Travel control device, travel control method, and non-transitory computer readable medium

Abstract

The present disclosure provides a travel control device, a travel control method, and a computer program for travel control, which can appropriately perform a lane change. The travel control device includes a request unit that requests a driver to perform a pre-lane-change action requested from the driver of a vehicle in order to perform a lane change from a lane in which the vehicle is traveling to another lane adjacent to the lane in which the vehicle is traveling, and a speed control unit that, after the request, controls a speed of the vehicle before the driver performs the pre-lane-change action, so that a gap to a lane change position determined in accordance with a positional relationship between the vehicle and a moving object in the other lane until the lane change is performed is reduced by changing the speed of the vehicle at a first acceleration, and controls the speed of the vehicle after the driver performs the pre-lane-change action, so that the gap to the lane change position is reduced by changing the speed of the vehicle at a second acceleration having an absolute value greater than an absolute value of the first acceleration.

Description

Technical Field

[0001] This disclosure relates to a driving control device, a driving control method, and a computer program for driving control of a vehicle. Background Technology

[0002] A driving control device is known that uses information about the vehicle's surroundings output by sensors such as cameras mounted on the vehicle to change the vehicle's lane from its driving lane to another lane. The driving control device changes the vehicle's lane for purposes such as moving to a lane leading to a destination or moving to an overtaking lane for passing a slow-moving vehicle ahead.

[0003] Patent Document 1 describes a driving control device that controls the acceleration, deceleration, and steering of a vehicle based on its surrounding conditions. The driving control device described in Patent Document 1 determines the search range or set range of potential target locations when changing lanes, depending on the type of lane change.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-217825 Summary of the Invention

[0007] During lane changes planned by the driving control system, sometimes a predetermined action by the driver, such as holding the steering wheel, is conditional. When planning such a lane change, the driving control system recommends the lane change to the driver and requests the predetermined action. If the driver does not take the predetermined action after the recommended lane change, the lane change will not be performed even if the vehicle moves to a position where a lane change can be performed. This behavior can sometimes create an unnatural impression on other drivers. Furthermore, drivers of other vehicles who feel this unnatural impression may change their actions, potentially altering the surrounding situation from one where a lane change is possible to one where it is not.

[0008] The purpose of this disclosure is to provide a driving control device capable of appropriately performing lane changes.

[0009] The driving control device disclosed herein includes: a request unit that requests the driver of a vehicle to perform a lane change pre-action, the lane change pre-action being an action requested from the driver to perform a lane change from the driving lane to another driving lane adjacent to the driving lane; and a speed control unit that, after the request but before the driver performs the lane change pre-action, controls the speed of the vehicle such that by changing the speed of the vehicle with a first acceleration, the interval to the lane change position is reduced, the lane change position being determined based on the positional relationship between the vehicle and moving objects in other driving lanes for performing the lane change; and after the driver performs the lane change pre-action, controls the speed of the vehicle such that by changing the speed of the vehicle with a second acceleration having an absolute value greater than the absolute value of the first acceleration, the interval to the lane change position is reduced.

[0010] In the driving control device disclosed herein, it is preferable that the speed control unit performs control when the driver has not made a lane change action and the predicted time required to reach the lane change position from the vehicle's current position is longer than a time threshold, so that the vehicle approaches the lane change position by changing the vehicle's speed with a third acceleration, wherein the third acceleration has an absolute value that is larger than the absolute value of the first acceleration and smaller than the absolute value of the second acceleration.

[0011] In the driving control device disclosed herein, it is preferable to further include a steering control unit, which, when the driver performs a lane change operation and the vehicle reaches the lane change position, steers the vehicle to move from the driving lane to another driving lane.

[0012] The driving control method disclosed herein includes: requesting the driver of a vehicle to perform a pre-lane change action, the pre-lane change action being an action requested from the driver to perform a lane change from a driving lane to another driving lane adjacent to the driving lane; and, after the request and before the driver performs the pre-lane change action, controlling the speed of the vehicle such that the interval to the lane change position is reduced by changing the speed of the vehicle with a first acceleration, the lane change position being determined based on the positional relationship between the vehicle and moving objects in other driving lanes for performing the lane change; and, after the driver performs the pre-lane change action, controlling the speed of the vehicle such that the interval to the lane change position is reduced by changing the speed of the vehicle with a second acceleration having an absolute value greater than the absolute value of the first acceleration.

