Travel control device, travel control method, and non-transitory computer readable medium storing a computer program for travel control

Abstract

The present disclosure provides a driving control device, a driving control method, and a non-transitory computer-readable medium storing a driving control computer program. The driving control device detects a rear vehicle traveling behind the vehicle from surrounding data output by a sensor mounted on the vehicle according to the surrounding conditions of the vehicle, controls the driving of the vehicle in a manner that ensures a predetermined interval or more with the detected rear vehicle, causes the vehicle to perform a first action when the interval between the vehicle and the rear vehicle is greater than an interval threshold, causes the vehicle to perform a second action that contributes more to the safe driving of the vehicle than the first action when the interval is less than the interval threshold, sets the interval threshold to a first value when the driving condition of the vehicle does not satisfy a predetermined interval reduction condition for determining whether the interval reduction may occur, and sets the interval threshold to a second value smaller than the first value when the driving condition of the vehicle satisfies the interval reduction condition.

Description

Technical Field

[0001] The present disclosure relates to a travel control device and a travel control method for controlling the travel of a vehicle, and a non-transitory computer-readable medium storing a computer program for the travel control. Background Art

[0002] A travel control device that automatically controls the travel of a vehicle based on a peripheral image generated by a camera mounted on the vehicle detects a rear vehicle from the peripheral image and controls the travel of the vehicle so that a predetermined interval or more is maintained between the rear vehicle and the rear vehicle.

[0003] Patent document 1 discloses a driving control device that guides the driver to switch the driving state from automatic driving to manual driving when a following vehicle is within a predetermined range from the vehicle at a difficult location where the driving difficulty based on automatic driving is high. According to the driving control device disclosed in Patent document 1, the driver can pass the difficult location by manual driving before the following vehicle approaches.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2019 / 064349 Summary of the invention

[0007] Depending on the situation in which the driving control of the host vehicle is performed, it is assumed that the interval with the following vehicle is shortened. For example, when the host vehicle changes lanes to a branch lane branching from the driving lane, since the branch lane has a lower speed limit than the driving lane, the driving control device needs to reduce the speed of the host vehicle before changing lanes. When the following vehicle behind the host vehicle is traveling at a constant speed in the driving lane, the interval between the host vehicle with a reduced speed and the following vehicle traveling at a constant speed becomes shorter.

[0008] Even if the distance between the vehicle and the following vehicle is reduced to a certain extent, since the vehicle will change lanes to the branch lane later, it will not be a dangerous situation for the following vehicle traveling in the driving lane. However, since the distance between the vehicle and the following vehicle is lower than the safety distance set to maintain safety during driving in the driving lane, the driving control device causes the vehicle to perform actions that contribute to safety, such as terminating the lane change based on automatic driving to ensure safety. Through this action, the driving control device continues to drive in the driving lane, switches to manual driving at the request of the driver, etc., and the lane change to the branch lane implemented by automatic driving is not suitable, so the usefulness of the driving control device is reduced. In addition, due to the change in the behavior of the vehicle, the following vehicle also needs to change its behavior.

[0009] An object of the present disclosure is to provide a travel control device that can cause a vehicle to perform an appropriate operation according to the surrounding conditions of the vehicle.

[0010] The driving control device of the present disclosure comprises: a detection unit for detecting a rear vehicle traveling around the vehicle from surrounding data output by a sensor mounted on the vehicle based on the surrounding conditions of the vehicle; a driving control unit for controlling the driving of the vehicle in a manner that ensures a predetermined interval or more from the detected rear vehicle; an action control unit for causing the vehicle to perform a first action when the interval between the vehicle and the rear vehicle is greater than an interval threshold, and causing the vehicle to perform a second action that contributes more to the safe driving of the vehicle than the first action when the interval is less than the interval threshold; and a setting unit for setting the interval threshold to a first value when the driving condition of the vehicle, including at least one of the surrounding conditions detected from the surrounding data, the surrounding conditions of the current position of the vehicle obtained from a storage device storing map information, and the condition of a lane change of the vehicle, does not satisfy a predetermined interval reduction condition for determining whether the interval may be reduced, and setting the interval threshold to a second value smaller than the first value when the driving condition of the vehicle satisfies the interval reduction condition.

