Vehicle control device, vehicle, vehicle control method, and storage medium

Abstract

A vehicle control device controls the travel of a vehicle by making a state transition between a plurality of control states with different degrees of driving assistance based on information about the surroundings of the vehicle, and the vehicle control device includes: an acquisition unit that acquires information about the surroundings of the vehicle; and a control unit that controls the state transition and the operation of the vehicle's brakes based on the information acquired by the acquisition unit. When the control unit determines that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling based on the information acquired by the acquisition unit, the control unit transitions from a first control state set during the travel of the vehicle to a second control state with a lower degree of driving assistance, and controls the operation of the vehicle's brakes based on whether the distance in the vehicle width direction between the other vehicle and the vehicle exceeds a threshold.

Description

Technical Field

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

[0002] Patent Document 1 discloses a vehicle driving assistance technology that determines whether a host vehicle can pass to the side of a parked vehicle (shoulder vehicle) parked on a road shoulder and determines whether to perform automatic braking based on the determination result.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2005-182753 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, when the vehicle is driving in the automatic driving control state, if there is a vehicle on the shoulder of the road that crosses the driving lane of the vehicle, the control state may be changed to a lower degree of driving assistance and the automatic braking may be activated. In such a case, if the control state change and the automatic braking are overlapped, the automatic braking will be activated even if the braking is not required in the relative position relationship between the vehicle and other vehicles, which may cause discomfort to the driver (passenger).

[0008] The present invention provides a vehicle control technology, which changes the control state when it is determined that there are other vehicles crossing the vehicle's driving lane, and can control the operation of the brakes according to whether the distance between the other vehicles and the vehicle in the vehicle width direction exceeds a threshold.

[0009] Means used to solve problems

[0010] A vehicle control device according to one embodiment of the present invention controls the travel of the vehicle by transitioning between a plurality of control states having different degrees of driving assistance based on information about the surroundings of the vehicle.

[0011] It is characterized in that

[0012] The vehicle control device comprises:

[0013] an acquisition mechanism that acquires information about the surroundings of the vehicle; and

[0014] a control mechanism that controls the state transition and the operation of the brakes of the vehicle based on the information acquired by the acquisition mechanism,

[0015] Based on the information, the control mechanism performs:

[0016] When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance,

[0017] controlling the operation of the brakes of the vehicle according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value,

[0018] When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is less than the threshold and approaches, the first control state is changed to the second control state, and a deceleration control based on the operation of the brake is performed;

[0019] When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is greater than a threshold value and separated, the first control state is changed to the second control state, and the travel of the vehicle is controlled without performing the deceleration control,

[0020] When the other vehicle is not crossing the lane and is separated by a distance in the vehicle width direction being equal to or greater than a threshold, the travel of the vehicle is controlled to maintain the first control state without performing the deceleration control.

[0021] A vehicle control device according to another aspect of the present invention controls the travel of the vehicle by making a plurality of control states transition based on information about the surroundings of the vehicle.

[0022] It is characterized in that

[0023] The vehicle control device comprises:

[0024] an acquisition mechanism that acquires information about the surroundings of the vehicle; and

[0025] a control mechanism that controls the state transition and the operation of the brakes of the vehicle based on the information acquired by the acquisition mechanism,

[0026] Based on the information, the control mechanism performs:

[0027] When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the control state of the automatic driving is changed to the control state of the manual driving.

[0028] controlling the operation of the brakes of the vehicle according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value,

[0029] When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is less than the threshold and approaches, the control state of the automatic driving is changed to the control state of the manual driving, and the deceleration control based on the operation of the brake is performed,

[0030] When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is greater than a threshold value and separated, the automatic driving control state is switched to the manual driving control state, and the travel of the vehicle is controlled without performing the deceleration control.

[0031] When the other vehicle is not crossing the lane and is separated by a distance in the vehicle width direction being equal to or greater than a threshold, the travel of the vehicle is controlled without performing the deceleration control and maintaining the control state of the automatic driving.

[0032] A vehicle according to another aspect of the present invention includes a vehicle control device that controls the travel of the vehicle by switching between a plurality of control states having different degrees of driving assistance based on information about the surroundings of the vehicle.

[0033] It is characterized in that

[0034] The vehicle control device comprises:

[0035] an acquisition mechanism that acquires information about the surroundings of the vehicle; and

[0036] a control mechanism that controls the state transition and the operation of the brakes of the vehicle based on the information acquired by the acquisition mechanism,

[0037] Based on the information, the control mechanism performs:

[0038] When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance,

[0039] controlling the operation of the brakes of the vehicle according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value,

[0040] When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is less than the threshold and approaches, the first control state is changed to the second control state, and a deceleration control based on the operation of the brake is performed;

[0041] When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is greater than a threshold value and separated, the first control state is changed to the second control state, and the travel of the vehicle is controlled without performing the deceleration control,

[0042] When the other vehicle is not crossing the lane and is separated by a distance in the vehicle width direction being equal to or greater than a threshold, the travel of the vehicle is controlled to maintain the first control state without performing the deceleration control.

[0043] In another aspect of the present invention, the vehicle control method comprises the following steps: the vehicle control device controls the travel of the vehicle by switching between a plurality of control states having different degrees of driving assistance based on information about the surroundings of the vehicle.