[0013] The driving control computer program stored in the non-transitory computer-readable medium disclosed herein causes a computer mounted in a vehicle to perform: requesting the driver of the vehicle to perform a lane change pre-action, the lane change pre-action being requested from the driving lane to another driving lane adjacent to the driving lane; and after the request, but before the driver performs the lane change pre-action, controlling the vehicle speed such that the interval to the lane change position is reduced by changing the vehicle speed with a first acceleration, the lane change position being determined based on the positional relationship between the vehicle and moving objects in other driving lanes for the purpose of performing the lane change; and after the driver performs the lane change pre-action, controlling the vehicle speed such that the interval to the lane change position is reduced by changing the vehicle speed with a second acceleration having an absolute value greater than the absolute value of the first acceleration.

[0014] According to the driving control device disclosed herein, lane changes can be appropriately executed. Attached Figure Description

[0015] Figure 1 This is a schematic structural diagram of a vehicle equipped with a driving control device.

[0016] Figure 2 This is a hardware diagram of the ECU.

[0017] Figure 3 This is a functional block diagram of the processor in an ECU.

[0018] Figure 4A This is a diagram illustrating the first state in the first example of driving control. Figure 4B This is a diagram illustrating the second state in the first example of driving control. Figure 4C This is a diagram illustrating the third state in the first example of driving control.

[0019] Figure 5A This is a diagram illustrating the first state in the second example of driving control. Figure 5B This is a diagram illustrating the second state in the second example of driving control. Figure 5C This is a diagram illustrating the third state in the second example of driving control.

[0020] Figure 6 This is a flowchart of the driving control process.

[0021] (Symbol Explanation)

[0022] 1: Vehicle; 8: ECU; 832: Request Unit; 833: Speed ​​Control Unit; 834: Steering Control Unit. Detailed Implementation

[0023] Hereinafter, with reference to the accompanying drawings, a driving control device capable of appropriately performing lane changes will be described in detail. The driving control device requests the driver to perform a pre-lane change maneuver, a request made by the driver, before changing lanes from the currently traveling lane to another lane adjacent to the currently traveling lane. After issuing the request, and before the driver performs the pre-lane change maneuver, the driving control device controls the vehicle's speed to reduce the distance to the lane change position by changing the vehicle's speed with a first acceleration. The lane change position is a position determined based on the positional relationship between the vehicle and moving objects in other lanes for the purpose of performing the lane change. Furthermore, after the driver performs the pre-lane change maneuver, the driving control device controls the vehicle to approach the lane change position by changing the vehicle's speed with a second acceleration. The second acceleration is an acceleration with an absolute value greater than the absolute value of the first acceleration.

[0024] Figure 1 This is a schematic structural diagram of a vehicle equipped with a driving control device.

[0025] Vehicle 1 includes a peripheral camera 2, a driver monitoring camera 3, an instrument display 4, a steering wheel 5, a GNSS receiver 6, a storage device 7, and an ECU (Electronic Control Unit). ECU8 is an example of a driving control device. The peripheral camera 2, driver monitoring camera 3, instrument display 4, steering wheel 5, GNSS receiver 6, storage device 7, and ECU8 are connected and can communicate via an in-vehicle network according to a standard such as a controller area network.

[0026] The peripheral camera 2 is an example of a peripheral sensor used to generate peripheral data corresponding to the surrounding conditions of the vehicle 1. The peripheral camera 2 has a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as CCD or C-MOS, and an imaging optical system for imaging an image of the area to be photographed on the two-dimensional detector. The peripheral camera 2 has a front peripheral camera 2-1 and a rear peripheral camera 2-2. The front peripheral camera 2-1 is, for example, positioned forward-facing at the upper front of the vehicle interior, and the rear peripheral camera 2-2 is, for example, positioned rearward-facing at the upper rear of the vehicle interior. The peripheral camera 2 photographs the surrounding conditions of the vehicle 1 through the front or rear window at a predetermined shooting cycle (e.g., 1 / 30 second to 1 / 10 second), and outputs peripheral images representing the surrounding conditions as peripheral data.