[0011] In the driving control device involved in the present disclosure, the interval reduction condition preferably includes a situation in which the vehicle's lane is scheduled to be changed to a branch lane that branches off from the vehicle's own lane in the front direction of the vehicle's own lane, the first action includes the execution of the lane change, and the second action includes the termination of the lane change.

[0012] In the travel control device involved in the present disclosure, preferably, the gap reduction condition includes a situation where the front speed limit of the lane in which the vehicle is traveling is reduced, the first action includes continuing the driving in the lane, and the second action includes changing the lane from the lane to a lane other than the lane.

[0013] In the travel control device according to the present disclosure, preferably, the first action includes notification to the driver of the vehicle based on the first solution, and the second action includes notification to the driver based on a second solution having a higher intensity than the first solution.

[0014] The present disclosure provides a driving control method, comprising: detecting a rear vehicle traveling behind the vehicle from surrounding data output by a sensor mounted on the vehicle based on surrounding conditions of the vehicle; controlling the driving of the vehicle in a manner that ensures a predetermined interval or greater from the detected rear vehicle; causing the vehicle to perform a first action when the interval between the vehicle and the rear vehicle is greater than an interval threshold, and causing the vehicle to perform a second action that contributes more to the safe driving of the vehicle than the first action when the interval is less than the interval threshold; and setting the interval threshold to a first value when the driving condition of the vehicle, including at least one of the surrounding conditions detected from the surrounding data, the surrounding conditions of the current position of the vehicle obtained from a storage device storing map information, and the condition of a predetermined lane change of the vehicle, does not satisfy a predetermined interval reduction condition for determining whether the interval may be reduced, and setting the interval threshold to a second value smaller than the first value when the driving condition of the vehicle satisfies the interval reduction condition.

[0015] The present disclosure provides a computer program for driving control stored in a non-transitory computer-readable medium, which causes a processor to execute: detecting a rear vehicle traveling behind the vehicle from surrounding data output by a sensor mounted on the vehicle based on surrounding conditions of the vehicle; controlling the driving of the vehicle in a manner that ensures a predetermined interval or more from the detected rear vehicle; causing the vehicle to execute a first action when the interval between the vehicle and the rear vehicle is greater than an interval threshold, and causing the vehicle to execute a second action that contributes more to safe driving of the vehicle than the first action when the interval is less than the interval threshold; and setting the interval threshold to a first value when the driving condition of the vehicle, including at least one of the surrounding conditions detected from the surrounding data, the surrounding conditions of the current position of the vehicle obtained from a storage device storing map information, and the conditions of a predetermined lane change of the vehicle, does not satisfy a predetermined interval reduction condition for determining whether the interval may be reduced, and setting the interval threshold to a second value smaller than the first value when the driving condition of the vehicle satisfies the interval reduction condition.

[0016] According to the travel control device of the present invention, it is possible to cause the vehicle to perform appropriate operations according to the surrounding conditions of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a vehicle equipped with a travel control device.

[0018] Figure 2 It is a hardware schematic diagram of the travel control device.

[0019] Figure 3 This is a functional block diagram of a processor included in the travel control device.

[0020] Figure 4It is a diagram for explaining the first example of the interval reduction condition.

[0021] Figure 5 It is a diagram for explaining the second example of the interval reduction condition.

[0022] Figure 6 This is a flow chart of the travel control process.