[0044] It is characterized in that

[0045] The vehicle control method comprises:

[0046] an acquisition step, in which information about the surroundings of the vehicle is acquired; and

[0047] a control step in which the state transition and the operation of the brakes of the vehicle are controlled based on the information acquired in the acquisition step,

[0048] In the control step, based on the information:

[0049] When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance,

[0050] controlling the operation of the brakes of the vehicle according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value,

[0051] When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is less than the threshold and approaches, the first control state is changed to the second control state, and a deceleration control based on the operation of the brake is performed;

[0052] When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is greater than a threshold value and separated, the first control state is changed to the second control state, and the travel of the vehicle is controlled without performing the deceleration control,

[0053] When the other vehicle is not crossing the lane and is separated by a distance in the vehicle width direction being equal to or greater than a threshold, the travel of the vehicle is controlled to maintain the first control state without performing the deceleration control.

[0054] A storage medium according to another embodiment of the present invention stores a program that causes a computer to execute each step of a vehicle control method in a vehicle control device, wherein the vehicle control device controls the travel of the vehicle by transitioning between a plurality of control states having different degrees of driving assistance based on information about the surroundings of the vehicle.

[0055] It is characterized in that

[0056] The vehicle control method comprises:

[0057] an acquisition step, in which information about the surroundings of the vehicle is acquired; and

[0058] a control step in which the state transition and the operation of the brakes of the vehicle are controlled based on the information acquired in the acquisition step,

[0059] In the control step, based on the information:

[0060] When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance,

[0061] controlling the operation of the brakes of the vehicle according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value,

[0062] When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is less than the threshold and approaches, the first control state is changed to the second control state, and a deceleration control based on the operation of the brake is performed;

[0063] When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is greater than a threshold value and separated, the first control state is changed to the second control state, and the travel of the vehicle is controlled without performing the deceleration control,

[0064] When the other vehicle is not crossing the lane and is separated by a distance in the vehicle width direction being equal to or greater than a threshold, the travel of the vehicle is controlled to maintain the first control state without performing the deceleration control.

[0065] Effects of the Invention

[0066] According to the present invention, a vehicle control technology can be provided, which changes the control state when it is determined that there is another vehicle crossing the vehicle's driving lane, and can control the operation of the brakes based on whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 This is a block diagram showing the basic structure of a vehicle control device.

[0068] Figure 2 It is a control block diagram of a vehicle control device.

[0069] Figure 3 It is a diagram for explaining the process flow of vehicle control according to the embodiment.

[0070] Figure 4 This is a diagram for explaining the setting of the threshold value.

[0071] Figure 5 is a diagram schematically illustrating vehicle control. DETAILED DESCRIPTION

[0072] Hereinafter, the embodiments are described in detail with reference to the accompanying drawings. In addition, the following embodiments do not limit the invention involved in the technical solution, and all combinations of the features described in the embodiments are not limited to the content necessary for the invention. Two or more of the multiple features described in the embodiments may also be combined arbitrarily. In addition, the same or similar structures are marked with the same figure numerals, and repeated descriptions are omitted.

[0073] (Structure of vehicle control device)

[0074] Figure 1 This is a diagram illustrating the basic structure of a vehicle control device that performs automatic driving control of a vehicle (this vehicle). The vehicle control device 100 has a sensor S, a plurality of cameras CAM, and a computer COM. The sensor S includes, for example, a plurality of radars S1, a plurality of optical radars S2 (Light Detection and Ranging (LIDAR: optical radar)), a gyro sensor S3, a GPS sensor S4, a vehicle speed sensor S5, and the like. The sensor S and the camera CAM acquire information about the vehicle and various information about the surroundings of the vehicle, and input the acquired information into the control unit COM.

[0075] The control unit COM includes a CPU (C1) responsible for processing related to the automatic driving control of the vehicle, a memory C2, a communication unit C3 capable of communicating with a server and an external device on the network, etc. The control unit COM performs image processing on information input from the sensor S (radar S1, optical radar S2) and the camera CAM, extracts objects (objects) existing around the vehicle, analyzes what kind of objects are arranged around the vehicle, and monitors the objects.

[0076] In addition, the gyro sensor S3 detects the rotational motion and posture of the vehicle, and the control unit COM can determine the vehicle's route based on the detection result of the gyro sensor S3, the vehicle speed detected by the vehicle speed sensor S5, etc. In addition, the control unit COM can obtain the current position (position information) of the vehicle in the map information and the road information of the lane where the vehicle (the vehicle) is traveling based on the detection result of the GPS sensor S4. In addition, the control unit COM can obtain road information related to the area where the number of lanes adjacent to the lane where the vehicle (the vehicle) is traveling increases.

[0077] In addition, the control unit COM can also perform image processing on the information input from the sensor S (radar S1, optical radar S2) and the camera CAM, and use the extracted information of the object to detect other vehicles in front of the vehicle. The control unit COM can perform automatic driving control of the vehicle based on the information input from the sensor S and the camera CAM.

[0078] In the Figure 1 When the vehicle control device shown is mounted on a vehicle, the control unit COM may be configured, for example, in an ECU of an identification processing system that processes information from a sensor S or a camera CAM, an ECU of an image processing system, an ECU that controls a communication device or an input / output device, an ECU in a control unit that performs vehicle drive control, or an ECU for automatic driving. For example, as described below Figure 2 In this way, the functions may be dispersed among a plurality of ECUs constituting the vehicle control device 100 , such as an ECU for the sensor S, an ECU for the camera, an ECU for the input / output device, and an ECU for automatic driving.