[0027] The driver monitoring camera 3 is an example of a driver imaging unit used to generate a face image representing the driver's face region of a vehicle. The driver monitoring camera 3 has a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to infrared light, such as CCD or C-MOS, and an imaging optical system for imaging the area on the two-dimensional detector that is the subject of the image. Additionally, the driver monitoring camera 3 has a light source that emits infrared light. The driver monitoring camera 3 is mounted, for example, at the front of the vehicle interior, facing the face of the driver seated there. The driver monitoring camera 3 illuminates the driver with infrared light according to a predetermined shooting cycle (e.g., 1 / 30 second to 1 / 10 second), and outputs an image of the driver's face in a time sequence.

[0028] The instrument display 4 is an example of an output device, having, for example, an LCD display. Based on signals received from the ECU 8 via the in-vehicle network, the instrument display 4 displays information related to actions prior to a lane change requested by the driver in order to perform a lane change, in a manner visually recognizable to the driver.

[0029] The steering wheel 5 is an example of an operation receiving unit that receives driver requests to operate the steering mechanism of the vehicle 1. The request to operate the steering mechanism is, for example, turning the steering wheel 5 to the right or left. The steering wheel 5 has a touch sensor 5a that detects whether the driver is holding the steering wheel 5. The touch sensor 5a outputs a signal corresponding to whether the driver is holding the steering wheel 5.

[0030] GNSS receiver 6 receives GNSS signals from GNSS (Global Navigation Satellite System) satellites at predetermined intervals and determines the vehicle 1's own position based on the received GNSS signals. GNSS receiver 6 then outputs a positioning signal, representing the vehicle 1's own position based on the GNSS signals, to ECU 8 via the in-vehicle network at predetermined intervals.

[0031] Storage device 7 is an example of a storage unit, such as having a hard disk drive or a non-volatile semiconductor memory. Storage device 7 stores map data, including information related to road features such as lane markings, in relation to a location.

[0032] Based on the positions and speeds of other vehicles traveling around vehicle 1 as shown in the surrounding images generated by the surrounding camera 2, ECU8 plans a lane change. ECU8 requests the driver of vehicle 1 to perform a pre-lane change maneuver required to execute the planned lane change, and executes the lane change conditionally upon the driver performing the pre-lane change maneuver.

[0033] Figure 2 This is a hardware diagram of ECU8. ECU8 has a communication interface 81, a memory 82, and a processor 83.

[0034] Communication interface 81 is an example of a communication unit, having a communication interface circuit for connecting ECU 8 to an in-vehicle network. Communication interface 81 provides received data to processor 83. Additionally, communication interface 81 outputs data provided by processor 83 to an external source.

[0035] The memory 82 includes both volatile and non-volatile semiconductor memory. The memory 82 stores various data used in the processing performed by the processor 83, such as a motion request image displayed as a request for a lane change, a motion request sound reproduced as a request for a lane change, a motion determination criterion for determining whether a lane change has been performed, and a first acceleration and a second acceleration for adjusting the vehicle speed based on whether the driver has performed a lane change. Additionally, the memory 82 stores various application programs, such as a driving control program that performs driving control processing.

[0036] Processor 83 is an example of a control unit, having one or more processors and their peripheral circuitry. Processor 83 may also have other arithmetic circuitry such as a logic unit, a numerical arithmetic unit, or a graphics processing unit.

[0037] Figure 3 This is a functional block diagram of the processor 83 in ECU8.

[0038] In the processor 83 of the ECU8, as functional blocks, there are a planning unit 831, a request unit 832, a speed control unit 833, and a steering control unit 834. These units of the processor 83 are functional modules installed via a computer program stored in the memory 82 and executed on the processor 83. The computer program that implements the functions of each unit of the processor 83 may also be provided in the form of a computer-readable portable recording medium recorded on a semiconductor memory, magnetic recording medium, or optical recording medium. Alternatively, these units of the processor 83 may be installed in the ECU8 as independent integrated circuits, microprocessors, or firmware.

