Vehicle control devices, vehicle control methods, and computer program products

Abstract

This disclosure relates to a vehicle control device, a vehicle control method, and a computer program for vehicle control. The vehicle control device includes: a planning unit (32) that, when requesting the vehicle (10) to change lanes from its current lane to another lane, determines a driving plan indicating the vehicle's driving actions before the lane change is completed in a manner that satisfies safety conditions, under which objects around the vehicle and the vehicle do not collide, as detected by sensor signals obtained from sensors (2) mounted on the vehicle; a setting unit (33) that sets change completion conditions indicating the position or time of the requested lane change; a determination unit (34) that, when the vehicle is driven according to the driving plan, determines whether the change completion conditions are met; and a control unit (35) that, if the change completion conditions are met, controls the vehicle to change lanes according to the driving plan, and if the conditions are not met, restricts the implementation of the lane change.

Description

Technical Field

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

[0002] In the autonomous driving control of vehicles, a technology for enabling vehicles to change lanes is proposed (refer to Japanese Patent Application Publication No. 2020-135885 and Japanese Patent Application Publication No. 2020-095336).

[0003] In the lane-changing decision-making method disclosed in Japanese Patent Application Publication No. 2020-135885, during lane-changing by an autonomous vehicle, a first planned trajectory for the autonomous vehicle to travel toward the target lane of the lane change is obtained at a predetermined time. Furthermore, in this method, a second planned trajectory for the autonomous vehicle to travel toward the lane it is currently in at the start of the lane change is obtained. Moreover, in this method, predicted trajectories of at least one obstacle within a predetermined range surrounding the autonomous vehicle are predicted at a predetermined time based on the driving status of that obstacle. Finally, in this method, the driving action of the autonomous vehicle is determined based on the first planned trajectory, the second planned trajectory, and the predicted trajectories of each obstacle.

[0004] Furthermore, the automated driving support device disclosed in Japanese Patent Application Publication No. 2020-095336, when the target travel route for the vehicle to drive automatically is set to move from the main road's driving lane towards a branch lane, determines whether a lane control zone is set before the entrance to the branch lane. If a lane control zone is determined to exist, the automated driving support device performs lane change control, guiding the vehicle to an adjacent overtaking lane before the start of the lane control zone. Moreover, after changing the vehicle's lane to the adjacent overtaking lane, when changing lanes towards the branch lane through the lane control zone, the automated driving support device determines whether entering the branch lane is permissible; if entry is deemed impermissible, it maintains driving along the current lane. Summary of the Invention

[0005] Depending on the circumstances, lane changes can sometimes be difficult to execute as planned. In such situations, the vehicle's actual behavior may differ from the driver's intended behavior, sometimes resulting in driver discomfort.

[0006] Therefore, the object of the present invention is to provide a vehicle control device that can suppress driver discomfort caused by the vehicle's actions when the vehicle automatically changes lanes.

[0007] According to one embodiment, a vehicle control device is provided. This vehicle control device includes: a detection unit that detects objects around the vehicle based on sensor signals obtained from sensors mounted on the vehicle; a planning unit that, when requesting the vehicle to change lanes from its current lane to another lane based on instructions given by the driver, the vehicle's driving status, or the road structure around the vehicle, determines a driving plan for controlling lane changes in a manner that satisfies safety conditions regarding objects around the vehicle and preventing collisions with the vehicle; a setting unit that sets lane change completion conditions, indicating the location or time at which the lane change is requested, based on the elapsed time since the driver gave the instruction, the road structure during the vehicle's travel, or the road conditions; a determination unit that, when the vehicle is driven according to the driving plan, determines whether the lane change completion conditions are met; and a control unit that, if the lane change completion conditions are met, controls the vehicle to change lanes according to the driving plan; and, if the lane change completion conditions are not met, restricts the lane change.

[0008] In this vehicle control device, the preferred setting unit makes the change completion conditions when the driving plan meets the high safety conditions more lenient than the change completion conditions when the driving plan does not meet the high safety conditions. The high safety conditions are more demanding on the safety of the vehicle than the safety conditions.

[0009] Furthermore, in this vehicle control device, when a request to change lanes is made based on an instruction given by the driver, the setting unit sets the change completion condition based on the elapsed time since the instruction. On the other hand, when a request to change lanes is made based on the vehicle's driving conditions or the structure of the road around the vehicle, the setting unit sets the change completion condition based on the location where the lane change is requested to be completed.

[0010] Alternatively, in this vehicle control device, the control unit preferably determines the degree of restriction on lane changing based on which of the following conditions is set for completion of the lane change: the elapsed time since the driver gave the instruction, the road structure during the vehicle's journey, or the road condition.

[0011] Alternatively, in the vehicle control device, the control unit preferably determines the degree of restriction on lane changes in a manner that differs between the degree of restriction on lane changes when it is determined that the conditions for completing the lane change are not met and there is a possibility that the conditions for completing the lane change will be met after a predetermined time, and the degree of restriction on lane changes when it is determined that the conditions for completing the lane change are not met and there is no possibility that the conditions for completing the lane change will be met after a predetermined time.

[0012] According to other embodiments, a vehicle control method is provided. This vehicle control method includes: detecting objects around the vehicle based on sensor signals obtained from sensors mounted on the vehicle; when, based on instructions given by the vehicle's driver, the vehicle's driving status, or the road structure around the vehicle, a request is made for the vehicle to change lanes from its current driving lane to another driving lane, a driving plan for controlling the lane change is determined in a manner that satisfies safety conditions regarding objects around the vehicle and preventing collisions with the vehicle; setting lane change completion conditions, representing the location or time at which the lane change is requested, based on the elapsed time since the driver gave the instruction, the road structure during the vehicle's travel, or the road conditions; determining whether the lane change completion conditions are met when the vehicle is driven according to the driving plan; and, if the lane change completion conditions are met, controlling the vehicle to change lanes according to the driving plan, while restricting the lane change if the lane change completion conditions are not met.

[0013] According to further embodiments, a vehicle control computer program is provided. This vehicle control computer program includes commands for causing a processor mounted on a vehicle to execute the following steps: detecting objects around the vehicle based on sensor signals obtained from sensors mounted on the vehicle; determining a driving plan for controlling the lane change, representing the vehicle's driving actions before the lane change is completed, in a manner that satisfies safety conditions regarding objects around the vehicle and preventing collisions with the vehicle, when the vehicle is requested to change lanes from its current lane to another lane based on instructions given by the driver, the vehicle's driving conditions, or the road conditions around the vehicle; setting lane change completion conditions, representing the location or time at which the lane change is requested to be completed, based on the elapsed time since the driver gave the instruction, the road conditions, or the road conditions; determining whether the lane change completion conditions are met when the vehicle is driven according to the driving plan; and controlling the vehicle to perform the lane change according to the driving plan when the lane change completion conditions are met, and restricting the lane change when the lane change completion conditions are not met.

