. Hereinafter, the content of each driving mode will be exemplified.

[0073] In the first driving mode, an automatic driving state is assumed, and neither of the tasks of monitoring the front of the host vehicle M (hereinafter referred to as front monitoring) nor the task of holding the steering wheel 82 (steering wheel holding in the figure) is imposed on the driver. However, even in the first driving mode, the driver is required to be in a physical posture capable of shifting to manual driving promptly in response to a request from the vehicle control device 100. Note that the automatic driving referred to herein means that the steering, acceleration and deceleration are all controlled without depending on the operation of the driver. The front means the space in the direction of travel of the host vehicle M as visually recognized through the front windshield. The first driving mode is, for example, a driving mode that can be executed in a case where conditions such as the host vehicle M traveling at a speed equal to or lower than a prescribed speed (e.g., about 60 [km / h]) on a motor vehicle exclusive road such as an expressway, and the presence of a preceding vehicle to be followed as a following object are satisfied.

[0074] In the second driving mode, a driving assistance state is assumed, and the task of monitoring the front of the host vehicle M is imposed on the driver, but the task of holding the steering wheel 82 is not imposed. In the third driving mode, a driving assistance state is assumed, and the tasks of monitoring the front of the host vehicle M and holding the steering wheel 82 are imposed on the driver. The fourth driving mode is a driving mode in which at least one of the steering and the acceleration and deceleration of the host vehicle M requires a certain degree of driving operation by the driver. For example, in the fourth driving mode, driving assistance such as ACC (Adaptive Cruise Control) and LKAS (Lane Keeping Assist System) is performed. In the fifth driving mode, the steering and the acceleration and deceleration are both in a state of manual driving requiring driving operation by the driver. The fourth driving mode and the fifth driving mode both of course impose the task of monitoring the front of the host vehicle M on the driver.

[0075] Return Figure 2 The second control section 160 controls the host vehicle M so as to pass through the target track generated by the action plan generation section 140 at a predetermined time. The second control section 160, for example, has a retrieval section 162, a speed control section 164, and a steering control section 166.

[0076] The retrieval section 162 retrieves information of the target track (track point) generated by the action plan generation section 140 and stores it in a memory (not shown). The speed control section 164 controls the travel drive power output device 200 (refer to Figure 1 ) or the brake device 210 (refer to Figure 1 ) on the basis of a speed element attached to the target track stored in the memory. The steering control section 166 controls the steering device 220 (refer to Figure 1 ) in accordance with the bending of the target track 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.

[0077] In the vehicle control device 100, the structure in which the action plan generation section 140 and the second control section 160 are combined constitutes a travel control section 170. The travel control section 170 performs control of automatic lane change of the host vehicle M based on the recognition result of the travel situation or the travel environment or the like of the host vehicle M recognized by the recognition section 130.

[0078] The travel control section 170 selects one lane change mode from among a plurality of lane change modes different in the degree of participation of the driver of the host vehicle M, and performs travel control in accordance with the selected lane change mode. The plurality of lane change modes different in the degree of participation of the driver of the host vehicle M can also be referred to as a plurality of lane change modes different in the degree of automation. The smaller the degree of participation of the driver, the higher the degree of automation, and the larger the degree of participation of the driver, the lower the degree of automation.

[0079] For example, the plurality of lane change modes can include the following three automatic lane change modes. The first automatic lane change is an intention automatic lane change in which the driver of the host vehicle M himself intends to perform lane change and the driver of the host vehicle M gives an instruction of the start of lane change. In the intention automatic lane change, the driver of the host vehicle M determines whether lane change should be performed in consideration of the travel situation of other vehicles, the route to the destination, or the like. The driver of the host vehicle M gives the instruction of the start of lane change to the host vehicle M by operating the lane change button 86 in the case where lane change should be performed. The travel control section 170 starts automatic lane change at a timing at which it can be performed while considering the surrounding travel situation based on the instruction.

[0080] The second automatic lane change is a suggestion automatic lane change in which the travel control section 170 suggests lane change and the driver of the host vehicle M acknowledges the suggestion of lane change. In the suggestion automatic lane change, the travel control section 170 determines whether lane change should be performed based on the travel situation of other vehicles, the route to the destination, or the like. The travel control section 170 suggests lane change to the driver in the case where lane change should be performed. The driver of the host vehicle M gives the instruction of the start of lane change to the host vehicle M by operating the lane change button 86 in the case where the suggestion of lane change is acknowledged. The travel control section 170 starts automatic lane change at a timing at which it can be performed while considering the surrounding travel situation based on the instruction. Therefore, in the case where the suggestion of lane change is not acknowledged by the driver, that is, in the case where the lane change button 86 is not operated, automatic lane change is not performed.

[0081] The third type of automatic lane change is a judgment-based automatic lane change where the driving control unit 170 determines whether a lane change should be performed and initiates the lane change. In the judgment-based automatic lane change process, the driving control unit 170 determines whether a lane change should be performed based on the driving conditions of other vehicles, the route to the destination, etc. If a lane change is deemed necessary, the driving control unit 170 considers the surrounding driving conditions and initiates the automatic lane change at an opportune moment. In the case of a judgment-based automatic lane change, the driver of vehicle M does not participate in the lane change.

[0082] The vehicle control unit 100 performs automatic lane changes corresponding to the driving mode. For example, the vehicle control unit 100 can perform a decision-based automatic lane change in the first driving mode. The vehicle control unit 100 can perform a suggested automatic lane change in the second, third, and fourth driving modes. The vehicle control unit 100 can perform an intentional automatic lane change in the third and fourth driving modes. The vehicle control unit 100 does not perform any automatic lane changes in the fifth driving mode.