[0039] Planning Unit 831 plans a lane change based on the positions and speeds of other vehicles traveling in other lanes connected to the lane in which Vehicle 1 is traveling, as shown in the surrounding images generated by the surrounding camera 2. Other vehicles are an example of moving objects.

[0040] Figure 4A This is a diagram illustrating the first state in the first example of driving control. Figure 4BThis is a diagram illustrating the second state in the first example of driving control. Figure 4C This is a diagram illustrating the third state in the first example of driving control.

[0041] Figure 4A In the first example of driving control shown, vehicle 1 is traveling at speed V in lane L11. 10 The first state of driving. The planning unit 831 detects other vehicles 11 and 12 traveling behind vehicle 1 in driving lane L12 adjacent to driving lane L11 by inputting the surrounding image output by the rear peripheral camera 2-2 into a recognizer that learns to detect other vehicles and driving lane markings.

[0042] The recognizer can be, for example, a convolutional neural network (CNN) with multiple convolutional layers connected in series from the input side to the output side. By using images including other vehicles and lane markings as training data, the CNN is pre-learned according to a predetermined learning method such as backpropagation of errors, and the CNN acts as a recognizer for determining the positions of other vehicles and lane markings.

[0043] The planning unit 831 tracks objects detected as other vehicles from multiple peripheral images output at different times, and determines the regions corresponding to other vehicles 11 and 12 in the peripheral images. Then, for example, using the height of other vehicles in the peripheral images output at a predetermined time, the height of a standard vehicle, and the focal length of the optical system of the peripheral camera 2 that outputs the peripheral images, the distance to other vehicles is estimated. In addition, the planning unit 831 uses the estimated distance to other vehicles, the shooting direction of the peripheral camera 2, and the position of the vehicle itself determined using the positioning signal obtained from the GNSS receiver 6 to estimate the positions of other vehicles 11 and 12.

[0044] Planning Department 831 uses the intervals between the positions of other vehicles 11 and 12 at different times, and the intervals at those times, to estimate the speeds of other vehicles 11 and 12. In the first example of driving control, other vehicles 11 and 12 have a relative speed V. 10 Traveling at the same fast speed.

[0045] If the interval between other vehicles 11 and other vehicles 12 is longer than the predetermined queuing threshold, the planning unit 831 sets a lane change space LCS1 between other vehicles 11 and other vehicles 12 based on the positional relationship between vehicle 1 and other vehicles 11 and 12. The lane change space LCS1 is the space between other vehicles 11 and other vehicles 12, from the position where the front of the other vehicle 11 traveling behind leaves the forward interval DF to the position where the rear of the other vehicle 12 traveling in front leaves the rear interval DR.

[0046] Furthermore, if other vehicles 11 and 12 are not traveling at the same speed in lane L12, the length of the lane change space LCS1 will change over time. For example, if one of the other vehicles 11 behind is traveling faster than the other vehicle 12 in front, the length of the lane change space LCS1 will shorten over time. If it is predicted that the length of the lane change space LCS1 after a predetermined time is shorter than the queue-jumping threshold, the planning unit 831 will not set the lane change space LCS1 between other vehicles 11 and other vehicles 12.

[0047] Additionally, when three or more vehicles traveling at a speed of V are detected behind vehicle 1 in lane L12... 10 In the case of other vehicles traveling at high speeds, the planning unit 831 detects the intervals between multiple other vehicles. In this case, the planning unit 831 sets the lane change space LCS1 to the interval closest to vehicle 1 among the intervals whose lengths are longer than the queue-jumping threshold at the time of detection and after a predetermined time.

[0048] Additionally, when a vehicle traveling at a speed of V is detected behind vehicle 1 in lane L12... 10 In the case of other vehicles traveling at high speeds, the planning unit 831 sets a lane change space LCS1 in front of or behind the other vehicles based on the speed difference between vehicle 1 and other vehicles and the distance to other vehicles. For example, if the speed difference between vehicle 1 and other vehicles is large and the distance to other vehicles is small, the planning unit 831 sets a lane change space LCS1 behind the other vehicles.