[0014] The vehicle control device disclosed herein has the effect of suppressing driver discomfort caused by the vehicle's actions, such as when the vehicle automatically changes lanes. Attached Figure Description

[0015] Figure 1 It is a schematic diagram of the structure of a vehicle control system with vehicle control devices installed.

[0016] Figure 2 This is a hardware structure diagram of an electronic control device as one embodiment of a vehicle control device.

[0017] Figure 3 It is a functional block diagram of the processor of the electronic control device related to vehicle control processing.

[0018] Figure 4A This is a diagram illustrating an example of the conditions for completing a change.

[0019] Figure 4B This is another diagram illustrating the conditions for completing a change.

[0020] Figure 5 This is a diagram illustrating an example of a vehicle's driving status when the conditions for completing the change are not met.

[0021] Figure 6 This is a diagram illustrating an example of the driving status of a vehicle that has met the conditions for completion of the change.

[0022] Figure 7 It is a flowchart of the vehicle control and processing actions. Detailed Implementation

[0023] The following description, with reference to the accompanying drawings, describes a vehicle control device, a vehicle control method executed on the vehicle control device, and a computer program for vehicle control. This vehicle control device performs lane changes as needed during automatic vehicle control.

[0024] When performing a lane change, to prevent anxiety for the driver, the driver is notified in advance of the lane change. Furthermore, depending on the situation, along with the lane change notification, the driver is requested to monitor the surrounding environment, including the condition of the lane to which the lane change is intended. However, depending on the surrounding environment, after the lane change is announced and the timing of the lane change is adjusted, it is sometimes difficult to complete the lane change before the designated completion point or within the designated completion time. If the lane change is actually stopped when the vehicle reaches a point where it is determined that a lane change cannot be performed, the driver is still requested to monitor the surrounding environment even though no lane change was performed until that point. Additionally, even if vehicle control is handed over to the driver at the point where a lane change is deemed impossible, there may not be enough time or distance for the driver. Conversely, if the lane change is announced in advance when the vehicle control system has sufficient time or distance to allow, the lane change may be performed at an unnatural time, potentially causing discomfort to the driver. Consequently, the scenarios in which lane changes can be automatically implemented are excessively restricted, reducing convenience.

[0025] Therefore, the vehicle control device sets lane change completion conditions indicating the location or time at which a lane change is requested to be completed. Based on this, the vehicle control device determines whether the lane change completion conditions are met when driving the vehicle according to the driving plan at the time of lane change control, which indicates the driving behavior of the vehicle before the lane change is completed. Furthermore, if the lane change completion conditions are met, the vehicle control device controls the vehicle to perform a lane change according to the driving plan at the time of lane change control; on the other hand, if the lane change completion conditions are not met, the implementation of lane changes is restricted.

[0026] Figure 1 This is a schematic diagram of the vehicle control system equipped with vehicle control devices. Additionally, Figure 2 This is a hardware structure diagram of an electronic control device as one embodiment of a vehicle control device. In this embodiment, the vehicle control system 1, which is mounted on and controls the vehicle 10, includes a camera 2, a GPS receiver 3, a navigation device 4, a wireless communication device 5, a storage device 6, and an electronic control unit (ECU) 7, which is an example of a vehicle control device. The camera 2, GPS receiver 3, navigation device 4, wireless communication device 5, storage device 6, and ECU 7 are connected to an in-vehicle network according to a standard controller area network (CLAN) so that they can communicate. In addition, the vehicle control system 1 may also include a ranging sensor (not shown) such as LiDAR or radar to measure the distance from the vehicle 10 to objects existing in the vicinity of the vehicle 10.

[0027] Camera 2 is an example of a sensor that generates sensor signals representing the surroundings of vehicle 10. It 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 that images the area of ​​the object to be photographed on the two-dimensional detector. Furthermore, camera 2 is mounted, for example, in the interior of vehicle 10, facing forward of vehicle 10. Camera 2 captures images of the area in front of vehicle 10 at predetermined shooting intervals (e.g., 1 / 30 to 1 / 10 of a second), generating an image of that area. The image obtained by camera 2 is an example of a sensor signal. Alternatively, multiple cameras with different shooting directions or focal lengths can be installed in vehicle 10.

[0028] Whenever camera 2 generates an image, it outputs the generated image to ECU 7 via the in-vehicle network.

[0029] The GPS receiver 3 receives GPS signals from GPS satellites at predetermined intervals and determines the vehicle 10's own position based on the received GPS signals. Furthermore, the GPS receiver 3, at predetermined intervals, outputs the positioning information, representing the vehicle 10's own position based on the GPS signals, to the navigation device 4 and the ECU 7 via the in-vehicle network. Alternatively, the vehicle 10 may replace the GPS receiver with a receiver that receives positioning signals from satellites based on other satellite positioning systems to determine the vehicle 10's own position.

[0030] The navigation device 4 performs navigation processing for the vehicle 10 according to the navigation program operating on the device. For example, when the driver instructs the navigation program to start and inputs the destination of the vehicle 10, the navigation device 4 searches for a route from the current location of the vehicle 10 to the destination. At this time, the navigation device 4 refers to a route search map stored on the device that shows each road section and its connection relationship, and searches for a route using a predetermined path search method such as the Dixtro method. The route includes information such as the roads traversed to the destination, the direction of travel at branch points on the route, and the location of intersections for right or left turns. In addition, the navigation device 4 can, for example, use the vehicle 10's own position received from the GPS receiver 3 based on the latest positioning results as the vehicle 10's current position.

[0031] When requesting a driving route for vehicle 10, navigation device 4 outputs information indicating the driving route to ECU 7 via the in-vehicle network.

[0032] Wireless communication device 5 communicates wirelessly with wireless base station according to a predetermined mobile communication standard. Wireless communication device 5 receives traffic information (e.g., information based on Vehicle Information and Communication System) from other devices via the wireless base station, indicating the traffic conditions of the road or its surroundings where vehicle 10 is traveling, or construction information indicating the progress of construction (e.g., information based on the Vehicle Information and Communication System). Then, wireless communication device 5 outputs the received traffic information to ECU 7 via the in-vehicle network. Additionally, wireless communication device 5 can also receive a high-precision map of a predetermined area surrounding the current location of vehicle 10 for autonomous driving control from a map server via the wireless base station, and output the received high-precision map to storage device 6.

[0033] Storage device 6 is an example of a storage unit, such as a hard disk drive, a non-volatile semiconductor memory, or an optical recording medium and its access device. Furthermore, storage device 6 stores a high-precision map. Additionally, the high-precision map is an example of a map that includes information related to multiple lanes set up on a road. For example, the high-precision map includes information indicating road markings such as the number of lanes on each road within a predetermined area shown in the high-precision map, lane dividers, or stop lines, as well as information indicating road signs.