[0083] return Figure 1 The driving force output device 200 outputs driving force (torque) to the drive wheels to propel the vehicle. The driving force output device 200 may include, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU (Electronic Control Unit) that controls them. The ECU controls the above structure according to information input from the second control unit 160 or from the driving operation unit 80.

[0084] The braking device 210 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a braking ECU. The braking ECU controls the electric motor according to information input from the second control unit 160 or from the driving operation unit 80, and outputs braking torque corresponding to the braking operation to each wheel.

[0085] The steering system 220 includes, for example, a steering ECU and an electric motor. The electric motor applies force to a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor according to information input from the second control unit 160 or from the driving control unit 80, thereby changing the direction of the steering wheels.

[0086] Next, refer to Figures 4 to 12 The automatic lane change performed by the driving control unit 170 will be explained. For example... Figure 4As illustrated, the host vehicle M is currently traveling on the center lane L2 of a three-lane road having a left lane LI, the center lane L2, and a right lane L3. Other vehicles C are traveling on the left lane LI, the center lane L2, and the right lane L3, in addition to the host vehicle M.

[0087] The travel control section 170 repeatedly executes, for example, the processing illustrated in FIG. 7. First, the travel control section 170 acquires various travel information such as the travel state or the travel environment of the host vehicle M recognized by the recognition section 130 (step S41). The various travel information can also include the state (speed, etc.) of the host vehicle M, the surrounding environment (the state of the division line, etc.), and the state of the vehicles in the surrounding (the speed, position, etc. of the surrounding vehicles). Figure 5 Next, the travel control section 170 determines whether or not there is a preceding vehicle in the center lane L2 in which the host vehicle M is currently traveling, on the basis of the current travel information acquired from the recognition section 130 (step S42). The preceding vehicle referred to herein means other vehicles traveling in front of the host vehicle M in the same lane as the host vehicle M at a speed slower than the travel speed of the host vehicle M, and means other vehicles that the host vehicle M will soon catch up with.

[0088] In the case where there is a preceding vehicle in the center lane L2 in step S42 (step S42: YES), the travel control section 170 proceeds to the processing of the suggested automatic lane change (overtaking) of step S50 (

[0089] ) on the basis of the current travel information acquired from the recognition section 130. Figure 8

[0090] In the case where there is no preceding vehicle in the center lane L2 in step S42 (step S42: NO), the travel control section 170 determines whether or not there is a following vehicle in the center lane L2 in which the host vehicle M is currently traveling, on the basis of the current travel information acquired from the recognition section 130 (step S43). The following vehicle referred to herein means other vehicles traveling behind the host vehicle M in the same lane as the host vehicle M at a speed faster than the travel speed of the host vehicle M, and means other vehicles that will soon catch up with the host vehicle M.

[0091] In the case where there is a following vehicle in the center lane L2 in step S43 (step S43: YES), the travel control section 170 proceeds to the processing of the suggested automatic lane change (avoidance) of step S60 ( Figure 10 ) on the basis of the current travel information acquired from the recognition section 130.

[0092] In the case where there is no following vehicle in the center lane L2 in step S43 (step S43: NO), the travel control section 170 determines whether or not the lane change button 86 of the steering wheel 82 is pressed (step S44).

[0093] ​It should be noted that, in step S43, even if there is a vehicle behind in the central lane L2, for example, if the distance between the vehicle M and the vehicle behind is above a threshold, the driving control unit 170 may still proceed to step S43.

[0094] Lane change button 86, for example Figure 6 As shown, the position and shape are configured so that the driver can operate the steering wheel 82 blindly with one hand (e.g., one finger of the right hand).

[0095] If the lane change button 86 is pressed in step S44 (step S44: Yes), the driving control unit 170 enters the intention automatic lane change processing in step S70. Figure 12 ).

[0096] If the lane change button 86 is not pressed in step S44 (step S44: No), the driving control unit 170 ends a series of processes.

[0097] <Suggested handling for automatic lane changing (overtaking)>

[0098] like Figure 7 As shown, ahead of the vehicle M traveling in the central lane L2, there is another vehicle C1 (the vehicle in front) traveling in the same central lane L2.

[0099] like Figure 8 As shown, firstly, the driving control unit 170 determines, based on the current driving information obtained from the identification unit 130, whether there is an adjacent lane on the right side (in an example of a specific direction side) relative to the lane in which the vehicle M is currently traveling (step S51). Specifically, the driving control unit 170 determines whether there is an overtaking lane for passing other vehicles C1 on the right side of the central lane L2 in which the vehicle M is currently traveling.

[0100] In step S51, if there is no lane to the right of the lane in which the vehicle M is currently traveling (step S51: No), the driving control unit 170 continues to travel in the currently traveling lane and ends the processing of this suggested automatic lane change (overtaking).

[0101] In step S51, if there is a lane to the right of the lane in which the vehicle M is currently traveling (step S51: Yes), the driving control unit 170 suggests to the driver of the vehicle M a lane change to the right-hand lane for overtaking (step S52). Specifically, the driving control unit 170 suggests a lane change to the right-hand lane L3, which exists to the right of the center lane L2 in which the vehicle M is currently traveling.

[0102] When suggesting a lane change for overtaking, the driving control unit 170, in order to report the suggestion to the driver, displays the suggestion as a suggested image on the HMI 30's display device. Specifically, as follows... Figure 7 As shown in the HMI30 display device 31, the right lane L3, which is located to the right of the center lane L2 where the vehicle M is currently traveling, is highlighted (emphasized) as the overtaking lane 32 that the vehicle M moves to overtake other vehicle C1. It should be noted that an audio suggestion, such as "Please change lanes to the right lane to overtake other vehicle C1," can also be made from the HMI30's speaker. Additionally, a suggested image can also be displayed on the navigation HMI62 display device.