[0079] Figure 2 FIG. 1 is a control block diagram of a vehicle control device 100 for controlling the vehicle 1. Figure 2 In FIG. 1 , a schematic diagram of a vehicle 1 is shown by a top view and a side view. As an example, the vehicle 1 is a sedan-type four-wheeled passenger vehicle.

[0080] Figure 2The control unit 2 controls each part of the vehicle 1. The control unit 2 includes a plurality of ECUs 20 to 29 that are communicatively connected via an in-vehicle network. Each ECU (Electronic Control Unit) includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, etc. The storage device stores programs executed by the processor, data used by the processor in processing, etc. Each ECU may also have a plurality of processors, storage devices, interfaces, etc.

[0081] The following describes the functions and the like of the ECUs 20 to 29. It should be noted that the number of ECUs and the functions they are responsible for can be appropriately designed for the vehicle 1, and can be subdivided or integrated compared to the present embodiment.

[0082] ECU20 performs vehicle control related to the automatic driving of the vehicle 1 (the vehicle itself) according to the present embodiment. In the automatic driving, at least one of the steering and acceleration / deceleration of the vehicle 1 is automatically controlled. Specific control-related processing related to the automatic driving will be described in detail later.

[0083] The ECU 20 executes control related to the automatic driving of the vehicle 1. In the automatic driving, the steering, lane change, acceleration and deceleration of the vehicle 1 are automatically controlled.

[0084] ECU21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism for steering the front wheels according to the driver's driving operation (steering operation) of the steering wheel 31. In addition, the electric power steering device 3 includes a motor that exerts a driving force for assisting the steering operation or automatically steering the front wheels, a sensor for detecting the steering angle, etc. When the driving state of the vehicle 1 is automatic driving, the ECU21 automatically controls the electric power steering device 3 in accordance with the instruction from the ECU20 to control the travel direction of the vehicle 1.

[0085] ECU 22 and ECU 23 control detection units 41 to 43 for detecting the surrounding conditions of the vehicle and process information of the detection results. Figure 1 The structure corresponding to the camera CAM is a photographing device (hereinafter sometimes referred to as camera 41) that detects objects in front of the vehicle 1 by photographing. In the case of this embodiment, the camera 41 is installed on the inner side of the front window at the front part of the roof of the vehicle 1 so as to be able to photograph the front of the vehicle 1. By analyzing (image processing) the image photographed by the camera 41, the outline of the object in front of the vehicle 1 and the lane dividing line (white line, etc.) on the road can be extracted.

[0086] The detection unit 42 (optical radar detection unit) is a Light Detection and Ranging (LIDAR: optical radar) (hereinafter sometimes referred to as optical radar 42), which detects objects around the vehicle 1 using light or measures the distance to the object. Figure 1 In the present embodiment, five optical radars 42 are provided, one at each corner of the front of the vehicle 1, one at the center of the rear, and one at each side of the rear.

[0087] The detection unit 43 (radar detection unit) is a millimeter wave radar (hereinafter sometimes referred to as radar 43), which detects objects around the vehicle 1 or measures the distance to the object using radio waves. Figure 1 In the present embodiment, five radars 43 are provided, one at the center of the front portion of the vehicle 1, one at each of the front corners, and one at each of the rear corners.

[0088] ECU22 controls the camera 41 and optical radars 42 on one side and processes the information of the detection results. ECU23 controls the camera 41 and radars 43 on the other side and processes the information of the detection results. By having two sets of devices for detecting the surrounding conditions of the vehicle, the reliability of the detection results can be improved. In addition, by having different types of detection units such as cameras, optical radars, and radars, the surrounding environment of the vehicle can be analyzed in many aspects.

[0089] ECU24 controls the gyro sensor 5, GPS sensor 24b, and communication device 24c, and processes information of detection results or communication results. The gyro sensor 5 detects the rotational movement of the vehicle 1. The route of the vehicle 1 can be determined based on the detection results of the gyro sensor 5, the wheel speed, etc. The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c wirelessly communicates with the server that provides map information and traffic information to obtain this information. ECU24 can access a database 24a of map information constructed in a storage device, and ECU24 searches for routes from the current location to the destination, etc. The database 24a can be configured on a network, and the communication device 24c can access the database 24a on the network to obtain information. The gyro sensor 5, GPS sensor 24b, and communication device 24c are respectively Figure 1 The ECU 25 has a configuration corresponding to the gyro sensor S3, the GPS sensor S4, and the communication unit C3. The ECU 25 includes a communication device 25a for inter-vehicle communication. The communication device 25a wirelessly communicates with other vehicles in the vicinity to exchange information between the vehicles.

[0090] The ECU 26 controls the power unit 6. The power unit 6 is a mechanism that outputs a driving force to rotate the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The ECU 26 controls the output of the engine in response to the driver's driving operation (acceleration operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, or controls the output of the engine based on the vehicle speed sensor 7c ( Figure 1 The transmission is switched according to the vehicle speed and other information detected by the vehicle speed sensor S5. When the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power unit 6 in accordance with the instruction from the ECU 20 to control the acceleration and deceleration of the vehicle 1.

[0091] The ECU 27 controls the lighting devices (headlights, taillights, etc.) including the direction indicator 8 (turn indicator). Figure 1 In the example of FIG. 2 , the direction indicators 8 are provided at the front portion, the door mirrors, and the rear portion of the vehicle 1 .