[0034] Furthermore, the storage device 6 may also include a processor for performing high-precision map update processing and processing related to high-precision map readout requests from the ECU 7. Moreover, the storage device 6 may, for example, send the current location of the vehicle 10 and a high-precision map retrieval request to the map server via the wireless communication device 5 whenever the vehicle 10 moves a predetermined distance. Additionally, the storage device 6 may receive a high-precision map of a predetermined area surrounding the current location of the vehicle 10 from the map server via the wireless communication device 5. Furthermore, upon receiving a high-precision map readout request from the ECU 7, the storage device 6 cuts out a range from the stored high-precision map that includes the current location of the vehicle 10 and is relatively narrower than the aforementioned predetermined area, and outputs this range to the ECU 7 via the in-vehicle network.

[0035] ECU 7 performs automatic driving control of vehicle 10. In this embodiment, when automatically executing a lane change, ECU 7 formulates a driving plan indicating the vehicle's driving actions before the lane change is completed, in a manner that ensures the safety condition of vehicle 10 not colliding with its surrounding objects. Furthermore, ECU 7 sets lane change completion conditions indicating the location or time at which the lane change is requested to be completed. Moreover, when ECU 7 causes vehicle 10 to drive according to the driving plan, it determines whether the lane change completion conditions are met, and based on its determination, decides whether to actually execute the lane change.

[0036] like Figure 2 As shown, ECU7 has a communication interface 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 can be configured as independent circuits or as a single integrated circuit.

[0037] Communication interface 21 has interface circuitry for connecting ECU 7 to the vehicle network. Furthermore, whenever communication interface 21 receives an image from camera 2, it sends the received image to processor 23. Additionally, whenever communication interface 21 receives location information from GPS receiver 3, it sends that location information to processor 23. Moreover, when communication interface 21 receives a driving route from navigation device 4, it sends that driving route to processor 23. Furthermore, when communication interface 21 receives information such as traffic information received from other devices by wireless communication device 5, it sends that information to processor 23. Additionally, communication interface 21 sends a high-precision map read from storage device 6 to processor 23.

[0038] Memory 22 is another example of a storage unit, such as a volatile semiconductor memory or a non-volatile semiconductor memory. Furthermore, memory 22 stores various data used in the vehicle control processing executed by processor 23. For example, memory 22 stores parameters such as the focal length, shooting direction, and mounting position of camera 2, as well as various parameters used to determine the identifier for detecting objects around vehicle 10. Furthermore, memory 22 stores the driving route, vehicle 10 positioning information, images of the area around vehicle 10, and high-precision maps. Additionally, memory 22 temporarily stores various data generated during the vehicle control processing.

[0039] The processor 23 has one or more CPUs (Central Processing Units) and their peripheral circuitry. The processor 23 may also include other arithmetic circuits such as logic units, numerical processing units, or graphics processing units. Furthermore, the processor 23 executes vehicle control processing for the vehicle 10 according to a predetermined cycle.

[0040] Figure 3 This is a functional block diagram of processor 23 related to vehicle control processing. Processor 23 includes a detection unit 31, a planning unit 32, a setting unit 33, a decision unit 34, and a control unit 35. These units of processor 23 are, for example, functional modules implemented by a computer program operating on processor 23. Alternatively, these units of processor 23 may also be dedicated arithmetic circuits provided on processor 23.

[0041] Whenever the ECU 7 receives an image (hereinafter referred to as an image) representing the surroundings of the vehicle 10 from the camera 2, the detection unit 31 detects objects (hereinafter referred to as objects) present in the surroundings of the vehicle 10 that may affect the driving of the vehicle 10. For example, the detection unit 31 detects objects shown in the image as detection targets by inputting the image into the recognizer. As such a recognizer, the detection unit 31 can use, for example, a deep neural network (DNN) with a convolutional neural network (CNN) architecture such as Single Shot MultiBoxDetector (SSD) or Faster R-CNN. Such a recognizer is pre-learned in a way that detects objects as detection targets from the image. The recognizer outputs information for determining the object region including the detected objects on the input image and information indicating the type of detected objects. Objects that may affect the driving of the vehicle 10 as detection targets are, for example, moving objects such as other vehicles or pedestrians driving around the vehicle 10, or ground objects existing on or around the road such as lane markings, road signs, or curbs.

[0042] Furthermore, when a ranging sensor (not shown) is mounted on the vehicle 10, the detection unit 31 can also detect objects present around the vehicle 10 based on the ranging signal obtained from the ranging sensor, which indicates the distance to objects in various directions up to and including the vehicle 10. Even in this case, the detection unit 31 can detect objects present around the vehicle 10 by inputting the ranging signal into a recognizer that has been pre-learned to detect objects as the detection target. Moreover, the ranging signal is another example of a sensor signal representing the surroundings of the vehicle 10, and the ranging sensor is another example of a sensor that generates sensor signals.

[0043] Furthermore, the detection unit 31 also detects the lane in which the vehicle 10 is traveling by comparing the image and the high-precision map. For example, the detection unit 31 assumes the position and posture of the vehicle 10 and projects objects on or around the road detected in the image onto the high-precision map, or projects objects on or around the road shown in the high-precision map onto the image. Moreover, the detection unit 31 infers the position and posture of the vehicle 10 when the objects detected in the image and the objects shown in the high-precision map are most consistent. Furthermore, the detection unit 31 determines the lane in which the vehicle 10 is traveling by referring to the high-precision map, including the lane in which the vehicle 10 is traveling.

[0044] The detection unit 31 uses the initial values ​​of the assumed position and posture of the vehicle 10, and parameters of the camera 2 such as focal length, setting height, and shooting direction, to determine the position of the ground objects projected onto the high-precision map or image. Furthermore, the initial values ​​of the vehicle 10's position and posture are obtained using the position of the vehicle 10 located by the GPS receiver 3, or by correcting the position and posture of the vehicle 10 estimated during the previous detection in the same lane using odometer information. Moreover, the detection unit 31 calculates the degree of consistency (e.g., standardized cross-correlation value) between the ground objects detected in the image and those represented on the high-precision map.

[0045] The detection unit 31 repeatedly performs the above process while changing the assumed position and posture of the vehicle 10. Furthermore, the detection unit 31 can deduce the actual position of the vehicle 10 from the assumed position and posture with the highest degree of consistency.

[0046] The detection unit 31 notifies the planning unit 32, the setting unit 33, the judgment unit 34, and the control unit 35 of the information indicating the detected object and the information indicating the current driving lane.