[0023] (Explanation of symbols)

[0024] 1: vehicle; 6: travel control device; 631: detection unit; 632: travel control unit; 633: action control unit; 634: setting unit. DETAILED DESCRIPTION

[0025] Hereinafter, a driving control device capable of causing a vehicle to appropriately perform an action according to the surrounding conditions of the vehicle will be described in detail with reference to the accompanying drawings. The driving control device detects a lane dividing line dividing a lane in which the vehicle is traveling and a rear vehicle traveling behind the vehicle from surrounding data output by a sensor mounted on the vehicle according to the surrounding conditions of the vehicle. The driving control device controls the driving of the vehicle in accordance with the lane dividing line. In addition, the driving control device causes the vehicle to perform a first action when the interval between the vehicle and the rear vehicle is greater than an interval threshold, and causes the vehicle to perform a second action that contributes more to the safe driving of the vehicle than the first action when the interval is less than the interval threshold. Furthermore, the driving control device sets the interval threshold to a first value when the driving condition of the vehicle does not satisfy a predetermined interval reduction condition for determining whether the interval reduction may occur, and sets the interval threshold to a second value smaller than the first value when the driving condition of the vehicle satisfies the interval reduction condition. The driving condition of the vehicle includes at least one of the surrounding conditions detected from the surrounding data, the surrounding conditions of the current position of the vehicle obtained from a storage device storing map information, and the condition of a predetermined lane change of the vehicle.

[0026] Figure 1 This is a schematic structural diagram of a vehicle equipped with a travel control device.

[0027] The vehicle 1 includes a perimeter camera 2, a meter display 3, a GNSS (Global Navigation Satellite System) receiver 4, a storage device 5, and a travel control device 6. The perimeter camera 2, the meter display 3, the GNSS receiver 4, and the storage device 5 are communicatively connected with the travel control device 6 via an in-vehicle network such as a standard Controller Area Network.

[0028] The surrounding camera 2 is an example of a sensor for generating surrounding data corresponding to the surrounding conditions of the vehicle 1. The surrounding camera 2 has a two-dimensional detector composed of an array of photoelectric conversion elements such as CCD or C-MOS that are sensitive to visible light, and an imaging optical system that images the image of the area as the shooting object on the two-dimensional detector. The surrounding camera 2 has a front surrounding camera 2-1 and a rear surrounding camera 2-2. The front surrounding camera 2-1 is arranged at the front upper part of the vehicle interior, for example, facing forward, and the rear surrounding camera 2-2 is arranged at the rear upper part of the vehicle interior, for example, facing backward. The surrounding camera 2 captures the surrounding conditions of the vehicle 1 through the front glass or the rear glass at a predetermined shooting cycle (for example, 1 / 30 second to 1 / 10 second), and outputs a surrounding image representing the surrounding conditions as surrounding data.

[0029] The meter display 3 is an example of a notification device and has, for example, a liquid crystal display. The meter display 3 displays a screen requesting a predetermined action to the driver in accordance with a signal received from the driving control device 6 via the in-vehicle network.

[0030] The GNSS receiver 4 receives GNSS signals from GNSS satellites at a predetermined period, and locates the position of the vehicle 1 based on the received GNSS signals. The GNSS receiver 4 outputs a positioning signal indicating the positioning result of the vehicle 1 based on the GNSS signal to the driving control device 6 via the in-vehicle network at a predetermined period.

[0031] The storage device 5 is an example of a storage device, such as a hard disk device or a non-volatile semiconductor memory. The storage device 5 stores a high-precision map. The high-precision map includes, for example, information indicating branch lanes and speed limits for each road included in a predetermined area shown in the high-precision map.

[0032] The driving control device 6 is an ECU (Electronic Control Unit) having a communication interface, a memory, and a processor. The driving control device 6 detects lane dividing lines and rear vehicles from the surrounding images received from the surrounding camera 2 via the communication interface, and controls the driving of the vehicle 1 according to the lane dividing lines. In addition, the driving control device 6 causes the vehicle 1 to perform a predetermined action according to the interval between the vehicle 1 and the rear vehicle.