[0103] Next, the driving control unit 170 determines whether the lane change button 86 was pressed within a certain period of time (e.g., 20 to 30 seconds) after the suggested lane change (step S53). That is, the driving control unit 170 determines whether the driver of the vehicle M has accepted the suggested lane change from the driving control unit 170 within a certain period of time.

[0104] If the lane change button 86 is pressed within a certain time in step S53 (step S53: Yes), that is, if the driver approves the suggested overtaking lane change, the driving control unit 170 performs an overtaking lane change to the right lane of the vehicle M (step S54). Specifically, the driving control unit 170 performs an overtaking lane change for the vehicle M to the right lane L3.

[0105] If the lane change button 86 is not pressed within a certain time in step S53 (step S53: No), the driving control unit 170 reduces the speed of vehicle M while maintaining the current lane in which vehicle M is traveling (step S55), ending the suggested automatic lane change (overtaking) process. As described above, the other vehicle C1 ahead is traveling at a slower speed than vehicle M. Therefore, if vehicle M continues to travel in the aforementioned maintained state, vehicle M will quickly catch up with other vehicle C1. Therefore, if the driver of vehicle M does not approve the lane change for overtaking, the driving control unit 170 reduces the speed of vehicle M while maintaining the current lane and follows other vehicle C1.

[0106] After step S54, the driving control unit 170 determines, based on the current driving information obtained from the identification unit 130, whether the vehicle M, which changed lanes to the right to overtake, has overtaken other vehicle C1 (step S56).

[0107] In the case where the host vehicle M cannot overtake the other vehicle C1 in step S56 (step S56: No), the travel control portion 170 repeatedly performs the process of step S56 until the overtaking is possible.

[0108] In the case where the host vehicle M has overtaken the other vehicle C1 in step S56 (step S56: Yes), the travel control portion 170 advises the driver of the host vehicle M to perform a lane change to the left lane, i.e., a return lane change to the original lane on which the host vehicle M was traveling before the overtaking was performed (step S57). Specifically, the travel control portion 170 advises the host vehicle M to perform a return lane change from the right lane L3 on which it is currently traveling to the central lane L2 on the left side thereof.

[0109] When the return lane change is advised, the travel control portion 170 reports the advised content to the driver, for example, by displaying the advised content as an advised image in the display device of the HMI 30. Specifically, as with the display device 31 shown in FIG. 8, the central lane L2 existing on the left side of the right lane L3 on which the host vehicle M is traveling is displayed in color (highlighted) as a return lane 33 to which the host vehicle M returns. Note that a voice advice such as "The overtaking of the other vehicle C1 was successful, so please perform a lane change to the central lane." can also be made from the speaker of the HMI 30. Figure 7

[0110] Next, the travel control portion 170 determines whether the lane change button 86 is pressed within a certain time (for example, 20 to 30 seconds) after the return lane change is advised (step S58). That is, the travel control portion 170 determines whether the driver of the host vehicle M acknowledges the return lane change within the certain time in response to the advice of the return lane change from the travel control portion 170. The pressing operation of the lane change button 86 in response to the advice of the return lane change in step S58 is the same operation as the pressing operation of the lane change button 86 in response to the advice of the overtaking lane change in step S53.

[0111] In the case where the lane change button 86 is not pressed within the certain time in step S58 (step S58: No), the travel control portion 170 returns to step S57 to again advise the driver of the host vehicle M to perform a return lane change to the original lane. In the case where the return lane change is again advised, the strength of the advice can be increased compared to when the return lane change is initially advised. For example, in the display device 31 shown in FIG. 8, the display of the right lane L3 on which the host vehicle M is currently traveling can be omitted, and the return lane 33 to which the host vehicle M returns can be further highlighted. Figure 7

[0112] ​​If the lane change button 86 is pressed within a certain time in step S58 (step S58: Yes), that is, if the driver approves the suggested return lane change, the driving control unit 170 executes a return lane change to the lane to the left of the vehicle M (step S59). Specifically, the driving control unit 170 executes a return lane change for the vehicle M to the center lane L2. The vehicle M overtakes the vehicle in front (other vehicle C1) and then returns to the center lane L2, which was its original driving lane. The driving control unit 170 then ends the processing of this suggested automatic lane change (overtaking).

[0113] Thus, according to the vehicle control device 100, for example, the same simple operation of pressing the lane change button 86 once can easily perform the "overtaking lane change" and "returning lane change" when the vehicle M is traveling and overtaking the vehicle in front (other vehicle C1).

[0114] It should be noted that the above description assumes the vehicle M is traveling in the center lane L2, but the same procedure can be performed even when the vehicle M is traveling in the left lane L1. However, if the vehicle M, traveling in the left lane L1, changes lanes to the center lane L2 to overtake a vehicle in front, the driving control unit 170 can also control a lane change that discourages returning to the left lane L1 after overtaking. In this case, the driving control unit 170 can also allow the vehicle M to continue traveling directly in the center lane L2.

[0115] Additionally, for example, when vehicle M is traveling in the right lane L3, and there is a slow-moving vehicle ahead, the driving control unit 170 can also suggest to the driver of vehicle M that the vehicle M move to the left lane, i.e., the center lane L2, to change lanes for overtaking in order to avoid approaching that vehicle. In this case, if the driver of vehicle M presses the lane change button 86, the driving control unit 170 can move vehicle M to the center lane L2 to overtake while avoiding the slow-moving vehicle ahead. Similarly, in this case, the driving control unit 170 can also control a return lane change, suggesting a return to the right lane L3 after not overtaking.

