Vehicle control device, storage medium, and vehicle control method

Abstract

The present disclosure provides a vehicle control device, a storage medium, and a vehicle control method. There is provided a vehicle control device that can notify a driver that a predetermined vehicle moves between lanes in such a manner that it is not misinterpreted that the vehicle exits onto a branch road ahead. The vehicle control device determines whether there is a first road that exits from the traveling road. When there is a first road, a lane change scheduled section is set on the traveling lane according to a first connection position where the traveling road and the first road are connected. According to map information, it is determined whether there is a second road between the current position of the vehicle and the first connection position, in which the traveling direction of a relative vehicle is on the same side as the first road and the vehicle can exit. When there is a second road and the start position of the lane change scheduled section is at a second connection position where the second road and the traveling road are connected or closer to the front than the second connection position, the start position of the lane change scheduled section is changed according to the second connection position. When the vehicle travels in the lane change scheduled section, the vehicle control device notifies the driver that the predetermined vehicle moves between lanes.

Description

Technical Field

[0001] The present disclosure relates to a vehicle control device, a storage medium storing a computer program for vehicle control, and a vehicle control method. Background Art

[0002] An automatic control system mounted on a vehicle generates a navigation route of the vehicle based on the current position of the vehicle, the destination position of the vehicle, and a navigation map. The automatic control system uses map information to estimate the current position of the vehicle and controls the vehicle to travel along the navigation route. The automatic control system controls the movement of the vehicle including movement between lanes.

[0003] When the vehicle exits from a traveling road to a branch road, the automatic control system sets a lane change scheduled section for moving to the branch road in the traveling lane of the traveling road. In the lane change scheduled section, the automatic control system controls the movement of the vehicle in such a way as to notify the driver that a lane change is scheduled to be performed and to start flashing of the direction indicator, and to move to the lane of the branch road (see, for example, Patent Document 1).

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-189543 Summary of the Invention

[0007] Sometimes, other branch roads continuously exist in front of a branch road where a vehicle is scheduled to exit from a traveling road. When the distance between the scheduled branch road and a non-scheduled branch road in front is shorter than the length of the lane change scheduled section, the automatic control system notifies the driver that a lane change is scheduled because the vehicle has traveled in the lane change scheduled section near the non-scheduled branch road in front. Therefore, the driver who receives the notification may misunderstand that the vehicle branches to the branch road in front.

[0008] Therefore, an object of the present disclosure is to provide a vehicle control device that can notify a driver of a scheduled movement of a vehicle between lanes in such a way that the driver does not misunderstand that the vehicle exits to a branch road in front when other branch roads continuously exist in front of a branch road where the vehicle is scheduled to exit from a traveling road.

[0009] According to an embodiment, a vehicle control device is provided. The vehicle control device includes: a road determination unit that determines, based on the current position of the vehicle, the navigation route, and the map information, whether there is a first road for exiting from the driving road in a predetermined driving section of the navigation route, and determines, based on the map information, whether there is a second road on the same side as the first road with respect to the traveling direction of the vehicle and from which the vehicle can exit between the current position of the vehicle and a first connection position where the driving road and the first road are connected; a lane change predetermined section setting unit that, when there is a first road, sets a lane change predetermined section on the driving lane based on the first connection position; a start position changing unit that, when there is a second road and the start position of the lane change predetermined section is at or closer to a second connection position where the second road and the driving road are connected, changes the start position of the lane change predetermined section based on the second connection position; and a notification control unit that, when the vehicle travels in the lane change predetermined section, notifies the driver via a notification unit that the vehicle is scheduled to move between lanes.

[0010] In addition, in the vehicle control device, it is preferable to have a start position correction unit that, when it is estimated based on the navigation route and the map information that the first connection position is recognizable by the driver at the second connection position, moves the start position of the lane change predetermined section closer to the front compared to the case where it is estimated that the first connection position is not recognizable by the driver at the second connection position.

[0011] In addition, in the vehicle control device, it is preferable that the start position changing unit changes the start position of the lane change predetermined section to the second connection position, and the lane change predetermined section setting unit sets the lane change predetermined section between the first connection position and the second connection position as a lane change predetermined section for moving between lanes by automatic control when the start position of the lane change predetermined section is changed to the second connection position.

[0012] In addition, in the vehicle control device, it is preferable that the start position changing unit changes the start position of the lane change predetermined section to the second connection position, and the lane change predetermined section setting unit sets the lane change predetermined section between the first connection position and the second connection position as a lane change predetermined section for moving between lanes by manual control when the start position of the lane change predetermined section is changed to the second connection position.

[0013] According to other embodiments, a non-transitory storage medium storing a vehicle control computer program is provided. The vehicle control computer program causes a processor to execute: determining, based on the current position of the vehicle, a navigation route, and map information, whether there is a first road that exits from the driving road on which the vehicle is traveling within a predetermined driving section of the navigation route; in the case where there is a first road, setting a lane change scheduled section on the driving lane based on a first connection position where the driving road and the first road are connected; determining, based on the map information, whether there is a second road on the same side as the first road with respect to the traveling direction of the vehicle and from which the vehicle can exit between the current position of the vehicle and the first connection position; in the case where there is a second road and the start position of the lane change scheduled section is at or closer to the vehicle than a second connection position where the second road and the driving road are connected, changing the start position of the lane change scheduled section based on the second connection position; and when the vehicle is traveling in the lane change scheduled section, notifying the driver via a notification unit that the vehicle is scheduled to move between lanes.