[0033] Figure 2 2 is a hardware diagram of the travel control device 6 .

[0034] The communication interface 61 is an example of a communication unit, and has a communication interface circuit for connecting the travel control device 6 to the in-vehicle network. The communication interface 61 supplies received data to the processor 63. In addition, the communication interface 61 outputs data supplied from the processor 63 to the outside.

[0035] The memory 62 is an example of a storage unit, and includes a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 62 stores various data used in the processing executed by the processor 63. The data stored in the memory 62 include, for example, parameters of a neural network used as a recognizer for recognizing a rear vehicle from a peripheral image, an action to be performed by the vehicle 1 according to the interval between the vehicle 1 and the rear vehicle, a value of an interval threshold used to determine whether to cause the vehicle 1 to perform an action according to the interval between the vehicle 1 and the rear vehicle, and an interval reduction condition for determining a driving condition that may cause the interval with the rear vehicle to be reduced. In addition, the memory 62 stores various application programs, such as a travel control computer program that executes a travel control process.

[0036] The processor 63 is an example of a control unit, and includes one or more processors and peripheral circuits thereof. The processor 63 may also include other arithmetic circuits such as a logical operation unit, a numerical operation unit, or a graphic processing unit.

[0037] Figure 3 This is a functional block diagram of the processor 63 included in the travel control device 6 .

[0038] The processor 63 of the travel control device 6 includes a detection unit 631, a travel control unit 632, an action control unit 633, and a setting unit 634 as functional blocks. These units of the processor 63 are functional modules installed by programs executed on the processor 63. The computer program that implements the functions of the units of the processor 63 can also be provided in the form of a computer-readable and portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, these units of the processor 63 can also be installed in the travel control device 6 as independent integrated circuits, microprocessors, or firmware.

[0039] The detection unit 631 detects a rear vehicle traveling behind the vehicle 1 from the surrounding image output from the surrounding camera 2 .

[0040] The detection unit 631 identifies the position of a rear vehicle traveling around the vehicle 1 by inputting the surrounding image received from the surrounding camera 2 via the communication interface 61 to the recognizer which is previously learned to detect an area indicating a vehicle.

[0041] The detection unit 631 specifies the positions of lane dividing lines around the vehicle 1 by inputting the surrounding image to a recognizer that has been previously learned to detect areas indicating lane dividing lines.

[0042] The recognizer can be, for example, a convolutional neural network (CNN) having a plurality of convolutional layers connected in series from the input side to the output side. By inputting an image representing a vehicle and a lane dividing line as teacher data to the CNN in advance and performing learning, the CNN acts as a recognizer that recognizes an area representing a vehicle and an area representing a lane dividing line from an image.

[0043] The travel control unit 632 controls the travel of the vehicle 1 according to the lane dividing lines detected by the detection unit 631 .

[0044] The driving control unit 632 outputs a control signal to a driving mechanism (not shown) of the vehicle 1 via the communication interface 61 in accordance with the detected lane dividing line so as to maintain the current driving lane among the lanes divided by the lane dividing line. The driving mechanism includes, for example, an engine or a motor for supplying power to the vehicle 1, a brake for reducing the driving speed of the vehicle 1, and a steering mechanism for steering the vehicle 1.

[0045] Furthermore, the travel control unit 632 outputs a control signal to a travel mechanism (not shown) of the vehicle 1 via the communication interface 61 so as to change the lane from the current lane to a lane leading to a preset destination according to the detected lane dividing line.

[0046] The action control unit 633 causes the vehicle 1 to perform a predetermined action according to the distance between the vehicle 1 and the vehicle behind.

