Driving assistance device, vehicle, driving assistance method, and storage medium

Abstract

The present application relates to a driving assistance device, a vehicle, a driving assistance method, and a storage medium, and can improve the convenience of lane change assistance. A driving assistance device that performs driving assistance of a vehicle includes a speed detection mechanism that detects a speed of the vehicle, and a control mechanism that controls lane change assistance of changing a travel lane in which the vehicle travels to an adjacent lane, in a case where the speed of the vehicle detected by the speed detection mechanism is equal to or higher than a threshold value. The control mechanism executes the lane change assistance even if the speed of the vehicle detected by the speed detection mechanism is lower than the threshold value, in a case where a predetermined condition is satisfied. The predetermined condition includes a condition of executing the lane change assistance at a start region of an increased lane that is increased adjacent to the travel lane.

Description

Technical Field

[0001] This invention relates to driving assistance devices, vehicles, driving assistance methods, and storage media. Background Technology

[0002] Patent Document 1 discloses a vehicle control system that performs lane change control to change the vehicle from its current lane to an adjacent lane based on the surrounding conditions of the vehicle identified by the identification unit.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 6972294 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Even if the identification unit does not detect a following vehicle traveling in the adjacent lane, there may be a situation where lane change control should not be performed based on the speed difference between the following vehicle and the current vehicle. Therefore, in the vehicle control system described in Patent Document 1, whether to suppress (restrict) lane change control is determined based on whether the current vehicle's speed is below a predetermined speed.

[0008] On the other hand, lanes may sometimes be added on the road in which this vehicle is traveling. In the initial area of ​​such a lane addition, the likelihood of a subsequent vehicle traveling in that lane is usually very low. Therefore, in the initial area of ​​a lane addition, there are situations where it is desirable to perform lane change assist (lane change control) even if the vehicle's speed is below a predetermined speed, and there is room to improve the convenience of lane change assist.

[0009] Therefore, the object of the present invention is to provide a technology that can improve the convenience of lane change assistance.

[0010] means for solving problems

[0011] To achieve the above objectives, as one aspect of the present invention, a driving assistance device is a driving assistance device for assisting the driving of a vehicle, characterized in that the driving assistance device comprises: a speed detection mechanism that detects the speed of the vehicle; and a control mechanism that controls lane change assistance to change from the driving lane of the vehicle to an adjacent lane when the speed of the vehicle detected by the speed detection mechanism is above a threshold, and the control mechanism executes the lane change assistance even when the speed of the vehicle detected by the speed detection mechanism is below the threshold if predetermined conditions are met, the predetermined conditions including executing the lane change assistance in the starting area of ​​an additional lane added adjacent to the driving lane.

[0012] To achieve the above objectives, as one aspect of the present invention, a driving assistance method is a driving assistance method for assisting the driving of a vehicle, characterized in that the driving assistance method includes: a speed detection step, in which the speed of the vehicle is detected; and a control step, in which lane change assistance is controlled to change from the driving lane of the vehicle to an adjacent lane when the speed of the vehicle detected by the speed detection step is above a threshold, and in the control step, even if the speed of the vehicle detected by the speed detection step is below the threshold, the lane change assistance is executed if predetermined conditions are met, the predetermined conditions including executing the lane change assistance in the starting area of ​​an additional lane added adjacent to the driving lane.

[0013] Invention Effects

[0014] According to the present invention, for example, techniques can be provided to improve the convenience of lane change assistance. Attached Figure Description

[0015] Figure 1 It is a block diagram of the vehicle and its control devices.

[0016] Figure 2 This is a diagram showing the driving assistance features implemented in each mode.

[0017] Figure 3 This is a block diagram illustrating a structural example of a driver assistance device.

[0018] Figure 4 This diagram illustrates the rationale for setting a first threshold for vehicle speed in lane change assist.

[0019] Figure 5 This is a flowchart representing driver assistance processing.

[0020] Figure 6This is a diagram showing an example of an image displayed on a monitor used as a notification center.

[0021] Figure 7 This is a flowchart indicating the process of determining whether predetermined conditions are met.

[0022] Figure 8A This is a diagram showing the vehicle situation around the starting area where the lane was added.

[0023] Figure 8B This is a diagram showing the vehicle situation around the starting area where the lane was added.