[0049] Planning Department 831 sets the lane change position LCP1 at the position closest to vehicle 1 within the lane change space LCS1, and plans to change lanes at the lane change position LCP1. Other vehicles 11 and 12 change lanes at a speed of V. 10 As the vehicle travels at a high speed, the lane change position LCP1, as observed from vehicle 1, moves from rear to front as vehicle 1 travels.

[0050] The request unit 832 requests the driver of vehicle 1 to perform a lane change pre-action. This lane change pre-action is an action requested from the driver to change lanes from the current lane to another lane adjacent to the current lane. The lane change pre-action is holding the steering wheel 5. Alternatively, the lane change pre-action may be turning one's face towards the direction of the lane change destination, or operating a predetermined button, etc.

[0051] The request unit 832 requests the driver of vehicle 1 to perform a lane change maneuver by, for example, displaying an action request image stored in memory 82 on the instrument panel 4. The action request image includes text such as "Please keep the steering wheel" or an image showing the action of keeping the steering wheel. Alternatively, vehicle 1 may have a speaker (not shown) as an output device, and the request unit 832 requests the driver of vehicle 1 to perform a lane change maneuver by reproducing the action request sound stored in memory 82 through the speaker.

[0052] After the request is made, the speed control unit 833 determines whether the driver has performed a pre-lane change action.

[0053] When the speed control unit 833 detects that the steering wheel 5 is being held based on the signal received from the touch sensor 5a of the steering wheel 5, it determines that the driver has made a pre-lane change action.

[0054] When the pre-lane-change maneuver involves facing the direction of the lane to which the driver intends to change lanes, the speed control unit 833 detects the driver's gaze direction based on the facial image output by the driver monitoring camera 3. The speed control unit 833 performs template matching, for example, between a template representing the pupil and corneal reflection of a light source and the facial image, detecting the pupil and corneal reflection of a light source as feature points, and calculates the gaze direction based on their positional relationship. Then, if the detected gaze direction falls within a predetermined range from the vehicle's position towards the lane L12 to which the driver intends to change lanes, it is determined that the driver has performed a pre-lane-change maneuver.

[0055] If the pre-lane change action is a predetermined button operation, the speed control unit 833 determines whether the driver has performed a pre-lane change action based on whether a signal corresponding to the operation is received via the in-vehicle network.

[0056] The speed control unit 833 controls the vehicle 1 to change its speed with a first acceleration before the driver performs a lane change maneuver, thereby reducing the distance from the vehicle 1 to the lane change position LCP1. Furthermore, the speed control unit 833 controls the vehicle 1 to change its speed with a second acceleration having a larger absolute value than the first acceleration after the driver performs a lane change maneuver, thereby reducing the distance from the vehicle 1 to the lane change position LCP1.

[0057] Figure 4B This illustrates a first example of driving control, followed by a second state where a lane change pre-action has been requested, but the driver has not yet performed a lane change pre-action and the vehicle 1 is traveling in lane L11. The speed control unit 833 accelerates the vehicle 1 from speed V before the driver performs the lane change pre-action using a first acceleration.10 Decelerate to speed V 11 In this example, the first acceleration is -0.1G, and the velocity is V. 11 Specific velocity V 10 Slow. That is, the changed speed V of vehicle 1. 11 Because it travels slower than other vehicles 11 and 12, the lane change position LCP1 observed from vehicle 1 is slower than that of other vehicles. Figure 4A The position in the first state shown moves relatively forward.

[0058] Figure 4C This illustrates a third state in driving control, where, after a lane change pre-action has been requested and the driver has performed the lane change pre-action, vehicle 1 is traveling in lane L11. The speed control unit 833 accelerates vehicle 1 from speed V after the driver performed the lane change pre-action using a second acceleration. 10 Deceleration is velocity V 12 In this example, the second acceleration is -0.5G, and the absolute value of the second acceleration is greater than the absolute value of the first acceleration. Velocity V 12 Specific velocity V 11 Slower, so the lane change position LCP1 observed from vehicle 1 is slower than that of vehicle 1. Figure 4B The position in the second state shown has moved further forward.