[0047] The motion control unit 633 calculates the distance between the vehicle 1 and the vehicle behind. For example, the motion control unit 633 determines the position of a pair of lane dividing lines sandwiching the vehicle behind. In addition, the motion control unit 633 obtains width information indicating the width of the lane corresponding to the current position of the vehicle 1 from the storage device 5 storing the map information. The focal length of the surrounding camera 2 is known, so the distance between the vehicle 1 and the vehicle behind can be estimated by the distance and width information of the pair of lane dividing lines sandwiching the vehicle behind in the surrounding image.

[0048] When the distance between the vehicle 1 and the vehicle behind is greater than the distance threshold stored in the memory 62, the action control unit 633 causes the vehicle 1 to execute the first action included in the plurality of actions stored in the memory 62. When the distance between the vehicle 1 and the vehicle behind is less than the distance threshold stored in the memory 62, the action control unit 633 causes the vehicle 1 to execute the second action included in the plurality of actions stored in the memory 62. The second action is an action that contributes more to the safe driving of the vehicle than the first action. When the distance between the vehicle 1 and the vehicle behind is less than the distance threshold, the action control unit 633 makes the driving of the vehicle 1 safer by executing the second action that contributes more to the safe driving.

[0049] For example, when the distance between the vehicle 1 and the vehicle behind is greater than the distance threshold stored in the memory 62 under the condition of the scheduled lane change, the action control unit 633 causes the vehicle 1 to execute the scheduled lane change as a first action. In addition, when the distance between the vehicle 1 and the vehicle behind is less than the distance threshold stored in the memory 62 under the condition of the scheduled lane change, the action control unit 633 causes the vehicle 1 to cancel the scheduled lane change as a second action. The cancellation of the lane change is an action that contributes more to safe driving than the execution of the lane change because it replaces the lane change that may become an unstable state with the lane maintenance in a more stable state.

[0050] For example, when the distance between the vehicle 1 and the vehicle behind is greater than the distance threshold stored in the memory 62, the action control unit 633 causes the vehicle 1 to continue driving in the lane in which it is traveling as a first action. In addition, when the distance between the vehicle 1 and the vehicle behind is less than the distance threshold stored in the memory 62 while the vehicle 1 is traveling in the lane, the action control unit 633 causes the vehicle 1 to perform a lane change to another lane as a second action. Regarding the lane change to another lane, since it can avoid the rear vehicle approaching from behind, it is an action that contributes more to safe driving than continuing driving in the lane in which the vehicle is traveling.

[0051] For example, when the distance between the vehicle 1 and the vehicle behind is greater than the distance threshold stored in the memory 62, as the first action, the action control unit 633 causes the vehicle 1 to perform a notification to the driver of the vehicle 1 based on the first solution. In addition, when the distance between the vehicle 1 and the vehicle behind is less than the distance threshold stored in the memory 62, as the second action, the action control unit 633 causes the vehicle 1 to perform a notification to the driver based on the second solution with a higher intensity than the first solution. For example, a display based on a color with a high color temperature (blue, white, etc.), a single beep sound, a low-volume sound, etc. are used as the first solution. At this time, a display based on a color with a low color temperature (red, yellow, etc.), a continuous beep sound, a high-volume sound, an action using a body-sensing alarm of a seat belt, etc. are used as the second solution with a higher intensity than the first solution. The second solution is a solution that calls the driver's attention more strongly than the first solution. The notification to the driver based on the second scheme with a higher intensity calls the driver's attention more strongly and is therefore an action that contributes more to safe driving than the notification to the driver based on the first scheme.

[0052] The setting unit 634 determines whether the driving condition of the vehicle 1 satisfies the interval reduction condition stored in the memory 62. The driving condition of the vehicle 1 includes at least one of the surrounding conditions detected from the surrounding images received from the surrounding camera 2 via the communication interface 61, the surrounding conditions of the current position of the vehicle 1 obtained from the storage device 5 storing map information, and the conditions for the planned lane change of the vehicle 1. The interval reduction condition is a condition for determining whether the driving condition is likely to cause the interval with the rear vehicle to be reduced.