[0092] ECU28 controls the input-output device 9. The input-output device 9 outputs information to the driver and accepts input of information from the driver. The sound output device 91 reports information to the driver by sound. The display device 92 reports information to the driver by displaying an image. The display device 92 is, for example, arranged in front of the driver's seat to constitute a dashboard, etc. It should be noted that, here, sound and display are illustrated, but information can also be reported by vibration or light. In addition, it is also possible to combine multiple of sound, display, vibration or light to report information. Moreover, it is also possible to make different combinations or different reporting methods according to the level of information to be reported (for example, urgency).

[0093] The input device 93 is disposed at a position where the driver can operate it, and is a switch group for issuing instructions to the vehicle 1 , but may also include a voice input device.

[0094] ECU29 controls the braking device 10 and the parking brake (not shown). The braking device 10 is, for example, a disc braking device, which is provided on each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by applying resistance to the rotation of the wheel. ECU29 controls the operation of the braking device 10 in accordance with the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B. When the driving state of the vehicle 1 is automatic driving, ECU29 automatically controls the braking device 10 in accordance with the instructions from ECU20 to control the deceleration and stopping of the vehicle 1. The braking device 10 and the parking brake can also be operated to maintain the stopped state of the vehicle 1. In addition, when the transmission of the power unit 6 is equipped with a parking lock mechanism, it can also be operated to maintain the stopped state of the vehicle 1.

[0095] (Control example)

[0096] A control example of vehicle control of the vehicle 1 executed by the ECU 20 will be described. Figure 3 is a diagram for explaining the process flow of vehicle control according to the embodiment. Figure 4 is a diagram illustrating the setting of the threshold value. Figure 5 2 is a diagram schematically illustrating vehicle control performed by ECU 20. If the driver instructs the destination and automatic driving, ECU 20 follows the route searched by ECU 24 (for example, Figure 5 During the automatic control, ECU 20 obtains information related to the surrounding conditions of vehicle 1 from ECU 22 and ECU 23, and instructs ECU 21, ECU 26 and ECU 29 based on the obtained information to execute steering, acceleration control, constant speed control and deceleration control of vehicle 1.

[0097] ECU22 controls the camera 41 and optical radars 42 on one side and processes information of detection results. ECU23 controls the camera 41 and radars 43 on the other side and processes information of detection results. ECU20 executes control related to automatic driving of the vehicle 1.

[0098] In step S300 , the camera 41 , the optical radars 42 , and the radars 43 detect the surroundings of the vehicle 1 .

[0099] In step S310, ECU22 and ECU23 function as an acquisition unit to acquire information related to the detection area around vehicle 1. Based on the detection result of GPS sensor S4, ECU22 and ECU23 (acquisition unit) acquire the current position (position information) of the vehicle in the map information and the road information of the lane in which the vehicle (this vehicle) is traveling. In addition, ECU22 and ECU23 (acquisition unit) acquire the road information of the lane in which the vehicle (this vehicle) is traveling based on the map information. In addition, ECU22 and ECU23 (acquisition unit) acquire road information related to the area where the number of lanes adjacent to the lane in which the same vehicle (this vehicle) is traveling has increased. Figure 5 In FIG. 1 , as an example of increasing the number of lanes, an example is shown in which a lane LN2 adjacent to a lane LN1 in which a vehicle (host vehicle) is traveling is connected as a branch road.

[0100] In step S320, ECU20 that performs control related to the automatic driving of vehicle 1 functions as a control unit, and ECU20 (control unit) determines whether the driving area of ​​vehicle 1 is an area with an increased number of lanes adjacent to the lane (driving lane) in which vehicle 1 (this vehicle) is driving based on the information acquired by ECU22 and ECU23 (acquisition unit).

[0101] When the ECU 20 (control unit) determines that the vehicle is not in an area with an increased number of lanes adjacent to the lane (driving lane) (S320-No), the process returns to step S300 and repeats the same process. On the other hand, when the ECU 20 (control unit) determines that the vehicle is in an area with an increased number of lanes adjacent to the lane (driving lane) in the determination of step S320 (S320-Yes), the process proceeds to step S330. In the vehicle control of the present embodiment, when the vehicle is traveling in an area with an increased number of lanes adjacent to the lane, the state transition of the control state and the operation control of the brake described below are performed.

[0102] In step S330, ECU20 (control unit) determines whether there is another vehicle crossing lane LN1 in front of lane LN1 in which vehicle 1 is traveling based on the information acquired by ECU22 and ECU23 (acquisition unit). If there is no other vehicle crossing lane LN1 (S330-No), the control state set during the driving of vehicle 1 is maintained.

[0103] On the other hand, in the determination of step S330 , when there is another vehicle in a state of straddling lane LN1 ( S330 —YES), the process proceeds to step S340 .

[0104] In step S340 , the ECU 20 (control unit) changes the control state from the first control state set during the running of the vehicle to the second control state with a lower degree of driving assistance.

[0105] The ECU 20 (control unit) can control the travel of the vehicle 1 by changing the state of a plurality of control states with different degrees of driving assistance based on information about the surroundings of the vehicle. Here, as the control state of the automatic driving, the plurality of control states include a first control state and a second control state with different degrees of driving assistance (request task for the driver). For example, as the degree of driving assistance, the first control state is a control state in which the driver of the vehicle is not requested to hold the steering wheel, and the second control state is a control state in which the driver is requested to hold the steering wheel.

[0106] When the control state is changed from the first control state to the second control state, the ECU 20 (control unit) outputs a hand grip request (steering wheel grip request) as a request task and reports the state change to the driver. The report of the state change can be performed based on the control of the ECU 20 (control unit) through the output from the input / output device 9.