[0014] In addition, according to other embodiments, a vehicle control method is provided. A vehicle control device executes: determining, based on the current position of the vehicle, a navigation route, and map information, whether there is a first road that exits from the driving road on which the vehicle is traveling within a predetermined driving section of the navigation route; in the case where there is a first road, setting a lane change scheduled section on the driving lane based on a first connection position where the driving road and the first road are connected; determining, based on the map information, whether there is a second road on the same side as the first road with respect to the traveling direction of the vehicle and from which the vehicle can exit between the current position of the vehicle and the first connection position; in the case where there is a second road and the start position of the lane change scheduled section is at or closer to the vehicle than a second connection position where the second road and the driving road are connected, changing the start position of the lane change scheduled section based on the second connection position; and when the vehicle is traveling in the lane change scheduled section, notifying the driver via a notification unit that the vehicle is scheduled to move between lanes.

[0015] Since the vehicle control device according to the present disclosure notifies the driver that the vehicle is scheduled to move between lanes after the vehicle passes through the second connection position, it is possible to prevent the driver from misunderstanding that the vehicle exits to the second road at the second connection position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a diagram (part 1) for explaining an outline of the operation of the vehicle control system according to the first embodiment.

[0017] Figure 2 is a diagram (part 2) for explaining an outline of the operation of the vehicle control system according to the first embodiment.

[0018] Figure 3It is a schematic configuration diagram of a vehicle equipped with the vehicle control system of the first embodiment.

[0019] Figure 4 It is an example of an operation flowchart related to vehicle control processing of the vehicle control system of the first embodiment.

[0020] Figure 5 It is a diagram showing an example of a navigation route.

[0021] Figure 6 It is a diagram (part 1) explaining an example of vehicle control processing.

[0022] Figure 7 It is a diagram (part 2) explaining an example of vehicle control processing

[0023] Figure 8 It is an example of an operation flowchart related to vehicle control processing of the vehicle control system of the second embodiment.

[0024] (Symbol Explanation)

[0025] 1: Vehicle control system; 2: Camera; 3: Positioning information receiver; 4: Navigation device; 5: User interface; 5a: Display device; 10: Vehicle; 11: Map information storage device; 12: Position estimation device; 13: Object detection device; 14: Driving lane planning device; 15: Driving plan device; 16: Vehicle control device; 17: In-vehicle network; 21: Communication interface; 22: Memory; 23: Processor; 231: Driving lane planning unit; 232: Lane change planning unit; 233: Road determination unit; 234: Lane change scheduled section setting unit; 235: Start position change unit; 236: Start position correction unit. Detailed Embodiments

[0026] Figure 1 And Figure 2 It is a diagram showing an outline of the operation of the vehicle control system 1 of the first embodiment. Hereinafter, with reference to Figure 1 And Figure 2 , an outline of the operation related to vehicle control processing of the vehicle control system 1 disclosed in this specification will be described. The vehicle control system 1 is an example of a vehicle control device.

[0027] Figure 1 It shows an example of a navigation route R generated by the vehicle control system 1 mounted on the vehicle 10. The automatically controlled vehicle 10 is traveling on the road 50 at the current position P1 and is scheduled to exit onto the branch road 60 at the branch position 62. The road 50 is an example of a traveling road, and the branch road 60 is an example of a first road.

[0028] The vehicle 10 travels on lane 51 of road 50 having lanes 51 and 52. Lanes 51 and 52 are demarcated by lane demarcation lines 53. At the branch position 62, lane 51 of road 50 and lane 61 of the branch road 60 are connected in such a way that the vehicle 10 can move.

[0029] Based on the current position P1 of the vehicle, the navigation route R, and the map information, the vehicle control system 1 determines that there is a branch road 60 exiting from the road 50 on which the vehicle 10 is traveling within the nearest driving section of the navigation route R.

[0030] Based on the connection position 62 where road 50 and branch road 60 are connected, the vehicle control system 1 sets a lane change scheduled section L1 with a predetermined length on lane 51 of road 50. The lane change scheduled section L1 can include an automatic lane change scheduled section or a manual lane change scheduled section. In the automatic lane change scheduled section, the vehicle control system 1 attempts to move the vehicle 10 from lane 51 to lane 61 by automatically controlling the driving of the vehicle 10. In the manual lane change scheduled section, the vehicle control system 1 notifies the driver of a request to move from lane 52 to lane 51 by manual control. The driver manually controls at least the steering of the vehicle 10 and attempts to move the vehicle 10 from lane 51 to lane 61.

[0031] In addition, based on the map information, the vehicle control system 1 determines that there is a branch road 70 on the same side as the branch road 60 with respect to the traveling direction of the vehicle 10 and from which the vehicle 10 can exit between the current position P1 of the vehicle 10 and the connection position 62. At the branch position 72, lane 51 of road 50 and lane 71 of the branch road 70 are connected in such a way that the vehicle 10 can move. The branch road 70 is an example of a second road.

[0032] When the vehicle 10 travels in the lane change scheduled section L1, the vehicle control system 1 notifies the driver that the vehicle 10 is scheduled to move between lanes. Since the start position L11 of the lane change scheduled section L1 is closer to the front than the connection position 72 where the branch road 70 and road 50 are connected, there is a possibility that the driver who receives the notification may misunderstand that the vehicle 10 is going to exit to the branch road 70 in the front. For example, the vehicle 10 travels straight on road 50 from the branch position 72 towards the branch position 62, so there is a possibility that a driver who does not think the vehicle 10 is going to exit to the branch road 70 attempts to drive the vehicle 10 to exit from road 50 to the branch road 70 by manual control.