[0047] When a driver of vehicle 10 requests a lane change from its current lane to another lane based on instructions given by the driver, the driving status of vehicle 10, or the road conditions surrounding vehicle 10, the planning unit 32 formulates a driving plan related to the lane change. This driving plan outlines the driving actions of vehicle 10 before the lane change is completed during lane change control, and is formulated in a manner that satisfies the safety conditions of avoiding collisions with objects around vehicle 10.

[0048] As an example of triggering driving plan formulation, instructions given by the driver can be implemented, such as through the operation of turn signals or through the driver's voice recorded by a microphone (not shown) installed in the vehicle. In the case of instructions based on turn signal operation, the planning unit 32 formulates a driving plan by performing a lane change to the lane adjacent to the left or right side of the current driving lane in the direction specified by the operation. Alternatively, in the case of instructions based on the driver's voice, the planning unit 32 identifies the driver's instruction represented in the recorded sound signal according to a predetermined sound recognition algorithm, and formulates a driving plan by performing a lane change to the lane in the direction indicated by the identified instruction.

[0049] Furthermore, as another example of triggering driving plan formulation, the driving condition of vehicle 10 may be different for the current driving lane and the driving lane toward the destination of vehicle 10, such as the situation of overtaking a vehicle, or the situation of returning from the overtaking lane to the driving lane. Moreover, as another example of triggering driving plan formulation, the driving condition of vehicle 10 may also include the situation where there is an obstacle in front of vehicle 10 in the current driving lane.

[0050] The planning unit 32, referring to the driving route, the current position of vehicle 10, and a high-precision map, determines whether there is a branch point in the interval extending a predetermined distance forward from the current position of vehicle 10. This branch point is the point where the driving lane branches off from the road currently being traveled by vehicle 10 towards the destination. If a branch point exists, the planning unit 32 determines whether the current driving lane and the driving lane towards the destination are different. Furthermore, if the current driving lane and the driving lane towards the destination are different, the planning unit 32 formulates a driving plan by performing at least one lane change with the driving lane towards the destination as the target lane.

[0051] Furthermore, when the speed of vehicle 10 is below a predetermined speed threshold and the distance between vehicle 10 and the preceding vehicle is below a predetermined distance for a predetermined period of time, the planning unit 32 formulates a driving plan to perform a lane change in order to overtake the preceding vehicle. The predetermined time can be, for example, a few seconds to tens of seconds. In this case, the planning unit 32 preferably sets the overtaking lane in the lane adjacent to the current lane as the target lane. Furthermore, the planning unit 32 can determine the preceding vehicle from other vehicles detected in the image that are located within a range in front of vehicle 10 on the image. The predetermined speed threshold is, for example, set as the speed obtained by subtracting a predetermined offset value (e.g., 10 km / h to 20 km / h) from the legal speed or speed limit of the road on which vehicle 10 is traveling. Therefore, the planning unit 32 can determine the legal speed or speed limit of the road on which vehicle 10 is currently traveling by referring to the current position of vehicle 10 and a high-precision map, and set the speed threshold accordingly. Furthermore, the planning unit 32 can estimate the distance between the preceding vehicle and vehicle 10 based on the number of reference pixels on the image (assuming the distance is between the reference vehicle width and the reference vehicle type shown in the image) and the horizontal width of the object area including the preceding vehicle. The reference distance and the number of reference pixels for each vehicle type can be pre-stored in the memory 22. The vehicle type of the preceding vehicle is estimated as the type detected by the detection unit 31. Alternatively, the planning unit 32 can estimate the distance between the preceding vehicle and vehicle 10 based on the position of the lower end of the object area including the preceding vehicle. Here, it is assumed that the position of the lower end of the object area including the preceding vehicle represents the position where the preceding vehicle contacts the road surface. Additionally, the position of each pixel on the image corresponds one-to-one with the orientation observed from the camera 2. Therefore, the planning unit 32 can estimate the distance from the camera 2 to the preceding vehicle by referring to parameters such as the position of the lower end of the object area on the image, the camera 2's setting height, and the shooting direction, and set this distance as the distance between the preceding vehicle and vehicle 10. Alternatively, if vehicle 10 is equipped with a distance sensor (not shown), planning unit 32 may also set the distance measured by the distance sensor up to an object located in front of vehicle 10 as the distance between the preceding vehicle and vehicle 10.

[0052] Furthermore, if the current driving lane is an overtaking lane and vehicle 10 has been traveling in the overtaking lane for the most recent scheduled period, the planning unit 32 formulates a driving plan by changing the driving lane in order to return vehicle 10 to the driving lane. In addition, the planning unit 32 determines whether the current driving lane is an overtaking lane by referring to a high-precision map. In this case, the planning unit 32 designates any driving lane in the road where vehicle 10 is currently traveling as the target driving lane.

[0053] Furthermore, if the detection unit 31 detects a stationary three-dimensional object in front of the vehicle 10 in the current lane, the planning unit 32 determines that the current driving situation is one where an obstacle exists in front of the vehicle 10 in the current lane. Additionally, even if the traffic information received via the wireless communication device 5 indicates that traffic in the current lane is restricted in front of the vehicle 10, the planning unit 32 still determines that the current driving situation is one where an obstacle exists in front of the vehicle 10 in the current lane. Moreover, if the current driving situation is one where an obstacle exists in front of the vehicle 10 in the current lane, the planning unit 32 formulates a driving plan by performing a lane change targeting an adjacent lane.

[0054] Furthermore, as another example of triggering the driving plan, the road structure around vehicle 10 can be configured such as a structure where the number of lanes ahead of vehicle 10 is reduced, or a structure where a tollbooth exists ahead of vehicle 10. The planning unit 32 refers to a high-precision map to determine whether such a structure exists within a predetermined distance ahead of the current position of vehicle 10. Moreover, if such a structure exists, the planning unit 32 formulates a driving plan by implementing a lane change targeting a lane that remains after the number of lanes is reduced, or a specific lane.

[0055] When a driving plan is formulated, the planning unit 32 generates one or more predetermined driving trajectories (tracks) for the vehicle 10 in the interval before changing lanes from its current position to the target driving lane. Regarding the predetermined driving trajectory, for example, the predetermined interval is represented as a set of the target positions of the vehicle 10 at each moment when the vehicle 10 is driving.