[0116] <Suggested handling of automatic lane change (obstacle avoidance)>

[0117] like Figure 9 As shown, behind the vehicle M traveling in the central lane L2, there is another vehicle C2 (the vehicle behind) traveling in the same central lane L2.

[0118] like Figure 10As shown, firstly, the driving control unit 170 determines, based on the current driving information obtained from the identification unit 130, whether there is an adjacent lane to the left of the lane in which the vehicle M is currently traveling (step S61). Specifically, the driving control unit 170 determines whether there is a yielding lane to the left of the central lane L2 in which the vehicle M is currently traveling, in order to allow the vehicle M to make way for other vehicle C2.

[0119] If there is no lane to the left of the lane in which the vehicle M is currently traveling (step S61: no), the driving control unit 170 continues to travel in the currently traveling lane and ends the processing of this suggested automatic lane change (avoidance).

[0120] In step S61, if there is a lane to the left of the lane in which the vehicle M is traveling (step S61: Yes), the driving control unit 170 suggests a lane change to the left of the lane in an avoidance lane change (step S62). Specifically, the driving control unit 170 suggests a lane change to the left of the center lane L2 in which the vehicle M is traveling (step S62).

[0121] When suggesting a lane change to avoid an obstacle, the driving control unit 170 displays the suggested information as a suggested image on the HMI 30's display device to report the suggestion to the driver. Specifically, as follows... Figure 9 As shown on display device 31, the left lane L1, which is located to the left of the center lane L2 where vehicle M is traveling, is highlighted and displayed as a yielding lane 34 for vehicle M to move to give way to other vehicle C2. It should be noted that an audio suggestion, such as "To give way to other vehicle C2, please change lanes to the left lane," can also be made from the speaker of HMI 30. Additionally, a suggested image can also be displayed on the display device of navigation HMI 62.

[0122] Next, the driving control unit 170 determines whether the lane change button 86 has been pressed within a certain period of time (e.g., 20 to 30 seconds) after the suggested lane change (step S63). That is, the driving control unit 170 determines whether the driver of the vehicle M has accepted the lane change suggestion from the driving control unit 170 within a certain period of time.

[0123] If the lane change button 86 is pressed within a certain time in step S63 (step S63: Yes), that is, if the driver approves the suggested lane change, the driving control unit 170 performs a lane change to move to the left lane of the vehicle M (step S64). Specifically, the driving control unit 170 performs a lane change to move the vehicle M to the left lane L1.

[0124] In the case where the lane change button 86 is not pressed for a certain time in step S63 (step S63: No), the travel control portion 170 increases the travel speed of the host vehicle M while maintaining the current lane in which the host vehicle M is traveling (step S65), and ends the process of the proposed automatic lane change (avoidance). As described above, the other vehicle C2 that is the rear vehicle is traveling at a faster speed than the host vehicle M. Therefore, in the case where the host vehicle M travels in the above-described maintained state, the host vehicle M will soon be caught up with by the other vehicle C2. Therefore, the travel control portion 170 increases the travel speed of the host vehicle M while maintaining the current lane in which the host vehicle M is traveling without impeding the travel of the other vehicle C2 in the case where the driver of the host vehicle M does not approve of the lane change for giving way to the lane.

[0125] After step S64, the travel control portion 170 determines whether the host vehicle M that has performed the avoidance lane change of moving to the left lane is overtaken by the other vehicle C2 based on the current travel information acquired from the recognition portion 130 (step S66).

[0126] In the case where the host vehicle M is not overtaken by the other vehicle C2 in step S66 (step S66: No), the travel control portion 170 repeatedly performs the process of step S66 until overtaken.

[0127] In the case where the host vehicle M is overtaken by the other vehicle C2 in step S66 (step S66: Yes), the travel control portion 170 proposes to the driver of the host vehicle M to perform a lane change to the right lane, that is, a return lane change to the original lane in which the host vehicle M was traveling before giving way to the other vehicle C2 (step S67). Specifically, the travel control portion 170 proposes a return lane change to return from the left lane LI in which the host vehicle M is currently traveling to the central lane L2 on the right side thereof.

[0128] In proposing the return lane change, the travel control portion 170 reports the proposed content to the driver, for example, displays the proposed content as a proposed image in the display device of the HMI 30. Specifically, as with the display device 31 shown in FIG. 8, the central lane L2 existing on the right side of the left lane LI in which the host vehicle M is traveling is displayed in color (highlighted) as a return lane 35 to which the host vehicle M returns. Note that a voice proposal such as "overtaken by the other vehicle C2, so please perform a lane change to the central lane" can be made from the speaker of the HMI 30. Figure 9

[0129] ​Next, the travel control portion 170 determines whether the lane change button 86 is pressed within a certain time (for example, 20 to 30 seconds) after the return lane change is suggested (step S68). That is, the travel control portion 170 determines whether the driver of the host vehicle M acknowledges the return lane change within the certain time with respect to the suggestion of the return lane change from the travel control portion 170. The pressing operation of the lane change button 86 with respect to the suggestion of the return lane change in step S68 is the same content operation as the pressing operation of the lane change button 86 with respect to the suggestion of the avoidance lane change in step S63.