[0033] Since the start position L11 of the lane change scheduled section L1 is closer to the front than the connection position 72 where the branch road 70 and road 50 are connected, the vehicle control system 1 is as Figure 2As shown, the start position L11 of the lane change reservation section L1 is changed according to the connection position 72. In Figure 2 the example shown, the vehicle control system 1 changes the start position L11 to the connection position 72.

[0034] The vehicle control system 1 sets the lane change reservation section L1 with the changed start position on the lane 51. The lane change reservation section L1 is the section between the connection position 72 and the connection position 62 in the lane 51. The lane change reservation section L1 can include an automatic lane change reservation section or a manual lane change reservation section. When the vehicle 10 travels in the lane change reservation section L1, the vehicle control system 1 notifies the driver of the movement reservation information indicating that the vehicle 10 is scheduled to move between lanes.

[0035] Thereby, after the vehicle 10 passes through the connection position 72, the driver is notified that the vehicle 10 is scheduled to move between lanes, so that the driver can be prevented from misunderstanding that the vehicle 10 exits to the branch road 70 at the connection position 72.

[0036] Figure 3 is a schematic configuration diagram of the vehicle 10 equipped with the vehicle control system 1. The vehicle 10 includes a camera 2, a positioning information receiver 3, a navigation device 4, a user interface (UI) 5, a map information storage device 11, a position estimation device 12, an object detection device 13, a driving lane planning device 14, a driving plan device 15, and a vehicle control device 16, etc. Furthermore, the vehicle 10 may also have a ranging sensor (not shown), such as a LiDAR sensor, for measuring the distance to the surrounding objects of the vehicle 10.

[0037] The camera 2, the positioning information receiver 3, the navigation device 4, the UI 5, the map information storage device 11, the position estimation device 12, the object detection device 13, the driving lane planning device 14, the driving plan device 15, and the vehicle control device 16 are communicably connected via an in-vehicle network 17 conforming to a standard such as Controller Area Network.

[0038] The camera 2 is an example of an imaging unit provided in the vehicle 10. The camera 2 is mounted on the vehicle 10 so as to face the front of the vehicle 10. The camera 2 captures a camera image representing the environment of a predetermined area in front of the vehicle 10, for example, at a predetermined cycle. In the camera image, road features such as roads included in a predetermined area in front of the vehicle 10 and lane demarcation lines on the road surface can be represented. The camera 2 includes 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 forms an image of the area to be imaged on the two-dimensional detector.

[0039] Whenever the camera 2 captures a camera image, it outputs the camera image and the camera image capture time when the camera image is captured to the position estimation device 12, the object detection device 13, etc. via the in-vehicle network 17. The camera image is used in the position estimation device 12 for processing to estimate the position of the vehicle 10. In addition, the camera image is used in the object detection device 13 for processing to detect other objects around the vehicle 10.

[0040] The positioning information receiver 3 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiver 3 can be set as a GNSS receiver. Whenever the positioning information receiver 3 acquires the positioning information at a predetermined reception cycle, it outputs the positioning information and the positioning information acquisition time when the positioning information is acquired to the navigation device 4, the map information storage device 11, etc.

[0041] Based on the navigation map information, the destination position of the vehicle 10 input from the UI 5, and the positioning information indicating the current position of the vehicle 10 input from the positioning information receiver 3, the navigation device 4 generates a navigation route R from the current position of the vehicle 10 to the destination position. The navigation route R includes information related to positions such as right turns, left turns, merges, and branches. The navigation device 4 newly generates the navigation route R of the vehicle 10 when a new destination position is set, or when the current position of the vehicle 10 deviates from the navigation route R, etc. Whenever the navigation device 4 generates the navigation route R, it outputs the navigation route R to the position estimation device 12, the driving lane planning device 14, etc. via the in-vehicle network 17.

[0042] The UI 5 is an example of a notification unit. The UI 5 is controlled by the navigation device 4, the vehicle control device 16, etc., and notifies the driver of the driving information, movement reservation information, or movement request of the vehicle 10. The movement reservation information indicates that the vehicle is scheduled to move between lanes. The movement request requests the driver to move the vehicle between lanes by manual control in the manual lane change reservation section. In addition, the UI 5 generates an operation signal corresponding to the operation of the driver on the vehicle 10. The driving information of the vehicle 10 includes information related to the current and future paths of the vehicle, such as the current position of the vehicle and the navigation route. The UI 5 has a display device 5a such as a liquid crystal display or a touch panel for displaying the driving information, etc. In addition, the UI 5 may also have a sound output device (not shown) for notifying the driving information, etc. to the driver. In addition, in the UI 5, as an input device for inputting operation information from the driver to the vehicle 10, for example, it has a touch panel or an operation button. As the operation information, for example, the destination position, the waypoint, the vehicle speed, and other control information of the vehicle 10 can be cited. The UI 5 outputs the input operation information to the navigation device 4, the vehicle control device 16, etc. via the in-vehicle network 17.

[0043] The map information storage device 11 stores wide-area map information including a relatively wide range (for example, a range of 10 to 30 km square) including the current position of the vehicle 10. This map information has high-precision map information including three-dimensional information of the road surface, information indicating road features such as lane demarcation lines on the road, the types and positions of structures, and the legal speed of the road. The map information storage device 11 receives wide-area map information from an external server via a base station through wireless communication via a wireless communication device (not shown) mounted on the vehicle 10 according to the current position of the vehicle 10 and stores it in the storage device. Whenever the map information storage device 11 receives positioning information from the positioning information receiver 3, it refers to the stored wide-area map information and outputs map information of a relatively narrow area (for example, a range of 100 m to 10 km square) including the current position indicated by the positioning information to the position estimation device 12, the object detection device 13, the driving lane planning device 14, the driving plan device 15, the vehicle control device 16, etc. via the in-vehicle network 17.