[0056] In this embodiment, the planning unit 32 generates a predetermined driving trajectory by making at least one lane change toward the target driving lane corresponding to the type of triggering. At this time, the planning unit 32 generates the predetermined driving trajectory in a manner that satisfies the safety condition of not colliding with objects present around the vehicle 10, particularly other vehicles traveling in the current driving lane and adjacent lanes on the target driving lane side. The safety condition, for example, can be that the predicted distance between objects around the vehicle 10 and the vehicle 10 during the period before the lane change is completed is at least a predetermined distance. Therefore, the planning unit 32 tracks objects detected from a series of time-series images obtained from the camera 2, and infers the predicted trajectory of each object up to a predetermined time later based on the trajectory obtained through this tracking result. At this time, the planning unit 32 tracks the objects shown in the object region by applying an optical flow-based tracking process, such as the Lucas-Kanade method, to the object region showing the object of interest in the latest image obtained from the camera 2 and object regions in past images. Therefore, the planning unit 32 extracts multiple feature points from the object region by applying a feature point extraction filter, such as SIFT or Harris operator, to the object region of interest. Furthermore, the planning unit 32 determines the corresponding point in the object region of the past image for each of the multiple feature points according to the applied tracking method, and calculates the optical flow. Alternatively, the planning unit 32 can also track the object represented in the object region by applying other tracking methods for tracking moving objects detected from images to the object region of interest in the latest image and the object region in the past image.

[0057] The planning unit 32 performs viewpoint transformation processing using information such as the mounting position of the camera 2 towards the vehicle 10 for each object being tracked, transforming the in-image coordinates of the object into coordinates on the bird's-eye view (bird's-eye view coordinates). At this time, the planning unit 32 can infer the position of the detected object at the time each image was acquired based on the position and orientation of the vehicle 10 at the time of image acquisition, the estimated distance to the detected object, and the direction from the vehicle 10 towards the object. Furthermore, by arranging the inferred positions of each tracked object in chronological order, the planning unit 32 can infer the trajectory of the object. Moreover, by performing prediction processing using a Kalman filter or particle filter based on the trajectory of tracked objects during the most recent predetermined period, the planning unit 32 can infer the predicted trajectory of the object up to a predetermined time later.

[0058] The planning unit 32 generates a predetermined driving trajectory based on the predicted trajectories of each tracked object, ensuring that the predicted distance between each tracked object and vehicle 10 up to a predetermined time is greater than or equal to a predetermined distance, and completes the lane change to the target driving lane. Specifically, the planning unit 32 generates the predetermined driving trajectory such that the inter-vehicle distance between vehicle 10 and other vehicles traveling in front of and behind it in the changed driving lane is greater than or equal to a predetermined distance. At this time, the planning unit 32 generates the predetermined driving trajectory using a predetermined optimization algorithm, such as simulated annealing or the fastest descent method, to ensure that the actions of vehicle 10 satisfy the constraints (e.g., the allowable range of acceleration / deceleration and the allowable range of change in steering angle). Furthermore, the planning unit 32 uses the generated predetermined driving trajectory as a driving plan.

[0059] Furthermore, if multiple predetermined driving trajectories exist that meet safety conditions and lead to the completion of the lane change to the target lane, the planning unit 32 can select the predetermined driving trajectory that completes the lane change to the target lane in the shortest distance or time. The planning unit 32 then uses the selected predetermined driving trajectory as the driving plan.

[0060] The planning unit 32 will generate a predetermined driving trajectory as a driving plan and output it to the judgment unit 34 and the control unit 35.

[0061] The setting unit 33 sets lane change completion conditions, indicating the location or time at which the lane change to the target lane is requested, based on the elapsed time since the driver's instruction, the road structure, or the road conditions during which the vehicle 10 is traveling. Furthermore, hereinafter, the location at which the lane change to the target lane is requested is sometimes referred to as the target completion location. Similarly, the time at which the lane change to the target lane is requested is sometimes referred to as the target completion time.

[0062] For example, if the driving plan is triggered by a lane change instruction given by the driver, the setting unit 33 sets the target completion time to the maximum allowable elapsed time from the time the driver instructs to change lanes. Furthermore, the maximum allowable elapsed time can be pre-stored in the memory 22. Additionally, even if the driving plan is triggered by vehicle 10 overtaking a vehicle in front or returning from the overtaking lane to the driving lane, the setting unit 33 will also set the target completion time to the maximum allowable elapsed time from the time this situation is determined to be occurring.

[0063] Furthermore, if the driving plan is triggered by a branching lane towards the destination, the setting unit 33 sets the boundary position at which one can enter the lane towards the destination (e.g., a branch lane from a main road) as the target completion position. In this case, the setting unit 33 refers to a high-precision map to determine the location where the lane towards the destination branches, and sets the position closer to the vehicle 10 by a predetermined distance than the determined branching point as the target completion position.

[0064] However, in the event of congestion in the lane heading towards the destination, the setting unit 33 can also set the location at the end of the congestion as the target completion location. In this case, the setting unit 33 simply sets the location at the end of the congestion as shown in the traffic information received via the wireless communication device 5. Alternatively, the setting unit 33 can detect the location at the end of the congestion based on the image generated by the camera 2. For example, the setting unit 33 determines the vehicle detected by the detection unit 31 that is in front of and closest to vehicle 10 among other vehicles in the lane that is the branch source of the lane heading towards the destination. The setting unit 33 can determine other vehicles in the lane that is the branch source of the lane heading towards the destination by comparing the positions of each lane dividing line detected from the image with those of other vehicles. The setting unit 33 estimates the speed of the vehicle based on the vehicle tracking results determined by the planning unit 32. Furthermore, if the estimated speed of the vehicle is below the congestion determination speed, the setting unit 33 determines that congestion has occurred in the driving lane toward the destination, and sets the position that is closer to the rear of the vehicle 10 than the rear of the vehicle as the rear position of the congestion and sets it as the target completion position.

[0065] Furthermore, if the driving plan is triggered by a road structure around vehicle 10 that requires lane changing, the setting unit 33 will set the location where lane changing is not permitted due to the road structure, or a predetermined offset distance from that location towards vehicle 10, as the target completion location. Other locations where lane changing is not permitted include, for example, the beginning of a lane-changing section, a location where each lane divides into different roads, the entrance to a curve with a radius smaller than the predetermined radius of curvature, or a location where lanes disappear, such as near a tollbooth, or other locations where lane changing is restricted.

[0066] Furthermore, if the driving plan is triggered by an obstacle in the driving lane, the setting unit 33 will set a position that is closer to the vehicle 10 by a predetermined offset distance than the position of the obstacle as the target completion position.

[0067] Figure 4A as well as Figure 4B These are diagrams illustrating an example of the conditions for completing a change. Figure 4AIn the example shown, two lanes 401 and 402 are provided on the road 400 in which vehicle 10 is traveling, with vehicle 10 traveling in the right lane 402. On the other hand, a branch road 403 is provided in the left lane 401. Moreover, the destination of vehicle 10 is located further away from the branch road 403. Therefore, as a driving plan, a predetermined driving trajectory 410 is formulated to change lanes from lane 402 to lane 401. Therefore, a target completion position 411, which is the boundary position that allows entry into the branch road 403, is set as the change completion condition.