[0130] In a case where the lane change button 86 is not pressed within the certain time in step S68 (step S68: No), the travel control portion 170 returns to step S67 to again suggest the return lane change of the lane change to the original lane to the driver of the host vehicle M. In a case where the return lane change is again suggested, the strength of the suggestion can be increased compared to when the return lane change is initially suggested. For example, in the display device 31 illustrated in FIG. 8, the display of the left lane LI in which the host vehicle M is currently traveling can be omitted, and the display of the return lane 35 to which the host vehicle M returns can be further emphasized. Figure 9

[0131] In a case where the lane change button 86 is pressed within the certain time in step S68 (step S68: Yes), that is, in a case where the driver acknowledges the suggested return lane change, the travel control portion 170 performs the return lane change of the host vehicle M to the lane on the right side of the host vehicle M (step S69). Specifically, the travel control portion 170 performs the return lane change of the host vehicle M to the central lane L2. The host vehicle M gives way to the rear vehicle (the other vehicle C2) and is overtaken by the rear vehicle, and further returns to the central lane L2 as the original traveling lane, whereby the travel control portion 170 ends the processing of the suggested automatic lane change (avoidance).

[0132] Thus, according to the vehicle control device 100, for example, the respective lane changes of the "avoidance lane change" and the "return lane change" when the host vehicle M gives way to the rear vehicle (the other vehicle C2) in the traveling lane can be easily performed by the same content simple operation of simply pressing the lane change button 86 once.

[0133] ​It should be noted that the above description focuses on the scenario where vehicle M is traveling in the center lane L2, but the same procedure can also be performed when vehicle M is traveling in the right lane L3. However, if vehicle M, traveling in the right lane L3, changes lanes to the center lane L2 to avoid overtaking vehicles, the driving control unit 170 performs a lane change control that discourages returning to the right lane L3 after being overtaken. In this case, the driving control unit 170 controls the vehicle M to continue traveling directly in the center lane L2.

[0134] Additionally, for example, when vehicle M is traveling in the left lane L1, and there is a vehicle behind, the driving control unit 170 can also suggest a lane change to the right lane, i.e., the center lane L2, to allow the vehicle to make way for the vehicle behind. In this case, if the driver of vehicle M presses the lane change button 86, the driving control unit 170 can move vehicle M into the center lane L2 to avoid approaching a faster-moving vehicle behind and to allow the vehicle behind to overtake vehicle M. Similarly, in this case, the driving control unit 170 can also perform a return lane change to prevent being overtaken and return to the left lane L1.

[0135] <Handling of Intended Automatic Lane Change>

[0136] like Figure 11 As shown, vehicle M is traveling in the central lane L2.

[0137] exist Figure 5 In step S44, if the lane change button 86 is pressed, such as Figure 12 As shown, firstly, the driving control unit 170 determines, based on the current driving information obtained from the identification unit 130, whether there is an adjacent lane to the right of the lane in which the vehicle M is currently traveling (step S71). Specifically, the driving control unit 170 determines whether there is a movable lane that can move to the right of the central lane L2 in which the vehicle M is currently traveling.

[0138] In step S71, if a lane exists to the right of the lane in which the vehicle M is currently traveling (step S71: Yes), the driving control unit 170, in order to report to the driver that a movable lane exists to the right, displays a movable lane warning as a movable lane image on the display device of the HMI 30 (step S72). Specifically, as... Figure 11As shown in the display device 31, the right lane L3 existing on the right side of the central lane L2 on which the host vehicle M is currently running is displayed as a movable lane 36 by being colored (highlighted). Note that a sound report such as "lane change to the right lane is instructed based on the intention" can be made from the speaker of the HMI 30. In addition, the moving lane image can be displayed on the display device of the navigation HMI 62.

[0139] Next, the travel control portion 170 executes the intention automatic lane change to the lane on the right side of the host vehicle M based on the intention of the driver (step S73). Specifically, the travel control portion 170 executes the intention automatic lane change of the host vehicle M to move from the central lane L2 to the right lane L3.

[0140] In the case where no lane exists on the right side of the lane on which the host vehicle M is currently running (step S71: No), the travel control portion 170 determines whether a neighboring lane exists on the left side of the lane on which the host vehicle M is currently running based on the current travel information acquired from the recognition portion 130 (step S74). Specifically, the travel control portion 170 determines whether a movable lane exists that can move to the left side of the central lane L2 on which the host vehicle M is currently running.

[0141] In the case where a lane exists on the left side of the lane on which the host vehicle M is currently running (step S74: Yes), the travel control portion 170 displays the movable lane as a moving lane image on the display device of the HMI 30, for example, in order to report to the driver that the movable lane exists on the left side (step S75). For example, in the case where the host vehicle M is running on the right lane L3, the travel control portion 170 displays the central lane L2 existing on the left side of the right lane L3 on which the host vehicle M is currently running as a movable lane 37 by being colored (highlighted) as shown in the display device 31. Note that a sound report such as "lane change to the left lane is instructed based on the intention" can be made from the speaker of the HMI 30. Figure 11

[0142] Next, the travel control portion 170 executes the intention automatic lane change to the lane on the left side of the host vehicle M based on the intention of the driver (step S76). For example, in the case where the host vehicle M is running on the right lane L3, the travel control portion 170 executes the intention automatic lane change of the host vehicle M to move from the right lane L3 to the central lane L2.

[0143] In the case where no lane exists on the left side of the lane on which the host vehicle M is currently running (step S74: No), the travel control portion 170 continues the running on the lane on which the host vehicle M is currently running, and ends the process of the intention automatic lane change. ​

[0144] Thus, according to the vehicle control device 100, for example, a simple operation such as pressing the lane change button 86 once can be performed to easily perform a right lane change to the right of the lane to which the vehicle M is traveling and a left lane change to the left of the lane to which the vehicle M is traveling.