[0059] The steering control unit 834 steers the vehicle 1 from the driving lane to another lane when the driver performs a pre-lane change action and the vehicle 1 reaches the lane change position LCP1.

[0060] exist Figure 4C In the third state of the first example of driving control shown, the driver has already performed a pre-lane change maneuver. The steering control unit 834 determines whether the vehicle 1 has reached the lane change position LCP1, which is set based on the positions of other vehicles 11 and 12 detected from the surrounding images output by the rear peripheral camera 2-2. If it is determined that the vehicle 1 has reached the lane change position LCP1, the steering control unit 834 sends a steering signal via the in-vehicle network to the steering mechanism used to steer the vehicle 1. This steering signal causes the steering mechanism to actuate, so that the vehicle 1 moves from the driving lane to another lane.

[0061] In addition to the vehicle 1 reaching the lane change position LCP1, the steering control unit 834 can also send a steering signal if the surrounding conditions of the vehicle 1 meet the surrounding conditions. The surrounding conditions are determined by, for example, the terrain (not a sharp turn section, not a steep slope section, etc.). The steering control unit 834 can obtain the terrain surrounding the position of the vehicle 1 obtained by the GNSS receiver 6 from the map information stored in the storage device 7. In addition, the terrain can also be detected from the surrounding images generated by the surrounding camera 2.

[0062] Furthermore, assuming that in Figures 4A-4C In the first state of the first example of driving control shown, vehicle 1 travels at a constant speed with other vehicles 11 and 12. In this case, the distance from vehicle 1's current position to the lane change position LCP1 is divided by vehicle 1's speed V. 10 The speed difference with other vehicles 11 and 12 allows for the calculation of the arrival time, which is the predicted time required to reach the lane change position LCP1 from the current position of vehicle 1.

[0063] Vehicle 1's speed V 10 The smaller the speed difference between vehicle 1 and other vehicles 11 and 12, the longer the arrival time. Based on the speed V of vehicle 1... 10 If the arrival time calculated from the speeds of other vehicles 11 and 12 is longer than a predetermined time threshold, the speed control unit 833 can also perform control to reduce the distance between vehicle 1 and the lane change position LCP1 by decelerating vehicle 1 with a third acceleration. The absolute value of the third acceleration is greater than the absolute value of the first acceleration and less than the absolute value of the second acceleration. The third acceleration is preferably an acceleration such that, for example, -0.35G, the level at which the brake lights do not illuminate.

[0064] The first, second, and third accelerations preferably have the same sign. Alternatively, the first acceleration may be zero, in which case the second and third accelerations preferably have the same sign.

[0065] Figure 5A This is a diagram illustrating the first state in the second example of driving control. Figure 5B This is a diagram illustrating the second state in the second example of driving control. Figure 5C This is a diagram illustrating the third state in the second example of driving control.

[0066] Figure 5A In the second example of driving control, vehicle 1 is traveling at speed V in lane L22. 20The first state of travel. The planning unit 831 inputs the surrounding image output from the forward peripheral camera 2-1 into a recognizer that has learned to detect other vehicles and lane markings, detecting other vehicles 21 and 22 traveling in front of vehicle 1 in lane L21 adjacent to lane L22. Other vehicles 21 and 22 travel at a speed V... 20 Drive at a slow speed.

[0067] When the interval between other vehicles 21 and 22 is longer than a predetermined queuing threshold, the planning unit 831 sets a lane change space LCS2 between other vehicles 21 and 22 based on the positional relationship between vehicle 1 and other vehicles 21 and 22. The lane change space LCS2 is the space between other vehicles 21 and 22, extending from the position where the front of the other vehicle 21 traveling behind leaves the forward gap DF to the position where the rear of the other vehicle 22 traveling in front leaves the rear gap DR. Then, the planning unit 831 sets a lane change position LCP2 at the position closest to vehicle 1 within the lane change space LCS2 and plans a lane change at the lane change position LCP2. Other vehicles 21 and 22 travel at a speed V... 20 As the vehicle travels at a slow speed, the lane change position LCP2, as observed from vehicle 1, moves from the front to the rear relative to the vehicle 1 as it travels.