[0107] In step S350 , the ECU 20 (control unit) sets a threshold region having a threshold in the vehicle width direction between the vehicle 1 (host vehicle) and another vehicle existing in front of the vehicle 1 . Figure 4 This is a diagram for explaining the setting of a threshold region including a threshold in the vehicle width direction as a parameter for controlling the operation of the brake. When the vehicle 1 is traveling in the lane LN1 in the direction of the arrow AR1, a threshold region 402 having a threshold TH in the vehicle width direction is set between the other vehicle 401 existing in front of the vehicle 1 and the vehicle 1 (the vehicle itself). The length of the vehicle in the front-rear direction in the threshold region 402 can be any length that can be included in the length of the other vehicle in the front-rear direction. The threshold TH in the vehicle width direction is a parameter for controlling the operation of the brake. When the distance L (lateral vehicle distance) in the vehicle width direction between the other vehicle 401 and the vehicle 1 (the vehicle itself) is greater than the threshold and separated (S350-No: L≥TH), the ECU 20 (control unit) causes the process to proceed to step S380, and controls the travel of the vehicle 1 in a state where the brake is not operated (brake is off) (S380).

[0108] On the other hand, in the judgment of step S350, when the distance L (lateral vehicle distance) in the vehicle width direction between the other vehicle 401 and the vehicle 1 (this vehicle) is less than the threshold and close (S350-yes: L<TH), ECU20 (control unit) causes the processing to enter step S360, and controls the travel of the vehicle 1 in the state of operating the brake (brake activated) (S360).

[0109] Here, ECU20 (control unit) can set the threshold value TH as a parameter for controlling the operation of the brake to a different threshold value according to the type or size of the other vehicle. Based on the information acquired by ECU22 and ECU23 (acquisition unit), ECU20 (control unit) can determine the type or size of the other vehicle based on at least one of the vehicle width and vehicle height of the other vehicle, and set different threshold values ​​based on the determined type or size. The type or size of the other vehicle includes, for example, a large vehicle, a medium vehicle, a small vehicle (light vehicle), etc.

[0110] For example, in the case of sideways driving of a large vehicle, a larger threshold value TH(large) can be set, in the case of sideways driving of a medium-sized vehicle, a threshold value TH(medium) can be set, and in the case of sideways driving of a small vehicle (light vehicle), a threshold value TH(small) can be set. When driving to the side of other vehicles, the impression (discomfort) received by the vehicle passengers including the driver from the other vehicles may be different depending on the type and size of the other vehicles. For example, compared with a small vehicle (light vehicle), a large vehicle sometimes gives the vehicle passengers a greater sense of oppression. As in the present embodiment, by setting different threshold values ​​according to the type and size of other vehicles, the impression (discomfort) received by the vehicle passengers from other vehicles can be reduced when driving to the side of other vehicles.

[0111] like Figure 5 As shown, when the vehicle 1 (host vehicle) is traveling in the lane LN1, the setting Figure 4 4. The threshold area 402 having the threshold TH in the vehicle width direction described in ST51 is set for another vehicle 502 in front of the vehicle 1. In ST51, the other vehicle 502 is in a state of approaching the vehicle 1 across the lane 501 and at a distance in the vehicle width direction less than the threshold TH. In ST51, the ECU 20 (control unit) changes from the first control state set during the driving of the vehicle 1 to the second control state ( Figure 3 Then, the vehicle 1 is controlled to travel in a state where the brake is activated (the brake is activated). Figure 3 S360).

[0112] ST52 indicates a state where a threshold region 520 having a threshold value TH in the vehicle width direction is set for another vehicle 503 existing in front of the vehicle 1. In ST52, the other vehicle 503 is in a state where the distance in the vehicle width direction (the distance between vehicles on the side) is greater than the threshold value TH and is separated from the other vehicle 503, although it crosses the lane 501. In ST52, the ECU 20 (control unit) changes from the first control state set during the driving of the vehicle 1 to the second control state ( Figure 3 S340), the vehicle 1 is controlled to travel without the brake being operated (brake closed) ( Figure 3 S380).

[0113] Along with the state transition of the control state, ECU20 (control unit) outputs a hand grip request (steering wheel grip request) as a request task and reports the state transition to the driver. Thus, the driver's attention can be aroused, and the automatic braking operation can be suppressed in a state where braking is not required due to the relative positional relationship between vehicle 1 (host vehicle) and other vehicles 503.

[0114] ST53 indicates a state in which a threshold area 530 having a threshold value TH in the vehicle width direction is set for another vehicle 504 existing in front of the vehicle 1. In ST53, the other vehicle 504 is in a state of being separated from the lane 501 without crossing over, and the distance in the vehicle width direction (the distance between vehicles on the side) is also greater than the threshold value TH. In ST53, the ECU 20 (control unit) does not perform a state transition from the first control state set during the travel of the vehicle 1 to the second control state with a lower degree of driving assistance, but controls the travel of the vehicle 1 while maintaining the first control state set during the current travel of the vehicle 1 ( Figure 3 S370).

[0115] In ST53, the state transition of the control state is not performed, and therefore, the hand grip request (steering wheel holding request) is not output. Thus, in the relative positional relationship between the vehicle 1 (the vehicle itself) and the other vehicle 503, the vehicle can be driven in the control state maintained in the current driving state without requiring a state transition, and the vehicle control can be realized with further reduced discomfort for the driver (passenger).