[0145] It should be noted that the above description assumes the vehicle M is traveling in the center lane L2 or the right lane L3, but the same process can also be performed when the vehicle M is traveling in the left lane L1. However, when the vehicle M is traveling in the left lane L1, the driving control unit 170 initiates an automatic lane change from the left lane L1 to the center lane L2 by pressing the initial lane change button 86, and then initiates an automatic lane change from the center lane L2 to the right lane L3 by pressing the next lane change button 86.

[0146] Examples of situations in which automatic lane changing is performed include situations where there is an obstacle in front of the lane in which vehicle M is traveling, situations where a large vehicle is traveling in front, and situations where the number of lanes in front changes.

[0147] Furthermore, even when a lane exists to the right of the vehicle M, the driving control unit 170 can control the vehicle M to automatically change lanes to the left lane. In this case, for example, a reverse lane change button 87 can also be provided on the steering wheel 82 separately from the lane change button 86 (see [reference]). Figure 6 When the driver presses the reverse lane change button 87, even if a lane exists to the right of vehicle M, the driving control unit 170 automatically changes vehicle M to the left lane. Specifically, when the driver of vehicle M presses the reverse lane change button 87, even if a right lane L3 exists to the right of vehicle M, the driving control unit 170 automatically changes vehicle M to the left lane L1. It should be noted that, instead of operating the reverse lane change button 87, the vehicle M can also automatically change to the left lane L1 by operating the existing steering lever. Alternatively, instead of operating the reverse lane change button 87, the vehicle M can automatically change to the left lane L1 by pressing the lane change button 86 twice consecutively.

[0148] The above describes embodiments of the present application, but the present application is not limited to the above-described embodiments, and can be appropriately modified, improved, and the like.

[0149] For example, in the above-described embodiments, the processing of the recommended automatic lane change (overtaking, evading) and the intended automatic lane change in the case where the host vehicle M travels on a three-lane road is described, but is not limited thereto. For example, in the case where the host vehicle M travels on a two-lane road, or in the case where the host vehicle M travels on a four-lane or more road, the same processing can be performed.

[0150] Further, in the above-described embodiments, the case where each of the "overtaking lane change" and the "return lane change", each of the "evading lane change" and the "return lane change", and each of the "right lane change" and the "left lane change" is performed by the same content operation of pressing the lane change button 86 is described, but is not limited thereto. For example, the control can be performed in such a manner that the "overtaking lane change" and the "return lane change", the "evading lane change" and the "return lane change", and the "right lane change" and the "left lane change" are executed as a series of lane changes by one pressing of the lane change button 86.

[0151] Further, in the above-described embodiments, the control is performed in such a manner that the "overtaking lane change" and the "return lane change", the "evading lane change" and the "return lane change", and the "right lane change" and the "left lane change" are performed by the driver operating the lane change button 86, but is not limited thereto. For example, the control can be performed in such a manner that each of the lane changes is performed by the driver making a voice input. In this case, the control is performed in such a manner that each of the "overtaking lane change" and the "return lane change", each of the "evading lane change" and the "return lane change", and each of the "right lane change" and the "left lane change" is performed by the driver making only the same instruction voice of "lane change".

[0152] Further, in the above-described embodiments, the lane on the right side is described as the lane on the overtaking side (the side of the specific direction), and the lane on the left side is described as the lane on the evading side (the side opposite to the specific direction), but depending on the region where the host vehicle M travels, the lane on the left side becomes the lane on the overtaking side (the side of the specific direction), and the lane on the right side becomes the lane on the evading side (the side opposite to the specific direction).

[0153] Further, at least the following matters are described in the present specification. Note that the corresponding constituent elements and the like in the above-described embodiments are shown in parentheses, but are not limited thereto.

[0154] (1) A vehicle control device in which

[0155] The vehicle control device includes:

[0156] an identification unit (identification unit 130) that identifies an environment of a periphery of a vehicle (host vehicle M); and

[0157] a travel control unit (travel control unit 170) that is capable of executing a lane change of the vehicle based on a result of the identification by the identification unit,

[0158] The travel control unit selectively executes, according to a first operation (pressing of a lane change button 86) of the same content by a driver of the vehicle, a lane change of the vehicle based on suggestion information of the lane change output to the driver by the travel control unit, and a lane change of the vehicle not based on the suggestion information.

[0159] According to (1), the driver is able to execute, by the first operation of the same content, a lane change based on a suggestion from the vehicle control device side and a lane change of his or her own intention not based on the suggestion from the vehicle control device side, and thus does not need an operation corresponding to a kind of the lane change, and is able to make the operation of the lane change easy.

[0160] (2) The vehicle control device according to (1), in which

[0161] The travel control unit selectively executes, according to the first operation, a lane change:

[0162] a first lane change (overtaking lane change, evasive lane change) that moves the vehicle from a first lane (center lane L2) to a second lane (right lane L3, left lane LI) based on the suggestion information;

[0163] a second lane change (return lane change) that moves the vehicle moved to the second lane by the first lane change to the first lane;

[0164] a third lane change (intention automatic lane change) that moves the vehicle from the first lane (center lane L2) to the second lane (right lane L3, left lane LI) not based on the suggestion information; and

[0165] a fourth lane change (intention automatic lane change) that moves the vehicle moved to the second lane by the third lane change to the first lane.