[0044] The position estimation device 12 estimates the position of the vehicle 10 at the time when the camera image is taken based on the road features around the vehicle 10 represented in the camera image. For example, the position estimation device 12 compares the lane demarcation lines recognized in the camera image with the lane demarcation lines shown in the map information input from the map information storage device 11 to obtain the estimated position and the estimated azimuth angle of the vehicle 10 at the time when the camera image is taken. In addition, the position estimation device 12 estimates the driving lane on the road where the vehicle 10 is located based on the lane demarcation lines shown in the map information, and the estimated position and the estimated azimuth angle of the vehicle 10. Whenever the position estimation device 12 obtains the estimated position, the estimated azimuth angle, and the driving lane of the vehicle 10 at the time when the camera image is taken, it outputs this information to the object detection device 13, the driving lane planning device 14, the driving plan device 15, the vehicle control device 16, etc.

[0045] The object detection device 13 detects other objects around the vehicle 10 and their types (for example, vehicles) based on the camera image, etc. Among the other objects, there are other vehicles driving around the vehicle 10. The object detection device 13 tracks the detected other objects and obtains the trajectories of the other objects. The object detection device 13 determines the driving lanes on which the other objects are driving based on the lane demarcation lines shown in the map information and the positions of the other objects. The object detection device 13 outputs object detection information including information indicating the types of the detected other objects, information indicating their positions, and information indicating the driving lanes to the driving lane planning device 14, the driving plan device 15, etc.

[0046] At the driving lane plan generation time set at a predetermined cycle, the driving lane plan device 14 selects a lane within the road on which the vehicle 10 travels based on the map information, the navigation route, the surrounding environment information, and the current position of the vehicle 10 in the nearest driving section (e.g., 10 km) selected from the navigation route, and generates a driving lane plan representing the predetermined driving lane on which the vehicle 10 travels. The driving lane plan device 14 generates the driving lane plan in such a way that the vehicle 10 travels on a lane other than the overtaking lane, for example. Whenever the driving lane plan device 14 generates a driving lane plan, it outputs the driving lane plan to the driving plan device 15.

[0047] In addition, the driving lane plan device 14 determines whether a lane change is necessary based on the driving lane plan, the map information, the navigation route R, and the current position of the vehicle 10 in the nearest driving section selected from the navigation route R, and generates a lane change plan according to the determination result. Specifically, the driving lane plan device 14 determines whether a lane change is necessary in order to move to the lane toward the destination position of the vehicle 10 based on the navigation route R and the current position of the vehicle 10. It determines whether there is an entry (merging) from the driving road on which the vehicle 10 is currently traveling to another road as the merging destination, and whether the vehicle 10 exits (branching) from the driving road to another road as the branching destination. In the case of merging and branching, the vehicle moves from the lane of the driving road to the lane of another road, so a lane change is performed. The driving lane plan device 14 may also use the surrounding environment information or the vehicle state information in the determination of whether a lane change is necessary. The surrounding environment information includes the positions and speeds of other vehicles traveling around the vehicle 10, etc. The vehicle state information includes the current position of the vehicle 10, the vehicle speed, the acceleration, and the traveling direction, etc. In addition, the driving lane plan device 14 generates a lane change plan according to the driver's request. When the driving lane plan device 14 has generated a lane change plan, it outputs the driving lane plan appended with the lane change plan to the driving plan device 15.

[0048] In addition, the driving lane planning device 14 determines whether there is a first road that exits from the driving road on which the vehicle 10 is traveling within a predetermined driving section of the navigation route R, based on the current position of the vehicle 10, the navigation route R, and the map information. In addition, when there is a first road, the driving lane planning device 14 sets a lane change scheduled section on the driving lane based on a first connection position where the driving road and the first road are connected. In addition, the driving lane planning device 14 determines whether there is a second road on the same side as the first road with respect to the traveling direction of the vehicle 10 and from which the vehicle 10 can exit, between the current position of the vehicle 10 and the first connection position, based on the map information. In addition, when there is a second road and the start position of the lane change scheduled section is at or closer to the vehicle 10 than a second connection position where the second road and the driving road are connected, the driving lane planning device 14 changes the start position of the lane change scheduled section based on the second connection position. Furthermore, the driving lane planning device 14 adds a notice to the driver that the vehicle 10 will move between lanes when the vehicle 10 travels in the lane change scheduled section to the driving lane plan. For this purpose, the driving lane planning device 14 includes a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 has an interface circuit for connecting the driving lane planning device 14 to the in-vehicle network 17.

[0049] All or part of the functions of the driving lane planning device 14 are, for example, functional modules implemented by a computer program that operates on the processor 23. The processor 23 includes a driving lane planning unit 231, a lane change planning unit 232, a road determination unit 233, a lane change scheduled section setting unit 234, and a start position change unit 235. Alternatively, the functional modules of the processor 23 may be dedicated arithmetic circuits provided in the processor 23. The processor 23 includes one or more CPUs (Central Processing Unit) and their peripheral circuits. The processor 23 may also include other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphics processing unit. The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. Moreover, the memory 22 stores a computer program of an application used in information processing executed by the processor 23 and various data. The driving lane planning unit 231 generates the above-described driving lane plan, and the lane change planning unit 232 generates the above-described lane change plan. Details of other operations in the driving lane planning device 14 will be described later.