[0053] The gap reduction condition includes that the vehicle 1 is scheduled to change lanes in a branch lane branching from the lane in front of the lane in which the vehicle 1 is traveling. When changing lanes to the branch lane, deceleration is required. Since the vehicle 1 decelerates to change lanes to the branch lane, the gap with the rear vehicle that does not decelerate may be reduced.

[0054] Figure 4 It is a diagram for explaining the first example of the interval reduction condition.

[0055] The setting unit 634 obtains information indicating the surrounding conditions of the current position determined by the positioning signal received from the GNSS receiver 4 from the storage device 5 storing the high-precision map, and determines whether there is a lane branch in front of the lane in which the vehicle 1 is traveling. In addition, the setting unit 634 obtains information indicating whether there is a planned lane change to the branch lane from the driving control unit 632. The setting unit 634 determines whether the driving condition of the vehicle 1 including the surrounding conditions of the current position obtained from the storage device 5 satisfies the interval reduction condition. The setting unit may also determine whether there is a lane branch in front of the lane in which the vehicle 1 is traveling based on the structure of the lane dividing line in the surrounding conditions detected from the surrounding image received from the surrounding camera 2 via the communication interface 61.

[0056] In the first example of the interval reduction condition, vehicle 1 is traveling on lane L11 divided by lane dividing lines LL11 and LL12. Lane L11 is adjacent to lane L12 divided by lane dividing lines LL12 and LL13. In front of lane L11 on which vehicle 1 is traveling, a branch lane L13 divided by lane dividing lines LL14 and LL15 branches off from lane L11. Vehicle 1 is scheduled to change lanes to branch lane L13. Therefore, the driving condition in the first example of the interval reduction condition satisfies the interval reduction condition "vehicle 1 is scheduled to change lanes from a branch lane branching off from the main lane in the direction ahead of the main lane on which vehicle 1 is traveling".

[0057] If it is determined that the driving condition of the vehicle 1 does not satisfy the interval reduction condition, the setting unit 634 sets the interval threshold to a first value (e.g., 100 m). On the other hand, if it is determined that the driving condition of the vehicle 1 satisfies the interval reduction condition, the setting unit 634 sets the interval threshold to a second value (e.g., 80 m).

[0058] Figure 4 In the example of , the driving condition of the vehicle 1 satisfies the interval reduction condition, so the setting unit 634 sets the interval threshold to the second value TH2. Figure 4 In the example of , the distance D1 between the vehicle 1 and the rear vehicle 20 is smaller than the first value TH1 and larger than the second value TH2. The action control unit 633 determines that the distance to the rear vehicle is larger than the second value TH2, and causes the vehicle 1 to perform the first action.

[0059] The gap reduction condition includes a reduction in the front speed limit of the lane in which the vehicle is traveling. Since the vehicle 1 decelerates in a manner suitable for the reduced speed limit, the gap with the rear vehicle that has not yet decelerated may be reduced.

[0060] Figure 5 It is a diagram for explaining the second example of the interval reduction condition.

[0061] The setting unit 634 obtains information indicating the surrounding conditions of the current position determined by the positioning signal received from the GNSS receiver 4 from the storage device 5 storing the high-precision map, and determines whether there is a change in the speed limit ahead of the lane where the vehicle 1 is traveling. The setting unit 634 determines whether the driving conditions of the vehicle 1 including the surrounding conditions of the current position obtained from the storage device 5 satisfy the interval reduction condition. The setting unit may also determine whether there is a change in the speed limit ahead of the lane where the vehicle 1 is traveling based on the speed indicator in the surrounding conditions detected from the surrounding image received from the surrounding camera 2 via the communication interface 61.

[0062] Vehicle 1 is traveling on lane L22 divided by lane dividing lines LL22 and LL23. Lane L22 is adjacent to lane L21 divided by lane dividing lines LL21 and LL22. The speed limit is reduced from 100 km / h to 80 km / h in front of lane L22 in which vehicle 1 is traveling. Therefore, the driving condition in the second example of the interval reduction condition satisfies the interval reduction condition "the speed limit is reduced in front of the lane in which the vehicle is traveling".