[0068] The request unit 832 requests the driver of vehicle 1 to perform a lane change pre-change action, which is an action requested from the driver of the vehicle to change lanes from the driving lane to another driving lane adjacent to the driving lane.

[0069] After the request is made, the speed control unit 833 determines whether the driver has performed a pre-lane change action.

[0070] The speed control unit 833 controls the vehicle 1 to change its speed with a first acceleration before the driver performs a lane change maneuver, thereby reducing the distance from the vehicle 1 to the lane change position LCP2. Furthermore, the speed control unit 833 controls the vehicle 1 to change its speed with a second acceleration whose absolute value is greater than the absolute value of the first acceleration after the driver performs a lane change maneuver, thereby reducing the distance from the vehicle 1 to the lane change position LCP2.

[0071] Figure 5B This illustrates a second instance of driving control, where a lane change pre-action has been requested, but the driver has not yet performed a lane change pre-action, and vehicle 1 is traveling in lane L22. The speed control unit 833 accelerates vehicle 1 from speed V before the driver performs the lane change pre-action using a first acceleration. 20 Change to speed V21 In this example, the first acceleration is 0G, and the velocity is V. 21 With speed V 20 Equal. That is, the changed speed V of vehicle 1. 21 Because it travels faster than other vehicles 21 and 22, the lane change position LCP2 observed from vehicle 1 is higher than that of other vehicles. Figure 5A The position in the first state shown has moved relatively backward.

[0072] Figure 5C This illustrates a second example of driving control, where a lane change pre-action has been requested, and the vehicle 1 is traveling in lane L22 after the driver performs the lane change pre-action. The speed control unit 833 uses a second acceleration to reduce the speed of vehicle 1 after the driver performs the lane change pre-action from speed V... 20 Acceleration is speed V 22 In this example, the second acceleration is 0.5G, and the absolute value of the second acceleration is greater than the absolute value of the first acceleration. Velocity V 22 Specific velocity V 21 Faster, so the lane change position observed from vehicle 1 is LCP2 faster than... Figure 5B The position shown in the second state has moved further backward.

[0073] When the driver performs a pre-lane change action and the vehicle 1 reaches the lane change position LCP2, the steering control unit 834 steers the vehicle 1 in a manner that moves the vehicle 1 from the driving lane L22 to another driving lane L21.

[0074] Figure 6 This is a flowchart of the driving control process. Whenever the planning department 831 plans a lane change, ECU8 executes the driving control process.

[0075] First, the request unit 832 of the processor 83 of the ECU8 requests the driver to perform a lane change pre-action (step S1). This lane change pre-action is an action requested from the driver of the vehicle to perform a lane change from the driving lane to another driving lane adjacent to the driving lane.

[0076] After the request is issued, the speed control unit 833 of the processor 83 of the ECU8 determines whether the driver has performed a lane change action (step S2).

[0077] If it is determined that the driver has not performed a lane change pre-action (step S2: "No"), the speed control unit 833 controls the speed of the vehicle 1 to change the speed of the vehicle 1 with a first acceleration, thereby reducing the interval until the lane change position, which is determined based on the positional relationship between the vehicle and moving objects in other lanes to perform the lane change (step S3). Then, the processing of the processor 83 of the ECU 8 returns to step S1, and continues to request the driver to perform a lane change pre-action through the request unit 832.

[0078] If it is determined that the driver has performed a pre-lane change action (step S2: "Yes"), the speed control unit 833 controls the speed of the vehicle 1 so that the speed of the vehicle 1 is changed by a second acceleration with an absolute value greater than the absolute value of the first acceleration, thereby reducing the interval until the lane change position (step S4).

[0079] Next, the steering control unit 834 of the processor 83 of the ECU8 determines whether the vehicle 1 has reached the lane change position (step S5).

[0080] If it is determined that vehicle 1 has not reached the lane change position (step S5: "No"), the processor 83 of ECU8 returns to step S4 to continue controlling vehicle 1 to approach the lane change position.