[0166] In the vehicle control device 100, the "first lane" refers to the lane in which the host vehicle M is currently traveling. The "second lane" refers to the lane on the overtaking side (for example, the right side) of the lane in which the host vehicle M is currently traveling. The "third lane" refers to the lane on the side opposite to the overtaking side (for example, the left side) of the lane in which the host vehicle M is currently traveling.

[0167] According to (2), the driver is able to perform, by the first operation of the same content, the first lane change for overtaking and the like based on the suggestion from the vehicle control device side, the second lane change to return to the original lane after the first lane change, the third lane change for the overtaking and the like of the own intention without being based on the suggestion from the vehicle control device side, and the fourth lane change to return to the original lane after the third lane change, and thus does not need the operation corresponding to the kind of the lane change and the direction of the lane change, and is able to make the operation of the lane change easier.

[0168] (3) The vehicle control device according to (2), wherein

[0169] The travel control section performs the following processing in the lane change of the vehicle without being based on the suggestion information:

[0170] In a case where the second lane (right lane L3) adjacent to the first lane (center lane L2) on the side (right side) in the specific direction exists, when the first operation is performed, the third lane change of moving the vehicle to the second lane is performed;

[0171] In a case where the second lane does not exist, when the first operation is performed, the third lane change of moving the vehicle to the third lane (left lane LI) adjacent to the first lane on the side (left side) opposite to the specific direction is performed.

[0172] According to (3), in a case where the driver performs the lane change of the own intention without being based on the suggestion from the vehicle control device side, the above-described first operation is performed regardless of the direction of the lane change, and thus it is possible to automatically select the direction of the lane change according to the presence or absence of the adjacent lane on the left and right of the lane in the travel, and perform the lane change. For example, the driver is able to perform the lane change toward the overtaking lane and the lane change from the overtaking lane to the traveling lane by the first operation of the same content. Thus, it is possible to make the operation of the lane change easier. For example, assuming that the side in the specific direction is the right side, and the left lane, the center lane, and the right lane exist. In this case, if the first operation is performed when the vehicle is in the left lane, the lane change from the left lane to the center lane is performed. If the first operation is performed again in this state, the change from the center lane to the right lane is performed.

[0173] (4) The vehicle control device according to (3), in which

[0174] When a second operation (pressing of the reverse lane change button 87) different from the first operation is performed in the presence of the second lane, the travel control section moves the vehicle to the third lane.

[0175] According to (4), the driver is able to perform a lane change in a direction opposite to the direction of the lane change automatically selected at the time of the first operation by performing a second operation. For example, when the driver is traveling in the central lane of a three-lane road, the driver is able to perform a second operation in the case where the driver wants to perform a lane change to a lane on the opposite side from the overtaking lane. Thus, while the direction of the lane change is automatically selected at the time of the first operation, a lane change in a direction opposite to the direction of the lane change automatically selected at the time of the first operation is also able to be performed.

[0176] (5) The vehicle control device according to any one of (2) to (4), in which

[0177] The travel control section performs the following processing:

[0178] In the case where the first lane is present with a preceding vehicle (other vehicle Cl) of the vehicle in front, the advice information that advises the first lane change (overtaking lane change) is output, and when the first operation is performed after the advice information that advises the first lane change is output, the first lane change is executed;

[0179] In the case where the vehicle overtakes the preceding vehicle on the second lane after the first lane change, advice information that advises the second lane change (return lane change) is output, and when the first operation is performed after the advice information that advises the second lane change is output, the second lane change is executed.

[0180] According to (5), in the case where the driver performs a lane change based on advice from the vehicle control device side, the driver is able to perform a lane change by performing the first operation in the case where the advice is acknowledged regardless of the direction of the lane change. For example, the driver is able to perform a lane change toward the overtaking lane and a lane change from the overtaking lane to the traveling lane by the same content of the first operation, and thus the operation of the lane change is able to be made easier.

[0181] (6) The vehicle control device according to (5), in which

[0182] The travel control section performs the following processing:

[0183] in a case where the first lane exists in which the preceding vehicle exists and the second lane exists which is adjacent to the first lane on a specific direction side, outputting the advice information which advises the first lane change (overtaking lane change) which moves the vehicle to the second lane,

[0184] in a case where the first lane exists in which the preceding vehicle exists and the second lane does not exist, outputting the advice information which advises the first lane change (overtaking lane change) which moves the vehicle to a third lane which is adjacent to the first lane on a side opposite to the specific direction.

[0185] According to (6), in a case where the driver performs the lane change based on the advice from the vehicle control device side, the driver performs the above-described first operation regardless of the direction of the lane change, and thus it is possible to automatically select the direction of the lane change in accordance with the presence or absence of the adjacent lane on the left and right of the lane during travel, and perform the lane change. For example, the driver is able to perform the lane change toward the overtaking lane and the lane change from the overtaking lane to the traveling lane by the same content of the first operation. Therefore, it is possible to make the operation of the lane change easier.

[0186] (7) The vehicle control device according to (6), wherein

[0187] the travel control section outputs the advice information which advises the first lane change (avoidance lane change) which moves the vehicle to the third lane in a case where the first lane exists in which the vehicle of the rear of the vehicle (other vehicle C2) exists.

[0188] According to (7), in a case where the following vehicle exists, it is possible to advise the driver to perform the lane change to the lane on the side opposite to the case where the preceding vehicle exists. In this case as well, the driver is able to perform the lane change based on the advice from the vehicle control device side by performing the above-described first operation.

[0189] (8) The vehicle control device according to (7), wherein

[0190] the travel control section outputs the advice information which advises the first lane change which moves the vehicle to the third lane in a case where the distance between the vehicle and the vehicle of the rear satisfies a prescribed condition.