[0116] (Variation Example)

[0117] In the control example described previously, as the control state of the automatic driving, the state transition is described in a plurality of control states (a first control state, a second control state) with different degrees of driving assistance, but the vehicle control by ECU20 (control unit) is not limited to this example. For example, it is also possible to transition the state from any one of the plurality of control states of the automatic driving control state to the control state of the manual driving control state. ECU20 (control unit) determines, based on the information acquired by ECU22 and ECU23 (acquisition unit), that there is another vehicle (for example, a vehicle crossing the lane) in front of the lane in which vehicle 1 (the vehicle itself) is traveling. Figure 5 In the case of 502), the control state of automatic driving is changed to the control state of manual driving. In addition, ECU20 (control unit) controls the operation of the brakes of vehicle 1 according to whether the distance between the other vehicle and vehicle 1 in the vehicle width direction exceeds the threshold. In this case, the operation control of the brakes is the same as the control example described above. When the distance between the other vehicle and vehicle 1 in the vehicle width direction is greater than the threshold and separated, ECU20 (control unit) does not operate the brakes, and when the distance between the other vehicle and vehicle 1 in the vehicle width direction is less than the threshold and the other vehicle approaches vehicle 1, the brakes are operated.

[0118] (Summary of Implementation Methods)

[0119] The above-described embodiments disclose at least the following vehicle control device, a vehicle having the vehicle control device, a vehicle control method using the vehicle control device, and a program.

[0120] Structure 1. The vehicle control device of the above embodiment is based on a vehicle (for example, Figure 2 1) The surrounding information causes a plurality of control states with different degrees of driving assistance to be changed to control the travel of the vehicle (for example, Figure 1 of 100),

[0121] The vehicle control device comprises:

[0122] an acquisition mechanism (eg, ECU 22, ECU 23) that acquires information about the surroundings of the vehicle; and

[0123] a control mechanism (for example, ECU 20) that controls the state transition and the operation of the brakes of the vehicle based on the information acquired by the acquisition mechanism (ECU 22, ECU 23),

[0124] Based on the information, the control unit (ECU 20) executes:

[0125] When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance,

[0126] The operation of the brake of the vehicle is controlled according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value.

[0127] According to the vehicle control device of configuration 1, when it is determined that there is another vehicle crossing the driving lane of the vehicle, the control state is changed, and the operation of the brakes can be controlled depending on whether the distance in the vehicle width direction between the other vehicle and the vehicle exceeds a threshold.

[0128] Configuration 2. In the vehicle control device (100) of the above embodiment, the control means (ECU20) is configured as follows:

[0129] When the distance in the vehicle width direction between the other vehicle and the vehicle is greater than or equal to a threshold and the other vehicle is separated from the vehicle, the brake is not actuated, and when the distance is less than the threshold and the other vehicle is approaching the vehicle, the brake is actuated.

[0130] Configuration 3. In the vehicle control device (100) of the above embodiment, the first control state is a control state in which the driver of the vehicle (1) is not requested to hold the steering wheel as the degree of the driving assistance, and the second control state is a control state in which the driver is requested to hold the steering wheel.

[0131] Configuration 4. In the vehicle control device (100) of the above embodiment, the control means (ECU20) reports the state transition to the driver.

[0132] According to the vehicle control device of structure 1 to structure 4, it is possible to determine whether the distance in the vehicle width direction between the other vehicle and the vehicle (the vehicle itself) is greater than a threshold and is separated, or less than a threshold and is approaching the vehicle, and control the operation of the brakes based on the determination result. Thus, in the case where the presence of the other vehicle does not interfere with the movement of the vehicle (the vehicle itself), but the conditions in the lane have changed, the annoyance of the passengers is reduced by suppressing the deceleration control, and the driver's attention can be prompted by notifying the driver of the state transition of the lower control state.

[0133] Structure 5. In the vehicle control device (100) of the above-mentioned embodiment, the control mechanism (ECU20) controls the state transition and the operation of the brake based on the information acquired by the acquisition mechanism (ECU22, ECU23) when traveling in an area where the number of lanes adjacent to the lane increases.

[0134] According to the vehicle control device of configuration 5, since the number of lanes increases, such roads become branch roads or multiple lanes, and there is a high possibility that they are expressways or national highways with high speed limits and wide widths, and the degree of driving assistance and the degree of automation of the automatic driving mode often become higher. In such a case, unnecessary deceleration control can be suppressed, and the vehicle control can be performed to increase the driver's intervention ratio by changing the control state of the high degree of driving assistance to the control state of the lower degree of driving assistance.

[0135] Structure 6. In the vehicle control device (100) of the above-mentioned embodiment, the control unit (ECU20) determines the type or size of the other vehicle based on the information acquired by the acquisition unit (ECU22, ECU23) and based on at least one of the vehicle width and vehicle height of the other vehicle, and sets different thresholds based on the determined type or size.

[0136] When the vehicle is traveling to the side of another vehicle, the impression and discomfort that the vehicle passengers including the driver receive from the other vehicle may differ depending on the type and size of the other vehicle. According to the vehicle control device of structure 6, by setting different thresholds according to the type and size of the other vehicle, the impression (discomfort) that the vehicle passengers receive from the other vehicle can be reduced when the vehicle is traveling to the side of another vehicle.