[0050] At the driving plan generation time set at a predetermined cycle, the driving plan device 15 executes driving plan processing for generating a driving plan representing a predetermined driving trajectory of the vehicle 10 until a predetermined time (e.g., 5 seconds) later, based on the driving lane plan, map information, the current position of the vehicle 10, surrounding environment information, and vehicle state information. The driving plan is represented as a set of the target positions of the vehicle 10 at each time from the current time to the time after the predetermined time and the target vehicle speed at the target position. The cycle for generating the driving plan is preferably shorter than the cycle for generating the driving lane plan. The driving plan device 15 generates the driving plan in such a way that an interval of a predetermined distance or more can be maintained between the vehicle 10 and other vehicles. Even when the driving lane plan includes a lane change in which the vehicle 10 moves between lanes and an interval of a predetermined distance or more cannot be ensured between the vehicle 10 and other vehicles, the driving plan device 15 generates the driving plan in such a way that the vehicle 10 stops. Whenever the driving plan device 15 generates a driving plan, it outputs the driving plan to the vehicle control device 16.

[0051] When automatically controlling the driving of the vehicle 10, the vehicle control device 16 controls each part of the vehicle 10 based on the current position of the vehicle 10, the vehicle speed and yaw rate, and the driving plan generated by the driving plan device 15. For example, the vehicle control device 16 obtains the steering angle, acceleration, and angular acceleration of the vehicle 10 according to the driving plan, the vehicle speed of the vehicle 10, and the yaw rate, and sets the steering amount, acceleration opening, or braking amount so as to be the steering angle, acceleration, and angular acceleration. Then, the vehicle control device 16 outputs a control signal corresponding to the set steering amount to an actuator (not shown) that controls the steering wheel of the vehicle 10 via the in-vehicle network 17. In addition, the vehicle control device 16 obtains the fuel injection amount according to the set acceleration opening, and outputs a control signal corresponding to the fuel injection amount to a driving device (not shown) such as the engine of the vehicle 10 via the in-vehicle network 17. Alternatively, the vehicle control device 16 outputs a control signal corresponding to the set braking amount to the brake (not shown) of the vehicle 10 via the in-vehicle network 17. In addition, when manually controlling the driving of the vehicle 10, the vehicle control device 16 controls the steering wheel, driving device, or brake according to the steering amount, acceleration opening, or braking amount based on the driver's operation.

[0052] In Figure 3 it is described that the map information storage device 11, the position estimation device 12, the object detection device 13, the driving lane plan device 14, the driving plan device 15, and the vehicle control device 16 are independent devices, but all or part of these devices may also be configured as one device.

[0053] Figure 4This is an example of the operation flowchart related to vehicle control processing of the vehicle control system 1 of the first embodiment. Referring to Figure 4 , the vehicle control processing of the vehicle control system 1 will be described below. At the road determination moment with a predetermined period, the travel lane planning device 14 executes road determination processing in accordance with the operation flowchart shown in Figure 4 . The period for executing the road determination processing is preferably shorter than the period for generating the travel lane plan.

[0054] First, the road determination unit 233 determines whether there is a first road where the vehicle 10 exits from the traveling road within a predetermined driving section of the navigation route R based on the current position of the vehicle 10, the navigation route R, and the map information (step S101). When there is no first road (step S101 - "No"), the road determination unit 233 waits until the next road determination moment and then executes the processing of step S101.

[0055] When there is a first road (step S101 - "Yes"), the lane change scheduled section setting unit 234 sets a lane change scheduled section on the travel lane based on the first connection position where the travel road and the first road are connected (step S102).

[0056] Next, the road determination unit 233 determines whether there is a second road on the same side as the first road with respect to the traveling direction of the vehicle 10 and where the vehicle 10 can exit between the current position of the vehicle 10 and the first connection position where the travel road and the first road are connected based on the map information (step S103).

[0057] When there is a second road (step S103 - "Yes"), the start position change unit 235 determines whether the start position of the lane change scheduled section is at the second connection position where the second road and the travel road are connected or closer to the front than the second connection position (step S104).

[0058] When the start position is closer to the front than the second connection position where the second road and the travel road are connected (step S104 - "Yes"), the start position change unit 235 changes the start position of the lane change scheduled section based on the second connection position (step S105).

[0059] Next, the lane change scheduled section setting unit 234 adds movement scheduled information for notifying the driver that the vehicle 10 moves between lanes when the vehicle 10 travels in the lane change scheduled section to the travel lane plan (step S106), and a series of processing ends.

[0060] In addition, in the case where there is no second road (step S103 - "No") or when the starting position is not closer to the vehicle than the second connection position where the second road is connected to the driving road (step S104 - "No"), the series of processes also ends.

[0061] The driving lane planning device 14 may also not perform Figure 4 the processes shown above for the first road on which the above road determination process has been performed once.

[0062] Next, with reference to Figures 5 to 7 the following further describes an operation example of the vehicle control system 1.

[0063] Figure 5 An example of the navigation route R input from the navigation device 4 is shown. Figure 5 The example shown corresponds to Figure 1 and Figure 2 The navigation route R indicates that after the vehicle 10 travels on the road 50, it exits onto the branch road 60 at the branch position 62. The branch road 60 branches to the left from the road 50 at the branch position 62.

[0064] The vehicle 10 travels in the lane 51 of the road 50 having lanes 51 and 52. The lanes 51 and 52 are demarcated by a lane demarcation line 53. The lane 51 of the road 50 and the lane 61 of the branch road 60 are demarcated by a lane demarcation line 54. At the branch position 62, the lane 51 of the road 50 and the lane 61 of the branch road 60 are connected between the branch start position 621 and the branch end position 622 in such a way that the vehicle 10 can move.