[0191] According to (8), it is possible to advise the driver of the lane change in accordance with the presence of the following vehicle and the distance between the following vehicle. For example, even in a case where the following vehicle exists, in a case where the distance between the following vehicle is sufficient (above a threshold value), it is possible to not advise the driver of the lane change.

[0192] (9) The vehicle control device according to any one of (5) to (8), wherein

[0193] The travel control section maintains the vehicle in the first lane in a case where the first operation is not performed within a prescribed time after output of the advice information that advises the first lane change (overtaking lane change, evasive lane change).

[0194] According to (9), in a case where the driver does not recognize the first lane change for overtaking and the like, the lane can be maintained in accordance with the intention of the driver, and the following of the preceding vehicle can be continued.

[0195] (10) The vehicle control device according to any one of (5) to (9), wherein

[0196] The travel control section re-outputs the advice information that advises the second lane change in a case where the first operation is not performed within a prescribed time after output of the advice information that advises the second lane change (return lane change).

[0197] According to (10), in a case where the driver does not recognize the second lane change for returning to the original lane after the first lane change for overtaking and the like, the driver can be prompted again to perform the second lane change for returning to the original lane.

[0198] (11) The vehicle control device according to any one of (1) to (10), further comprising:

[0199] A display section (display device 31) that displays, to the driver, a lane of a movement destination that moves by the lane change before the lane change.

[0200] According to (11), the driver can be informed in an easily understandable manner of which lane the vehicle will move to by performing the above first operation. Therefore, the driver can perform the above first operation in a case where the driver wishes to perform the lane change to the displayed movement destination, and the operation of the lane change can be made easier.

[0201] (12) The vehicle control device according to any one of (1) to (11), wherein

[0202] The first operation is a pressing of a button (lane change button 86) provided to a steering device (steering wheel 82) of the vehicle.

[0203] According to (12), the driver can perform the lane change by pressing the button provided to the steering device held during driving, and thus the operation of the lane change can be made easier.

Claims

1. A vehicle control device, wherein, The vehicle control device includes: The identification unit identifies the vehicle's surrounding environment; and The driving control unit is capable of performing lane changes for the vehicle based on the recognition result of the recognition unit. The driving control unit selectively performs the following lane change based on the same first operation by the driver of the vehicle: lane change of the vehicle based on lane change suggestion information output by the driving control unit to the driver; And lane changes of the vehicle not based on the suggested information, The driving control unit selectively performs the following lane changes based on the first operation: A third lane change that moves the vehicle from the first lane to the second lane without based on the suggested information; and A fourth lane change that moves a vehicle that has moved to the second lane via the third lane change back to the first lane, without being based on the suggested information.

2. The vehicle control device according to claim 1, wherein, The driving control unit also selectively performs the following lane changes based on the first operation: A first lane change that moves the vehicle from the first lane to the second lane based on the suggested information; and Based on the suggested information, the vehicle that moved to the second lane by the first lane change is moved back to the first lane for a second lane change.

3. The vehicle control device according to claim 2, wherein, When the driving control unit performs a lane change of the vehicle without based on the suggested information, it performs the following processing: In the case where a second lane is adjacent to the first lane on one side in a specific direction, when the first operation is performed, the third lane change is performed to move the vehicle into the second lane; and In the absence of the second lane, when the first operation is performed, a third lane change is made to move the vehicle to a third lane adjacent to the first lane on the side opposite to the specific direction.

4. The vehicle control device according to claim 3, wherein, When the second lane is present, and a second operation different from the first operation is performed, the driving control unit moves the vehicle into the third lane.

5. The vehicle control device according to any one of claims 2 to 4, wherein, The driving control unit performs the following processing: If there is a vehicle ahead of the vehicle in the first lane, the suggestion information for changing the first lane is output, and if the first operation is performed after the suggestion information for changing the first lane is output, the first lane change is executed. If the vehicle overtakes the vehicle in front in the second lane after the first lane change, a suggestion to change to the second lane is output. If the first operation is performed after the suggestion to change to the second lane is output, the second lane change is executed.

6. The vehicle control device according to claim 5, wherein, The driving control unit performs the following processing: If there is a vehicle ahead in the first lane and there is a second lane adjacent to the first lane in a specific direction, output the first lane change suggestion information that suggests the vehicle move to the second lane; If the vehicle ahead is present in the first lane and the second lane is not present, output the suggestion information that proposes a lane change for the vehicle to move to the first lane in a third lane that is adjacent to the first lane on the side opposite to the specific direction.

7. The vehicle control device according to claim 6, wherein, When a vehicle is behind the vehicle in the first lane, the driving control unit outputs a suggestion to change the first lane, suggesting that the vehicle move to the third lane.

8. The vehicle control device according to claim 7, wherein, When the distance between the vehicle and the vehicle behind it meets a predetermined condition, the driving control unit outputs the first lane change suggestion information, which suggests that the vehicle move to the third lane.

9. The vehicle control device according to claim 5, wherein, If the first operation is not performed within a predetermined time after the driving control unit outputs the suggestion information suggesting the first lane change, the vehicle will remain in the first lane.

10. The vehicle control device according to claim 5, wherein, If the first operation is not performed within a predetermined time after the driving control unit outputs the suggestion information for changing the second lane, the driving control unit will output the suggestion information for changing the second lane again.

11. The vehicle control device according to any one of claims 1 to 4, wherein, The vehicle control device also includes a display unit that displays the lane of the destination to be moved to through the lane change to the driver before the lane change.

12. The vehicle control device according to any one of claims 1 to 4, wherein, The first operation is to press a button on the steering device of the vehicle.

Images