[0137] Configuration 7. The vehicle control device of the above embodiment controls the vehicle by making a plurality of control states transition based on information about the surroundings of the vehicle (for example, Figure 21) A driving vehicle control device (eg, Figure 1 of 100),

[0138] The vehicle control device comprises:

[0139] an acquisition mechanism (eg, ECU 22, ECU 23) that acquires information about the surroundings of the vehicle; and

[0140] a control mechanism (for example, ECU 20) that controls the state transition and the operation of the brakes of the vehicle based on the information acquired by the acquisition mechanism (ECU 22, ECU 23),

[0141] Based on the information, the control unit (ECU 20) executes:

[0142] When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the control state of the automatic driving is changed to the control state of the manual driving.

[0143] The operation of the brake of the vehicle is controlled according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value.

[0144] According to the vehicle control device of structure 7, when there is another vehicle crossing the driving lane of the vehicle, and the distance in the vehicle width direction between the other vehicle and the vehicle (this vehicle) is less than a threshold value while the other vehicle approaches the vehicle, the control state of the automatic driving can be changed to the manual driving state, and driving can be performed based on the intervention of the driver, and the operation of the brakes can be controlled according to whether the distance in the vehicle width direction between the other vehicle and the vehicle exceeds a threshold value.

[0145] Structure 8. The vehicle of the above embodiment is provided with a vehicle control device (for example, Figure 1 of 100) vehicles (e.g., Figure 2 1), the vehicle control device controls the travel of the vehicle by switching between a plurality of control states having different degrees of driving assistance based on information about the surroundings of the vehicle,

[0146] The vehicle control device (100) comprises:

[0147] an acquisition mechanism (eg, ECU 22, ECU 23) that acquires information about the surroundings of the vehicle; and

[0148] a control mechanism (for example, ECU 20) that controls the state transition and the operation of the brakes of the vehicle based on the information acquired by the acquisition mechanism (ECU 22, ECU 23),

[0149] Based on the information, the control unit (ECU 20) executes:

[0150] When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance,

[0151] The operation of the brake of the vehicle is controlled according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value.

[0152] According to the vehicle of structure 8, it is possible to provide a vehicle control device (for example, Figure 1 of 100) vehicles (e.g., Figure 2 1) When it is determined that there is another vehicle crossing the driving lane of the vehicle, the vehicle control device changes the control state and controls the operation of the brakes according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold.

[0153] Structure 9. The vehicle control method of the above embodiment is based on a vehicle (for example, Figure 2 A vehicle control device (for example, a vehicle control device) that controls the travel of the vehicle by changing a plurality of control states with different degrees of driving assistance based on information about the surroundings of 1). Figure 1 100) of the vehicle control method, wherein,

[0154] The vehicle control method comprises:

[0155] Get steps (for example, Figure 3 S300, S310), in the acquisition step, obtaining information about the surroundings of the vehicle;

[0156] Control steps (e.g. Figure 3 S320-S380), in which the state transition and the operation of the brake of the vehicle are controlled based on the information acquired in the acquisition step,

[0157] In the control step, based on the information:

[0158] When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance (S340),

[0159] The operation of the brake of the vehicle is controlled based on whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value (S360, S380).

[0160] Structure 10. The program of the above embodiment is to make the vehicle control device (for example Figure 1A program for executing each step of the vehicle control method in 100), wherein the vehicle control device is based on the vehicle (e.g. Figure 2 1) The surrounding information causes a plurality of control states with different degrees of driving assistance to be changed to control the driving of the vehicle,

[0161] The vehicle control method comprises:

[0162] Get steps (for example, Figure 3 S300, S310), in the acquisition step, obtaining information about the surroundings of the vehicle;

[0163] Control steps (e.g. Figure 3 S320-S380), in which the state transition and the operation of the brake of the vehicle are controlled based on the information acquired in the acquisition step,

[0164] In the control step, based on the information:

[0165] When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance (S340),

[0166] The operation of the brake of the vehicle is controlled based on whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value (S360, S380).

[0167] According to the vehicle control method of structure 9 and the program of structure 10, when it is determined that there are other vehicles crossing the driving lane of the vehicle, the control state is changed, and the operation of the brakes can be controlled according to whether the distance between the other vehicles and the vehicle in the vehicle width direction exceeds a threshold.

[0168] (Other embodiments)

[0169] The present invention can also be implemented by providing a program that realizes the functions of the above-described embodiments to a system or device via a network or a storage medium, and causing one or more processors in a computer of the system or device to read and execute the program.

[0170] The present invention is not limited to the above-described embodiments, and various modifications and changes can be made within the scope of the gist of the present invention.

[0171] This application claims priority based on Japanese patent application No. 2020-054883 filed on March 25, 2020, the entire contents of which are incorporated herein by reference.

[0172] Description of Reference Numerals

[0173] 20, 22, 23: ECU; 42: LiDAR; 43: Radar; S: sensor;

[0174] COM: computer; CAM: camera; 100: vehicle control device;

[0175] 20: ECU (control unit); 22, 23: ECU (acquisition unit).

Claims

1. A vehicle control device that controls the travel of the vehicle by switching between a plurality of control states having different degrees of driving assistance based on information about the surroundings of the vehicle, It is characterized in that The vehicle control device comprises: an acquisition mechanism that acquires information about the surroundings of the vehicle; and a control mechanism that controls the state transition and the operation of the brakes of the vehicle based on the information acquired by the acquisition mechanism, Based on the information, the control mechanism performs: When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance, controlling the operation of the brakes of the vehicle according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value, When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is less than the threshold and approaches, the first control state is changed to the second control state, and a deceleration control based on the operation of the brake is performed; When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is greater than a threshold value and separated, the first control state is changed to the second control state, and the travel of the vehicle is controlled without performing the deceleration control, When the other vehicle is not crossing the lane and is separated by a distance in the vehicle width direction being equal to or greater than a threshold, the travel of the vehicle is controlled to maintain the first control state without performing the deceleration control.