[0081] If it is determined that vehicle 1 has reached the lane change position (step S5: "Yes"), the steering control unit 834 of the processor 83 of ECU8 steers vehicle 1 in a manner that moves it from the driving lane to another driving lane (step S6), and ends the driving control process.

[0082] By performing driving control processing in this way, ECU8 can appropriately execute lane changes.

[0083] Vehicle 1, acting as a peripheral sensor, may also have a LiDAR (Light Detection and Ranging) sensor or a RADAR (Radio Detection and Ranging) sensor. Based on the surrounding conditions of vehicle 1, the LiDAR or RADAR sensor outputs a distance image, where each pixel has a value corresponding to the distance up to the object represented by that pixel, as peripheral data.

[0084] Those skilled in the art will understand that various changes, substitutions, and modifications can be made without departing from the spirit and scope of this disclosure.

Claims

1. A driving control device, comprising: The request unit requests the driver of the vehicle to perform a pre-lane change action, which is an action requested from the driver to perform a lane change from the current lane to another lane adjacent to the current lane; and The speed control unit, after the request but before the driver performs the lane change maneuver, controls the vehicle's speed such that by changing the vehicle's speed with a first acceleration, the interval to the lane change position is reduced, the lane change position being determined based on the positional relationship between the vehicle and moving objects in other lanes for the purpose of performing the lane change. After the driver performs the lane change maneuver, the unit controls the vehicle's speed such that by changing the vehicle's speed with a second acceleration having an absolute value greater than the absolute value of the first acceleration, the interval to the lane change position is reduced. If the driver has not performed the lane change action and the predicted time required to reach the lane change position from the vehicle's current position is longer than a time threshold, the speed control unit controls the vehicle to reduce the interval to the lane change position by changing the vehicle's speed with a third acceleration, wherein the third acceleration has an absolute value that is greater than the absolute value of the first acceleration and smaller than the absolute value of the second acceleration.

2. The driving control device according to claim 1, wherein, The driving control device also includes a steering control unit, which, when the driver performs an action before the lane change and the vehicle reaches the lane change position, steers the vehicle in such a way that it moves from the driving lane to the other lane.

3. A driving control method, comprising: The driver of the vehicle is requested to perform a lane change action in order to change lanes from the current lane to another lane adjacent to the current lane. as well as Following the request and before the driver performs the lane change maneuver, the vehicle's speed is controlled such that the interval to the lane change position is reduced by changing the vehicle's speed with a first acceleration, the lane change position being determined based on the positional relationship between the vehicle and moving objects in the other lanes for the purpose of performing the lane change. After the driver performs the lane change maneuver, the vehicle's speed is controlled such that the interval to the lane change position is reduced by changing the vehicle's speed with a second acceleration having an absolute value greater than the absolute value of the first acceleration. If the driver has not made the lane change action and it is predicted that the time required to reach the lane change position from the vehicle's current position is longer than a time threshold, control is performed such that the interval to the lane change position is reduced by changing the vehicle's speed with a third acceleration, the third acceleration having an absolute value that is greater than the absolute value of the first acceleration and smaller than the absolute value of the second acceleration.

4. A non-transitory computer-readable medium storing a driving control computer program that causes a computer mounted in a vehicle to execute: A request is made to the driver of the vehicle to perform a pre-lane change action, which is an action requested from the driver to perform a lane change from the current lane to another lane adjacent to the current lane; and Following the request and before the driver performs the lane change maneuver, the vehicle's speed is controlled such that the interval to the lane change position is reduced by changing the vehicle's speed with a first acceleration, the lane change position being determined based on the positional relationship between the vehicle and moving objects in the other lanes for the purpose of performing the lane change. After the driver performs the lane change maneuver, the vehicle's speed is controlled such that the interval to the lane change position is reduced by changing the vehicle's speed with a second acceleration having an absolute value greater than the absolute value of the first acceleration. If the driver has not made the lane change action and it is predicted that the time required to reach the lane change position from the vehicle's current position is longer than a time threshold, control is performed such that the interval to the lane change position is reduced by changing the vehicle's speed with a third acceleration, the third acceleration having an absolute value that is greater than the absolute value of the first acceleration and smaller than the absolute value of the second acceleration.

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