[0068] Even in Figure 4B In the example shown, two lanes 401 and 402 are provided on road 400 where vehicle 10 is traveling. Vehicle 10 is traveling in the left lane 401. In this example, to overtake a vehicle 420 traveling in front of vehicle 10, the driver instructs a lane change 421 to the right lane 402. Therefore, a target completion time T, which is the upper limit of the allowable elapsed time from the moment t1 when the lane change instruction is given, is set as the lane change completion condition.

[0069] As described above, when a lane change request is made based on a driver's instruction, the setting unit 33 sets the change completion condition based on the elapsed time since the instruction. On the other hand, when a lane change request is made based on the vehicle's driving conditions or the road structure surrounding the vehicle 10, the setting unit 33 sets the change completion condition based on the location where the lane change is requested. Thus, the setting unit 33 can appropriately set the change completion condition according to the situation that triggers the lane change.

[0070] The setting unit 33 notifies the judgment unit 34 and the control unit 35 of the set change completion conditions (i.e., target completion time or target completion location).

[0071] When driving the vehicle 10 according to the driving plan, the determination unit 34 determines whether the lane change completion condition is met. That is, when driving the vehicle 10 along a predetermined driving trajectory as part of the driving plan, if a lane change to the target lane is completed before the target completion time or before the vehicle 10 reaches the target completion position, the determination unit 34 determines that the lane change completion condition is met. Specifically, if a target completion time is set as a lane change completion condition, the determination unit 34 compares the predetermined time of the vehicle 10, which is included in the predetermined driving trajectory and completes the lane change to the target lane, with the target completion time. Furthermore, if the predetermined time of the vehicle 10 completing the lane change to the target lane is the same as or earlier than the target completion time, the determination unit 34 determines that the lane change completion condition is met. On the other hand, if the predetermined time of the vehicle 10 completing the lane change to the target lane is later than the target completion time, the determination unit 34 determines that the lane change completion condition is not met. Furthermore, when a target completion position is set as a condition for completing the lane change, the determination unit 34 compares the predetermined position of the vehicle 10, which has completed the lane change to the target lane, within the predetermined driving trajectory, with the target completion position. If the predetermined position of the vehicle 10 that has completed the lane change to the target lane is the same as or closer to the current position of the vehicle 10 than the target completion position, the determination unit 34 determines that the condition for completing the lane change is met. On the other hand, if the predetermined position of the vehicle 10 that has completed the lane change to the target lane is farther from the current position of the vehicle 10 than the target completion position, the determination unit 34 determines that the condition for completing the lane change is not met.

[0072] Figure 5 This diagram illustrates an example of the driving status of vehicle 10 when the conditions for completing the change are not met. Figure 5 In the example shown, two lanes 501 and 502 are provided on road 500 where vehicle 10 is traveling, with vehicle 10 traveling in the right lane 502. On the other hand, a branch road 503 is provided in the left lane 501. Furthermore, vehicle 10's destination is located further away from the branch road 503. Therefore, as a driving plan, a predetermined driving trajectory 510 is formulated to change lanes from lane 502 to lane 501. The boundary position where entry into the branch road 503 can be achieved is set as the target completion position 511. In this example, other vehicles 520 are traveling to the left front of vehicle 10, so from the current position of vehicle 10, the position 510a where the lane change is completed along the predetermined driving trajectory 510 is further away than the target completion position 511. Therefore, it is assumed that the lane change is not completed before vehicle 10 reaches the target completion position 511. Therefore, it is determined that the lane change completion condition is not met.

[0073] Figure 6This diagram illustrates an example of the driving status of vehicle 10 when the conditions for completion of the change are met. Figure 6 In the example shown, it is also related to Figure 5 Similarly, in the example shown, two lanes 501 and 502 are provided on the road 500 on which vehicle 10 is traveling, with vehicle 10 traveling in the right lane 502. On the other hand, a branch road 503 is provided in the left lane 501. Moreover, the destination of vehicle 10 is located further away from the branch road 503. Therefore, as a driving plan, a predetermined driving trajectory 530 for changing lanes from lane 502 to lane 501 is formulated. In addition, the boundary position that allows entry into the branch road 503 is set as the target completion position 511. In this example, there are no other vehicles traveling in the left lane 501 around vehicle 10, so when viewed from the current position of vehicle 10, the position 530a where the lane change is completed along the predetermined driving trajectory 530 is further forward than the target completion position 511. Thus, it is predetermined that vehicle 10 will complete the lane change before reaching the target completion position 511. Therefore, it is determined that the lane change completion condition is met.

[0074] The determination unit 34 will notify the control unit 35 of the determination result of whether the conditions for completion of the change are met.

[0075] The control unit 35 determines whether to perform a lane change according to the driving plan based on the result of whether the lane change completion conditions are met. In this embodiment, if the lane change completion conditions are met, the control unit 35 controls the vehicle 10 to perform a lane change according to the driving plan. On the other hand, if the lane change completion conditions are not met, the control unit 35 restricts the implementation of the lane change.

[0076] When a lane change is performed, the control unit 35 controls various parts of the vehicle 10 to travel along a predetermined driving trajectory planned by the planning unit 32 for changing lanes to the target lane. For example, the control unit 35 calculates the acceleration of the vehicle 10 based on the predetermined driving trajectory and the current speed of the vehicle 10 measured by a vehicle speed sensor (not shown), and sets the accelerator pedal opening or braking amount to achieve this acceleration. Furthermore, the control unit 35 calculates the fuel injection amount based on the set accelerator pedal opening and outputs a control signal corresponding to this fuel injection amount to the fuel injection device of the engine of the vehicle 10. Alternatively, the control unit 35 calculates the electrical force supplied to the motor based on the set accelerator pedal opening and controls the motor drive circuit to supply this electrical force to the motor. Finally, the control unit 35 outputs a control signal corresponding to the set braking amount to the brakes of the vehicle 10. Furthermore, when the vehicle 10 changes its path to travel along a predetermined trajectory, the control unit 35 calculates the steering angle of the vehicle 10 based on that predetermined trajectory. The control unit 35 then outputs a control signal corresponding to that steering angle to the actuator (not shown) that controls the steering wheel of the vehicle 10. Additionally, the control unit 35 can also notify the driver via a notification device (not shown) located inside the vehicle cabin that the driver should monitor the surroundings of the vehicle 10 during the lane change.

[0077] Furthermore, in cases where lane change is restricted, for example, the control unit 35 may suspend or postpone the lane change itself. Moreover, the control unit 35 controls the vehicle 10 to continue traveling along its lane. Alternatively, the control unit 35 may reject a lane change instruction given by the driver. In this case, the control unit 35 notifies the driver of the lane change refusal via a notification device (not shown) located in the vehicle interior. The notification device may be, for example, a display device or light source located in or near the instrument panel. In this case, the control unit 35 displays a message or icon indicating that the lane change is not permitted on the display device, or illuminates or flashes a light source corresponding to the message. Alternatively, the notification device may be a vibrating device located in a speaker, steering wheel, or driver's seat. In this case, the control unit 35 outputs an audible signal indicating that the lane change is not permitted through the speaker, or vibrates the vibrating device. Furthermore, the notification device may include two or more of the aforementioned devices. In this case, the control unit 35 may notify the driver of the lane change refusal via any one or more of the two or more devices.