2. The vehicle control device according to claim 1, characterized in that: As the degree of the driving assistance, the first control state is a control state that does not require the driver of the vehicle to hold the steering wheel, and the second control state is a control state that requires the driver to hold the steering wheel.

3. The vehicle control device according to claim 1, characterized in that: The control mechanism reports the state transition to the driver.

4. The vehicle control device according to any one of claims 1 to 3, characterized in that: The control means controls the state transition and the operation of the brakes based on the information acquired by the acquisition means when the vehicle is traveling in an area where the number of lanes adjacent to the lane increases.

5. The vehicle control device according to claim 1, characterized in that: The control unit determines the type or size of the other vehicle based on the information acquired by the acquisition unit and based on at least one of the vehicle width and vehicle height of the other vehicle, and sets different thresholds based on the determined type or size.

6. A vehicle control device that controls the running of a vehicle by making a plurality of control states transition based on information about the surroundings of the vehicle, It is characterized in that The vehicle control device comprises: an acquisition mechanism that acquires information about the surroundings of the vehicle; and a control mechanism that controls the state transition and the operation of the brakes of the vehicle based on the information acquired by the acquisition mechanism, Based on the information, the control mechanism performs: When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the control state of the automatic driving is changed to the control state of the manual driving. controlling the operation of the brakes of the vehicle according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value, When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is less than the threshold and approaches, the control state of the automatic driving is changed to the control state of the manual driving, and the deceleration control based on the operation of the brake is performed, When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is greater than a threshold value and separated, the automatic driving control state is switched to the manual driving control state, and the travel of the vehicle is controlled without performing the deceleration control. When the other vehicle is not crossing the lane and is separated by a distance in the vehicle width direction being equal to or greater than a threshold, the travel of the vehicle is controlled without performing the deceleration control and maintaining the control state of the automatic driving.

7. A vehicle comprising a vehicle control device, the vehicle control device controlling the travel of the vehicle by switching between a plurality of control states having different degrees of driving assistance based on information about the surroundings of the vehicle, It is characterized in that The vehicle control device comprises: an acquisition mechanism that acquires information about the surroundings of the vehicle; and a control mechanism that controls the state transition and the operation of the brakes of the vehicle based on the information acquired by the acquisition mechanism, Based on the information, the control mechanism performs: When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance, controlling the operation of the brakes of the vehicle according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value, When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is less than the threshold and approaches, the first control state is changed to the second control state, and a deceleration control based on the operation of the brake is performed; When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is greater than a threshold value and separated, the first control state is changed to the second control state, and the travel of the vehicle is controlled without performing the deceleration control, When the other vehicle is not crossing the lane and is separated by a distance in the vehicle width direction being equal to or greater than a threshold, the travel of the vehicle is controlled to maintain the first control state without performing the deceleration control.

8. A vehicle control method using a vehicle control device, the vehicle control device controlling the travel of the vehicle by switching between a plurality of control states having different degrees of driving assistance based on information about the surroundings of the vehicle, It is characterized in that The vehicle control method comprises: an acquisition step, in which information about the surroundings of the vehicle is acquired; and a control step in which the state transition and the operation of the brakes of the vehicle are controlled based on the information acquired in the acquisition step, In the control step, based on the information: When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance, controlling the operation of the brakes of the vehicle according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value, When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is less than the threshold and approaches, the first control state is changed to the second control state, and a deceleration control based on the operation of the brake is performed; When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is greater than a threshold value and separated, the first control state is changed to the second control state, and the travel of the vehicle is controlled without performing the deceleration control, When the other vehicle is not crossing the lane and is separated by a distance in the vehicle width direction being equal to or greater than a threshold, the travel of the vehicle is controlled to maintain the first control state without performing the deceleration control.

9. A storage medium storing a program for causing a computer to execute each step of a vehicle control method in a vehicle control device, wherein the vehicle control device controls the travel of the vehicle by switching between a plurality of control states having different degrees of driving assistance based on information about the surroundings of the vehicle, It is characterized in that The vehicle control method comprises: an acquisition step, in which information about the surroundings of the vehicle is acquired; and a control step in which the state transition and the operation of the brakes of the vehicle are controlled based on the information acquired in the acquisition step, In the control step, based on the information: When it is determined that there is another vehicle crossing the lane ahead of the lane in which the vehicle is traveling, the first control state set during the travel of the vehicle is changed to a second control state with a lower degree of driving assistance, controlling the operation of the brakes of the vehicle according to whether the distance between the other vehicle and the vehicle in the vehicle width direction exceeds a threshold value, When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is less than the threshold and approaches, the first control state is changed to the second control state, and a deceleration control based on the operation of the brake is performed; When the other vehicle is in a state of crossing the lane and the distance in the vehicle width direction is greater than a threshold value and separated, the first control state is changed to the second control state, and the travel of the vehicle is controlled without performing the deceleration control, When the other vehicle is not crossing the lane and is separated by a distance in the vehicle width direction being equal to or greater than a threshold, the travel of the vehicle is controlled to maintain the first control state without performing the deceleration control.

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