[0063] If it is determined that the driving condition of the vehicle 1 does not satisfy the interval reduction condition, the setting unit 634 sets the interval threshold to a first value (e.g., 100 m). On the other hand, if it is determined that the driving condition of the vehicle 1 satisfies the interval reduction condition, the setting unit 634 sets the interval threshold to a second value (e.g., 80 m).

[0064] Figure 5 In the example of , the driving condition of the vehicle 1 satisfies the interval reduction condition, so the setting unit 634 sets the interval threshold to the second value TH2. Figure 5 In the example of , the distance D2 between the vehicle 1 and the rear vehicle 20 is smaller than the first value TH1 and larger than the second value TH2. The action control unit 633 determines that the distance to the rear vehicle is larger than the second value TH2, and causes the vehicle 1 to perform the first action.

[0065] Figure 6 The driving control device 6 repeatedly executes the following processing steps at predetermined time intervals (for example, 1 second intervals) while the vehicle 1 is driving under the automatic driving control. Figure 6 Processing shown.

[0066] First, the detection unit 631 detects a rear vehicle traveling around the vehicle 1 from the surrounding image output from the surrounding camera 2 (step S1 ).

[0067] Next, the travel control unit 632 controls the travel of the vehicle 1 according to the lane dividing line detected by the detection unit 631 (step S2 ).

[0068] Next, the setting unit 634 determines whether the travel condition of the vehicle 1 satisfies the interval reduction condition stored in the memory 62 (step S3 ).

[0069] When it is determined that the travel condition of the vehicle 1 does not satisfy the interval reduction condition (step S3 : No), the setting unit 634 sets the interval threshold value to the first value (step S4 ), and the process proceeds to step S6 described later.

[0070] When it is determined that the travel condition of the vehicle 1 satisfies the interval reduction condition (step S3 : Yes), the setting unit 634 sets the interval threshold value to the second value (step S5 ), and the process proceeds to step S6 described later.

[0071] Following step S4 or step S5 , the operation control unit 633 determines whether the distance between the vehicle 1 and the rear vehicle is greater than the distance threshold stored in the memory 62 (step S6 ).

[0072] When it is determined that the interval between the vehicle 1 and the rear vehicle is greater than the interval threshold (step S6 : Yes), the action control unit 633 causes the vehicle 1 to execute the first action (step S7 ), and ends the travel control process.

[0073] When it is determined that the interval between the vehicle 1 and the rear vehicle is smaller than the interval threshold value (step S6 : No), the operation control unit 633 causes the vehicle 1 to execute the second operation (step S8 ), and ends the travel control process.

[0074] By executing the travel control process in this manner, the travel control device 6 can cause the vehicle 1 to appropriately perform operations according to the surrounding conditions of the vehicle 1 .

[0075] According to a modified example, the vehicle 1 may include a LiDAR (Light Detection And Ranging) sensor as a peripheral sensor that generates a distance image of the periphery of the vehicle 1. The action control unit 633 can use the distance shown in the area corresponding to the rear vehicle in the distance image output as peripheral data by the LiDAR sensor as the interval between the vehicle 1 and the rear vehicle.

[0076] It is expected that those skilled in the art can appreciate that various changes, substitutions, and modifications can be made thereto without departing from the spirit and scope of the present invention.