[0065] The branch end position 622 can be set as the intersection of the lane demarcation line demarcating the lane 61 of the branch road 60 and the lane demarcation line demarcating the lane 51 of the road 50 (so-called soft nose). Alternatively, the branch end position 622 can also be set as the intersection of the side portion of the branch road 60 and the side portion of the road 50 (so-called hard nose).

[0066] In the navigation route R, between the current position P1 of the vehicle 10 and the connection position 62, there is a branch road 70 that is on the same side as the traveling direction of the vehicle 10 and from which the vehicle 10 can exit. The branch road 70 branches laterally from the road 50 at the branch position 72. The lane 51 of the road 50 and the lane 71 of the branch road 70 are demarcated by a lane demarcation line 55. At the branch position 72, the lane 51 of the road 50 and the lane 71 of the branch road 70 are connected in a manner that enables the vehicle 10 to move between the branch start position 721 and the branch end position 722. In this specification, the branch position 72 means the interval between the branch start position 721 and the branch end position 722.

[0067] Figure 6 And Figure 7 is a diagram illustrating an example of vehicle control processing. The road determination unit 233 determines, based on the current position P1 of the vehicle 10, the navigation route R, and the map information, that there is a branch road 60 that exits from the road 50 on which the vehicle 10 is traveling within the nearest driving section of the navigation route R.

[0068] As Figure 6 shown, the lane change scheduled section setting unit 234 sets a lane change scheduled section L1 having a predetermined length on the lane 51 of the road 50 based on the connection position 62 where the road 50 and the branch road 60 are connected. The lane change scheduled section setting unit 234 sets the section of a predetermined distance before the branch end position 622 as the lane change scheduled section L1. The start position L11 of the lane change scheduled section L1 is a position that is a predetermined length ahead of the branch end position 622 in the extending direction of the road 50. The end position L12 of the lane change scheduled section L1 coincides with the branch end position 622 in the extending direction of the road 50.

[0069] In the lane change reservation section L1, in the traveling direction of the vehicle 10, the automatic lane change reservation section A1 and the manual lane change reservation section B1 are arranged in front. The automatic lane change reservation section A1 is preferably arranged on the lane 51 such that its end position is located between the branch start position 621 and the branch end position 622. In the automatic lane change reservation section A1, the vehicle control system 1 attempts to move the vehicle 10 from the lane 51 of the road 50 to the lane 61 of the branch road 60 by automatically controlling the driving. In the automatic lane change reservation section A1, due to the influence of other vehicles or the like, there is a possibility that the vehicle control system 1 cannot move the vehicle 10 from the lane 51 of the road 50 to the lane 51 of the branch road 60 by automatic control. To cope with this situation, the manual lane change reservation section M1 is set on the traveling direction side of the automatic lane change reservation section A1. The distance of the automatic lane change reservation section A1 is determined, for example, according to the nearest average speed of the vehicle 10. The manual lane change reservation section B1 is arranged between the automatic lane change reservation section A1 and the branch end position 622.

[0070] The road determination unit 233 determines, based on the map information, that there is a branch road 70 on the same side as the branch road 60 with respect to the traveling direction of the vehicle 10 and from which the vehicle 10 can exit, between the current position P1 of the vehicle 10 and the connection position 62.

[0071] The start position L11 of the lane change reservation section L1 is closer to the front than the connection position 72 where the branch road 70 is connected to the road 50. Therefore, as shown in Figure 7 FIG., the start position L11 of the lane change reservation section L1 is changed to the branch end position 722 of the connection position 72 in the extending direction of the road 50. In addition, the start position changing unit 235 may change the start position L11 of the lane change reservation section L1 to the branch start position 721 of the connection position 72. Further, the start position changing unit 235 may change the start position L11 of the lane change reservation section L1 to a position (for example, an intermediate position) between the branch start position 721 and the branch end position 722 at the branch position 72. In addition, when the start position of the lane change reservation section L1 is at the branch position 72, the start position changing unit 235 may also change the start position of the lane change reservation section L1 to the branch end position 722 of the connection position 72.

[0072] The lane change scheduled section 234 sets a lane change scheduled section L1 on lane 51, where the start position L11 is changed. The lane change scheduled section L1 is an interval between the branch end position 722 connecting to position 72 and the branch end position 622 connecting to position 62 on lane 51. The start position L11 of the lane change scheduled section L1 coincides with the branch end position 722 connecting to position 72 in the extending direction of road 50. The end position L12 of the lane change scheduled section L1 coincides with the branch end position 622 in the extending direction of road 50.

[0073] The length of the lane change scheduled section L1 is shorter than the lane change scheduled section L1 before the start position L11 is changed. Therefore, in this embodiment, from the perspective of reliably moving between lanes, the lane change scheduled section 234 sets all intervals of the lane change scheduled section L1 as a manual lane change scheduled section M2. In addition, the lane change scheduled section 234 may also set all intervals of the lane change scheduled section L1 as an automatic lane change scheduled section. Alternatively, the lane change scheduled section 234 may arrange an automatic lane change scheduled section and a manual lane change scheduled section in sequence from the front of the traveling direction of the vehicle 10 in the lane change scheduled section L1.

[0074] When the vehicle 10 is about to travel in the lane change scheduled section L1, the lane change scheduled section 234 notifies the driver that the movement scheduled information indicating that the vehicle 10 is scheduled to move from lane 51 of road 50 to lane 61 of the branch road 60 is added to the driving lane plan. The driving plan device 15 adds the movement scheduled information notified to the driver in the lane change scheduled section L1 to the driving plan.