[0078] Furthermore, when lane changing restrictions are implemented, the control unit 35 can also transfer the control of the vehicle 10 from the ECU 7 to the driver. In this case, the control unit 35 notifies the driver of the switch from automatic driving control to manual driving control via a notification device installed in the vehicle interior. For example, if the notification device is a display device or a light source, the control unit 35 displays a message or icon indicating the switch from automatic driving control to manual driving control on the display device, or illuminates or flashes a light source corresponding to the message. Additionally, if the notification device is a speaker or a vibration device, the control unit 35 outputs an audible signal indicating the switch from automatic driving control to manual driving control via the speaker, or vibrates the vibration device.

[0079] Alternatively, when lane changes are restricted, the control unit 35 can increase the driver's level of intervention. For example, the control unit 35 can request the driver to grip the steering wheel. Furthermore, even if the lane change is not completed before the target completion time, the control unit 35 can still perform a lane change according to the driving plan. Even in this case, the control unit 35, as when handing control over to the driver, can notify the driver via a notification device located in the vehicle interior to grip the steering wheel or allow the driver to monitor the surroundings of the vehicle 10.

[0080] As described above, there are multiple methods to restrict lane changes, and each method imposes different levels of restriction. Therefore, the control unit 35 can also determine the degree of restriction on lane changes based on the circumstances that are the conditions for completing the lane change. Furthermore, the control unit 35 can dynamically select the degree of restriction to apply based on factors such as the degree to which the conditions for completing the lane change have not been met.

[0081] For example, if the lane change completion condition is not met at the current time but there is a possibility that it will be met after a predetermined time, the control unit 35 may simply postpone the start of the lane change. For instance, when the lane change completion condition is specified by a target completion time, the distance between other vehicles traveling in the lane of the target lane and vehicle 10 may increase over time. In such cases, by having the driver instruct the lane change again after a certain amount of time has elapsed, there is a possibility that the lane change completion condition will be met. Therefore, when the setting unit 33 notifies the control unit 35 that the lane change completion condition is specified by a target completion time, the control unit 35 obtains from the planning unit 32 the relative positional relationship between other vehicles traveling in the lane of the target lane and vehicle 10 at the current time, as well as the relative speed between other vehicles and vehicle 10. Then, the control unit 35 determines, based on this relative positional relationship and relative speed, whether the distance between other vehicles and vehicle 10 has increased over time. For example, if other vehicles are faster than vehicle 10 and are ahead of vehicle 10, the control unit 35 can determine that the distance between other vehicles and vehicle 10 has increased over time. In this case, there is a possibility that the conditions for completing the lane change will be met after a certain amount of time has elapsed, so the control unit 35 does not stop the implementation of the lane change itself, but postpones the start of the lane change.

[0082] On the other hand, when the change completion condition is specified by the target completion position, the distance from the current position of vehicle 10 to the target completion position decreases over time. Therefore, if the change completion condition is not met at the current time, there is no possibility of meeting the change completion condition even after a predetermined time has elapsed. Thus, if the change completion condition notified by the setting unit 33 is specified by the target completion position and the change completion condition is not met, the control unit 35 immediately stops the lane change. Alternatively, the control unit 35 may transfer control to the driver or increase the degree of driver intervention. Furthermore, if the probability of achieving the change completion condition changes over time, the control unit 35 may determine the probability of achieving the change completion condition every certain period of time and adjust the degree of restriction on lane change implementation based on its determination result.

[0083] Furthermore, the control unit 35 can adjust the degree of restriction based on the purpose of the lane change or the road structure surrounding the vehicle 10. For example, if the purpose of the lane change is to reach the destination of the vehicle 10, or if there is a reduction or merging of lanes on the road in which the vehicle 10 is traveling, the control unit 35 will transfer control to the driver. On the other hand, if the purpose of the lane change is to overtake a vehicle with a right-of-way, the control unit 35 will delay the initiation of the lane change.

[0084] As described above, by referring to the main reasons for setting the conditions for completion of the change or the degree to which the conditions for completion of the change are met, the control unit 35 can appropriately determine the degree of restriction on lane changes.

[0085] Figure 7 This is a flowchart of the vehicle control processing executed by processor 23. Processor 23 executes vehicle control processing according to the following flowchart at predetermined cycles.

[0086] The detection unit 31 of the processor 23 detects objects present around the vehicle 10 from the image generated by the camera 2 (step S101). Furthermore, the planning unit 32 of the processor 23 formulates a driving plan for lane change control when requesting the vehicle 10 to change lanes from its current lane to another lane (step S102). The main reasons for triggering a lane change can be instructions given by the driver of the vehicle 10, the driving status of the vehicle 10, or the road structure around the vehicle 10. At this time, the planning unit 32 formulates a driving plan in a manner that satisfies the safety conditions of objects around the vehicle 10 and preventing collisions with the vehicle 10.

[0087] Furthermore, the setting unit 33 of the processor 23 sets change completion conditions (step S103) based on the elapsed time since the driver's instruction, the road structure or road condition in which the vehicle 10 is traveling, indicating the location or time of the lane change request to be completed to the target lane. Moreover, the determination unit 34 of the processor 23 determines whether the change completion conditions are met when the vehicle 10 is driven according to the driving plan.

[0088] If the conditions for lane change completion are met (step S104 - "Yes"), the control unit 35 of the processor 23 controls the vehicle 10 to perform a lane change in accordance with the driving plan (step S105). On the other hand, if the conditions for lane change completion are not met (step S104 - "No"), the control unit 35 restricts the implementation of the lane change (step S106).

[0089] After step S105 or step S106, processor 23 terminates vehicle control processing.

[0090] As explained above, the vehicle control device sets lane change completion conditions indicating the location or time at which a lane change is requested. Based on this, the vehicle control device determines whether the lane change completion conditions are met when driving the vehicle according to the driving plan indicating the vehicle's movement before the lane change is completed. Furthermore, if the lane change completion conditions are met, the vehicle control device controls the vehicle to perform a lane change according to the driving plan at the time of lane change control; conversely, if the lane change completion conditions are not met, the vehicle control device restricts the implementation of lane changes. Therefore, when the vehicle automatically performs a lane change, the vehicle control device can suppress driver discomfort regarding the vehicle's actions. Furthermore, the vehicle control device can reduce the driver's unnecessary monitoring obligations, and even when control is handed over to the driver for lane changes, the driver has sufficient time or distance.