Claims

1. A driving control device comprising: a detection unit that detects a lane dividing line dividing a road on which the vehicle is traveling and a rear vehicle traveling behind the vehicle from surrounding data outputted by a sensor mounted on the vehicle based on a surrounding condition of the vehicle; A driving control unit, controlling the driving of the vehicle according to the lane dividing line; an action control unit that causes the vehicle to perform a first action when the interval between the vehicle and the rear vehicle is greater than an interval threshold, and causes the vehicle to perform a second action that contributes more to safe driving of the vehicle than the first action when the interval is less than the interval threshold; and a setting unit that sets the interval threshold to a first value when the driving condition of the vehicle does not satisfy a predetermined interval reduction condition for determining whether the interval may be reduced, and sets the interval threshold to a second value smaller than the first value when the driving condition of the vehicle satisfies the interval reduction condition, wherein the driving condition of the vehicle includes at least one of a surrounding condition detected from the surrounding data, a surrounding condition of a current position of the vehicle obtained from a storage device storing map information, and a condition in which a lane change of the vehicle is scheduled. The interval reduction condition includes a situation in which the vehicle is scheduled to change lanes to a branch lane branching from the lane in front of the lane in which the vehicle is traveling, the first action includes execution of the lane change, and the second action includes termination of the lane change.

2. The travel control device according to claim 1, wherein: The interval reduction condition also includes a condition where the speed limit in front of the lane where the vehicle is traveling is reduced. The first action further includes continuing the driving in the lane, and the second action further includes changing lanes from the lane to a lane other than the lane.

3. The travel control device according to claim 1 or 2, wherein: The first action includes notification to the driver of the vehicle based on a first scenario, and the second action includes notification to the driver based on a second scenario having a higher intensity than the first scenario.

4. A driving control method, comprising: detecting a rear vehicle traveling behind the vehicle from surrounding data output by a sensor mounted on the vehicle based on a surrounding condition of the vehicle; Controlling the travel of the vehicle so as to ensure a predetermined interval or more between the vehicle and the detected rear vehicle; When the interval between the vehicle and the rear vehicle is greater than an interval threshold, causing the vehicle to perform a first action, and when the interval is less than the interval threshold, causing the vehicle to perform a second action that contributes more to safe driving of the vehicle than the first action; and When the driving condition of the vehicle does not satisfy a predetermined interval reduction condition for determining whether the interval may be reduced, the interval threshold is set to a first value, and when the driving condition of the vehicle satisfies the interval reduction condition, the interval threshold is set to a second value smaller than the first value, the driving condition of the vehicle including at least one of a surrounding condition detected from the surrounding data, a surrounding condition of the current position of the vehicle obtained from a storage device storing map information, and a condition in which the vehicle is scheduled to change lanes, The interval reduction condition includes a situation in which the vehicle is scheduled to change lanes to a branch lane branching from the lane in front of the lane in which the vehicle is traveling, the first action includes execution of the lane change, and the second action includes termination of the lane change.

5. A non-transitory computer-readable medium storing a computer program for driving control, wherein the computer program for driving control causes a processor to execute: detecting a rear vehicle traveling behind the vehicle from surrounding data output by a sensor mounted on the vehicle based on a surrounding condition of the vehicle; Controlling the travel of the vehicle so as to ensure a predetermined interval or more between the vehicle and the detected rear vehicle; When the interval between the vehicle and the rear vehicle is greater than an interval threshold, causing the vehicle to perform a first action, and when the interval is less than the interval threshold, causing the vehicle to perform a second action that contributes more to safe driving of the vehicle than the first action; and When the driving condition of the vehicle does not satisfy a predetermined interval reduction condition for determining whether the interval may be reduced, the interval threshold is set to a first value, and when the driving condition of the vehicle satisfies the interval reduction condition, the interval threshold is set to a second value smaller than the first value, the driving condition of the vehicle including at least one of a surrounding condition detected from the surrounding data, a surrounding condition of the current position of the vehicle obtained from a storage device storing map information, and a condition in which the vehicle is scheduled to change lanes, The interval reduction condition includes a situation in which the vehicle is scheduled to change lanes to a branch lane branching from the lane in front of the lane in which the vehicle is traveling, the first action includes execution of the lane change, and the second action includes termination of the lane change.

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