[0075] When the vehicle 10 travels in the lane change scheduled section L1, the vehicle control device 16 notifies the driver, according to the driving plan, via UI5, of the movement scheduled information indicating that the vehicle 10 is scheduled to move from lane 51 of road 50 to lane 61 of the branch road 60. In addition, the vehicle control device 16 blinks the direction indicator to notify the surroundings of the vehicle 10 that the vehicle 10 is scheduled to move from lane 51 of road 50 to lane 61 of the branch road 60.

[0076] When the vehicle 10 is traveling in the manual lane change reservation section L1 of the lane change reservation section, the vehicle control device 16 notifies the driver via the UI5 of a movement request to move from lane 51 of road 50 to lane 61 of branch road 60 by manual control. The driving of the vehicle 10 is in an automatic control state, but the vehicle control device 16 controls the steering wheel, the drive device, or the brake according to the steering amount, the acceleration opening, or the braking amount based on the driver's operation. In the manual lane change reservation section, the driver can drive the vehicle 10 by manual control and move from lane 51 of road 50 to lane 61 of branch road 60 at the branch position 62.

[0077] The start position L11 of the lane change reservation section L1 is changed to the branch end position 722 of the connection position 72. Thus, before the vehicle 10 passes the branch end position 722 of the connection position 72, the movement reservation information indicating that the vehicle 10 is scheduled to move from lane 51 of road 50 to lane 61 of branch road 60 is not notified to the driver. After the vehicle 10 passes the connection position 72, the driver is notified that the vehicle 10 is scheduled to move from lane 51 of road 50 to lane 61 of branch road 60.

[0078] As described above, the vehicle control device of the present embodiment notifies the driver that the vehicle is scheduled to move between lanes after the vehicle passes the second connection position (for example, the connection position 72), so that it is possible to prevent the driver from misunderstanding that the vehicle exits to the second road (for example, the branch road 70) at the second connection position.

[0079] Next, refer to Figure 8 , and the second embodiment of the above vehicle control device will be described below. Regarding the structure not described in the second embodiment, the description of the above first embodiment is appropriately applied.

[0080] In the present embodiment, the processor 23 of the travel lane planning device 14 has a start position correction unit 236 (refer to Figure 3 ). When it is estimated based on the navigation route R and the map information that the first connection position can be recognized by the driver at the second connection position, the start position correction unit 236 moves the start position of the lane change reservation section to a position closer to the front compared to the case where the first connection position cannot be recognized by the driver at the second connection position.

[0081] Figure 8 is an example of an operation flowchart related to vehicle control processing of the vehicle control system of the second embodiment. The operation flowchart of the present embodiment is different from the above first embodiment in that it has steps S206 and S207. The operations of steps S201 to S205 and step S208 of the present embodiment are the same as those of steps S101 to S106 of the above first embodiment.

[0082] In step S206, the start position correction unit 236 determines whether it is estimated that the first connection position can be recognized by the driver at the second connection position based on the navigation route R and the map information.

[0083] In the case where it is estimated that it can be recognized (step S206 - "Yes"), the start position correction unit 236 moves the start position of the lane change scheduled section forward in the traveling direction of the vehicle 10 (step S207). The process proceeds to step S208.

[0084] On the other hand, in the case where it is not estimated that it can be recognized (step S206 - "No"), the start position correction unit 236 does not move the start position of the lane change scheduled section. The process proceeds to step S208.

[0085] For example, as Figure 7 shown, when the road 50 on which the vehicle 10 is traveling is a left - hand traffic road and the road 50 turns to the right in the section before the branch position 72, it is estimated that the branch position 62 can be recognized by the driver at the branch position 72. The start position correction unit 236 may also refer to the map information and estimate that the branch position 62 can be recognized by the driver at the branch position 72 when the road 50 turns to the right from the branch position 72 towards the branch position 62 with a curvature radius equal to or greater than a predetermined value. Or, the start position correction unit 236 may also estimate that the branch position 62 can be recognized by the driver at the branch position 72 when the distance between the branch position 62 and the branch position 72 is less than a predetermined distance.

[0086] The start position correction unit 236 may also move the start position L11 of the lane change scheduled section L1, for example, from the branch end position 722 to the branch start position 721. Or, the start position correction unit 236 may also move the start position L11 of the lane change scheduled section L1 from the branch end position 722 to a position between the branch start position 721 and the branch end position 722 (for example, the middle position). Further, the start position correction unit 236 may also move the start position L11 of the lane change scheduled section L1 to a position closer to the front than the branch start position 721.

[0087] On the other hand, the start position correction unit 236 refers to the map information and estimates that the branch position 62 cannot be recognized by the driver at the branch position 72 when the road 50 turns to the right from the branch position 72 towards the branch position 62 with a curvature radius less than a predetermined value, when the road 50 goes straight, or when the road 50 turns to the left. Or, the start position correction unit 236 may also estimate that the branch position 62 cannot be recognized by the driver at the branch position 72 when the distance between the branch position 62 and the branch position 72 is equal to or greater than a predetermined distance.

[0088] As described above, when it is estimated that the first connection position (e.g., connection position 62) can be recognized by the driver at the second connection position (e.g., connection position 72), the possibility that the driver misinterprets and exits to the second road (e.g., branch road 70) at the second connection position is low. Therefore, the start position of the lane change scheduled section is moved forward to increase the length of the lane change scheduled section. Thus, it is considered that the vehicle 10 can perform lane change more reliably. The vehicle control device of the present embodiment has the same effect as the first embodiment described above.