[0091] According to a variation, the setting unit 33 can also make the change completion conditions when the driving plan meets high safety conditions more lenient than the change completion conditions when the driving plan does not meet high safety conditions. The high safety conditions have a higher degree of safety requirement for vehicle 10 than the aforementioned safety conditions. For example, the high safety conditions can ensure a longer than usual distance between the vehicle and other vehicles in the lane where the change target is located, provided that no other vehicles are detected traveling in the lane where the change target is located, or that other vehicles have begun to decelerate. The setting unit 33 can also determine whether the high safety conditions are met by referring to the predicted trajectories of other vehicles around vehicle 10 and the driving plan obtained from the planning unit 32. Furthermore, in lenient change completion conditions, the setting unit 33 can, for example, make the time until the target completion time longer than usual. Alternatively, the setting unit 33 can set the target completion position to be farther from vehicle 10 than usual.

[0092] In this way, by easing the conditions for completing the lane change while meeting high safety requirements, the vehicle control device can relax the restrictions on lane change implementation when the vehicle 10 can more safely implement the lane change.

[0093] In addition, the computer program that implements the functions of the processor 23 of the ECU7 as described in the above embodiments or variations may also be provided in the form of a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium or an optical recording medium.

[0094] As described above, those skilled in the art can make various modifications to the implementation method within the scope of this invention.

Claims

1. A vehicle control device, comprising: The detection unit detects objects around the vehicle based on sensor signals obtained from sensors mounted on the vehicle. The planning department, when requesting a lane change from the vehicle's current lane to another lane based on instructions given by the vehicle's driver, the vehicle's driving status, or the road structure surrounding the vehicle, determines a driving plan that controls the lane change in a manner that satisfies safety conditions for objects around the vehicle and for the vehicle to avoid collision. This plan represents the vehicle's driving actions prior to the completion of the lane change. The setting unit sets change completion conditions, indicating the location or time of the request to complete the lane change, based on the elapsed time since the instruction, the structure of the road in which the vehicle is traveling, or the condition of the road. The determination unit determines whether the change completion conditions are met when the vehicle is driven according to the driving plan. as well as The control unit controls the vehicle to perform the lane change according to the driving plan when the lane change completion conditions are met; conversely, it restricts the lane change when the lane change completion conditions are not met. The setting unit makes the change completion conditions when the driving plan meets the high safety conditions more lenient than the change completion conditions when the driving plan does not meet the high safety conditions. The high safety conditions are for a higher degree of safety requirements for the vehicle than the standard safety conditions. The conditions for easing the lane change completion criteria include making the time until the target completion time longer than if the high safety conditions are not met, or setting the target completion location to a position farther from the vehicle than if the high safety conditions are not met, where the target completion time is the time at which the lane change is requested to be completed, and the target completion location is the location at which the lane change is requested to be completed.

2. The vehicle control device according to claim 1, wherein, When a request to change lanes is made based on the instruction, the setting unit sets the change completion condition based on the elapsed time since the instruction. On the other hand, when a request to change lanes is made based on the vehicle's driving conditions or the road structure around the vehicle, the setting unit sets the change completion condition based on the location where the lane change is requested to be completed.

3. The vehicle control device according to claim 1 or 2, wherein, The control unit sets the change completion condition based on which of the following: the elapsed time since the instruction, the road structure in which the vehicle is traveling, or the road condition, and determines the degree of restriction on the lane change.

4. The vehicle control device according to claim 1 or 2, wherein, The control unit determines the degree of restriction on lane changes in a manner that differs between the degree to which the lane change restriction is imposed when it is determined that the lane change completion conditions are not met and there is a possibility that the lane change completion conditions will be met after a predetermined time, and the degree to which the lane change restriction is imposed when it is determined that the lane change completion conditions are not met and there is no possibility that the lane change completion conditions will be met after the predetermined time.

5. A vehicle control method, comprising: Based on sensor signals obtained from sensors mounted on the vehicle, objects around the vehicle are detected; When a request is made to change lanes from the vehicle's current lane to another lane based on instructions given by the vehicle's driver, the vehicle's driving status, or the road structure around the vehicle, a driving plan is determined to control the lane change in a manner that satisfies the safety conditions of objects around the vehicle and the vehicle not colliding with them, representing the vehicle's driving actions prior to the completion of the lane change. Based on the elapsed time since the instruction, the structure of the road in which the vehicle is traveling, or the condition of the road, set change completion conditions indicating the location or time of the request to complete the lane change; When driving the vehicle according to the driving plan, it is determined whether the change completion conditions are met; as well as If the conditions for completing the lane change are met, the vehicle is controlled to perform the lane change in accordance with the driving plan; otherwise, if the conditions for completing the lane change are not met, the lane change is restricted. The conditions for completing the change are set such that the conditions for completing the change when the driving plan meets high safety conditions are more lenient than the conditions for completing the change when the driving plan does not meet the high safety conditions. The high safety conditions have a higher level of safety requirements for the vehicle than the safety conditions. The conditions for easing the lane change completion criteria include making the time until the target completion time longer than if the high safety conditions are not met, or setting the target completion location to a position farther from the vehicle than if the high safety conditions are not met, where the target completion time is the time at which the lane change is requested to be completed, and the target completion location is the location at which the lane change is requested to be completed.

6. A computer program product comprising a vehicle control computer program, said vehicle control computer program causing a processor mounted in a vehicle to execute: Based on sensor signals obtained from sensors mounted on the vehicle, objects around the vehicle are detected; When a request is made to change lanes from the vehicle's current lane to another lane based on instructions given by the vehicle's driver, the vehicle's driving status, or the road structure around the vehicle, a driving plan is determined to control the lane change in a manner that satisfies the safety conditions of objects around the vehicle and the vehicle not colliding with them, representing the vehicle's driving actions prior to the completion of the lane change. Based on the elapsed time since the instruction, the structure of the road in which the vehicle is traveling, or the condition of the road, set change completion conditions indicating the location or time of the request to complete the lane change; When driving the vehicle according to the driving plan, it is determined whether the change completion conditions are met; and If the conditions for completing the lane change are met, the vehicle is controlled to perform the lane change in accordance with the driving plan; otherwise, if the conditions for completing the lane change are not met, the lane change is restricted. The conditions for completing the change are set such that the conditions for completing the change when the driving plan meets high safety conditions are more lenient than the conditions for completing the change when the driving plan does not meet the high safety conditions. The high safety conditions have a higher level of safety requirements for the vehicle than the safety conditions. The conditions for easing the lane change completion criteria include making the time until the target completion time longer than if the high safety conditions are not met, or setting the target completion location to a position farther from the vehicle than if the high safety conditions are not met, where the target completion time is the time at which the lane change is requested to be completed, and the target completion location is the location at which the lane change is requested to be completed.

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