[0089] In the present disclosure, the vehicle control device, the vehicle control computer program, and the vehicle control method of the above-described embodiment can be appropriately changed as long as they do not depart from the gist of the present disclosure. In addition, the technical scope of the present disclosure is not limited to these embodiments, and also includes the invention described in the claims and equivalents thereof.

[0090] For example, in the above-described embodiment, the first road is a branch road and the first connection position is the connection position between the driving road and the branch road. However, the first connection position may be an intersection and the first road may be a road where the vehicle is scheduled to turn left from the driving road at the intersection. In addition, the second connection position may be an intersection and the second road may be a road where the vehicle can turn left from the driving road at the intersection. Similarly, the first connection position may be an intersection and the first road may be a road where the vehicle is scheduled to turn right from the driving road at the intersection. In addition, the second connection position may be an intersection and the second road may be a road where the vehicle can turn right from the driving road at the intersection. In this case, the lane change scheduled section functions as a left turn scheduled section or a right turn scheduled section for the lane movement of the vehicle from the driving lane to the left turn or right turn road in the driving road.

[0091] In addition, the lane change scheduled section may also set, as the lane change scheduled section, an automatic lane change scheduled section having a predetermined length (e.g., 50 m) and a manual lane change scheduled section having a predetermined length (e.g., 150 m) in sequence on the lane. In this case, after the start position of the lane change scheduled section is changed to the second connection position, when the end position of the automatic lane change scheduled section is closer to the front than the first connection position, the lane change scheduled section may set the entire new lane change scheduled section as the manual lane change scheduled section.

Claims

1. A vehicle control device, characterized in that, Comprising: A road determination unit that determines, based on the current position of the vehicle, the navigation route, and the map information, whether there is a first road that exits from the driving road on which the vehicle is traveling within a predetermined driving section of the navigation route, and determines, based on the map information, whether there is a second road that is on the same side as the first road with respect to the traveling direction of the vehicle and from which the vehicle can exit between the current position of the vehicle and a first connection position where the driving road and the first road are connected; A lane change predetermined section setting unit that, when there is the first road, sets a lane change predetermined section on the driving road based on the first connection position; A start position changing unit that, when there is the second road and the start position of the lane change predetermined section is at or closer to a second connection position where the second road and the driving road are connected, changes the start position of the lane change predetermined section based on the second connection position; A notification control unit that, when the vehicle is traveling in the lane change predetermined section, notifies the driver via a notification unit that it is predetermined that the vehicle will move between lanes; And A start position correction unit that, when it is estimated based on the navigation route and the map information that the first connection position can be recognized by the driver at the second connection position, moves the start position of the lane change predetermined section closer to the front compared to the case where it is estimated that the first connection position cannot be recognized by the driver at the second connection position, The start position changing unit changes the start position of the lane change predetermined section to the branch end position of the second connection position.

2. The vehicle control device according to claim 1, wherein When the start position of the lane change predetermined section is changed to the second connection position, the lane change predetermined section setting unit sets the lane change predetermined section between the first connection position and the second connection position as a lane change predetermined section for moving between lanes by automatic control.

3. The vehicle control device according to claim 1, wherein When the start position of the lane change predetermined section is changed to the second connection position, the lane change predetermined section setting unit sets the lane change predetermined section between the first connection position and the second connection position as a lane change predetermined section for moving between lanes by manual control.

4. A computer-readable non-transitory storage medium stores a computer program for vehicle control, wherein, The vehicle control computer program causes the processor to execute: Determine, based on the current position of the vehicle, the navigation route, and the map information, whether there is a first road that exits from the driving road on which the vehicle is traveling within a predetermined driving section of the navigation route, When there is the first road, set a lane change predetermined section on the driving road based on the first connection position where the driving road and the first road are connected, Based on the map information, determine whether there is a second road on the same side of the vehicle's traveling direction as the first road and from which the vehicle can exit, between the current position of the vehicle and the first connection position. When there is such a second road and the start position of the lane change predetermined section is at the second connection position where the second road is connected to the traveling road or closer to the front than the second connection position, change the start position of the lane change predetermined section according to the second connection position. When the vehicle is traveling in the lane change predetermined section, notify the driver via the notification unit that the vehicle is scheduled to move between lanes. When it is speculated based on the navigation route and the map information that the first connection position can be recognized by the driver at the second connection position, move the start position of the lane change predetermined section closer to the front compared to the case where it is speculated that the first connection position cannot be recognized by the driver at the second connection position. Also change the start position of the lane change predetermined section to the branch end position of the second connection position.

5. A vehicle control method, which is executed by a vehicle control device: Based on the current position of the vehicle, the navigation route, and the map information, determine whether there is a first road from which the vehicle can exit the traveling road within a predetermined driving section of the navigation route. When there is such a first road, set a lane change predetermined section on the traveling road according to the first connection position where the traveling road is connected to the first road. Based on the map information, determine whether there is a second road on the same side of the vehicle's traveling direction as the first road and from which the vehicle can exit, between the current position of the vehicle and the first connection position. When there is such a second road and the start position of the lane change predetermined section is at the second connection position where the second road is connected to the traveling road or closer to the front than the second connection position, change the start position of the lane change predetermined section according to the second connection position. When the vehicle is traveling in the lane change predetermined section, notify the driver via the notification unit that the vehicle is scheduled to move between lanes. When it is speculated based on the navigation route and the map information that the first connection position can be recognized by the driver at the second connection position, move the start position of the lane change predetermined section closer to the front compared to the case where it is speculated that the first connection position cannot be recognized by the driver at the second connection position. Also change the start position of the lane change predetermined section to the branch end position of the second connection position.

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