[0024] Explanation of reference numerals in the attached figures

[0025] 10: Driving assistance device; 11: Surroundings detection unit; 12: Status detection unit; 13: Speed ​​detection unit; 14: Reception unit; 14a: First reception unit; 14b: Second reception unit; 15: Notification unit; 16: Assist control unit. Detailed Implementation

[0026] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Furthermore, the following embodiments are not intended to limit the invention to which the technical solution pertains. Additionally, not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more features from the plurality of features described in the embodiments may be arbitrarily combined. Furthermore, identical or identical components are labeled with the same reference numerals, and repeated descriptions are omitted.

[0027] One embodiment of the present invention will be described. Figure 1 This is a block diagram of the vehicle V and its control device CNT involved in this embodiment. Figure 1 In this embodiment, the vehicle V is shown in a top view and a side view. As an example, the vehicle V in this embodiment is a four-wheeled passenger car, such as a parallel hybrid vehicle. In addition, the vehicle V is not limited to a four-wheeled passenger car, but can also be a straddle-type vehicle (motorized two-wheeler, motorized three-wheeler), or a large vehicle such as a truck or bus.

[0028] [Structure of the vehicle's control system]

[0029] The control unit (CNT) includes electronic circuitry, namely controller 1, that performs control of vehicle V, including driving assistance for vehicle V. Controller 1 has multiple ECUs (Electronic Control Units). Each ECU is configured for each function of the control unit (CNT). Each ECU includes a processor (such as a CPU, a storage device such as semiconductor memory), and interfaces for external devices. The storage devices store the programs executed by the processor and the data used by the processor during processing. The interfaces include input / output interfaces and communication interfaces. Each ECU may also have multiple processors, multiple storage devices, and multiple interfaces.

[0030] Controller 1 controls the driving (acceleration) of vehicle V by controlling power unit 2. Power unit 2 is a driving unit that outputs driving force to rotate the drive wheels of vehicle V, and may include an internal combustion engine, a motor, and an automatic transmission. The motor can be used as a driving source to accelerate vehicle V, and can also be used as a generator (regenerative braking) during deceleration.

[0031] In this embodiment, the controller 1 controls the output of the internal combustion engine and motor, or switches the gears of the automatic transmission, in accordance with the driver's driving operations and vehicle speed detected by the operation detection sensor 2a installed on the accelerator pedal AP and the operation detection sensor 2b installed on the brake pedal BP. Furthermore, in the automatic transmission, a speed sensor 2c is provided as a sensor for detecting the driving state of the vehicle V, which detects the rotational speed of the output shaft of the automatic transmission. The vehicle speed of the vehicle V can be calculated based on the detection result of the speed sensor 2c.

[0032] The controller 1 controls the braking (deceleration) of the vehicle V by controlling the hydraulic device 3. The driver's braking operation on the brake pedal BP is converted into hydraulic pressure in the master cylinder BM and transmitted to the hydraulic device 3. The hydraulic device 3 is an actuator that can control the hydraulic pressure supplied to the working oil of the braking devices 3a (e.g., disc brakes) respectively located on the four wheels based on the hydraulic pressure transmitted from the master cylinder BM.

[0033] The controller 1 can control the braking of the vehicle V by driving the solenoid valves and other components of the hydraulic device 3. Furthermore, the controller 1 can also form an electric servo braking system by controlling the distribution of braking force between the braking device 3a and the regenerative braking force of the motor in the power unit 2. The controller 1 can also illuminate the brake light 3b during braking.

[0034] The controller 1 controls the steering of the vehicle V by controlling the electric power steering system 4. The electric power steering system 4 includes a mechanism for steering the front wheels based on the driver's driving operation (steering operation) of the steering wheel ST. The electric power steering system 4 includes: a drive unit 4a, which includes a motor that assists in steering operation or provides driving force (sometimes described as steering assist torque) for automatic steering of the front wheels; a steering angle sensor 4b; and a torque sensor 4c, which detects the steering torque borne by the driver (referred to as steering load torque, distinct from steering assist torque), etc.

[0035] Controller 1 controls the electric parking brake device 3c installed on the rear wheels. The electric parking brake device 3c has a mechanism for locking the rear wheels. Controller 1 can control the locking and unlocking of the electric parking brake device 3c on the rear wheels.

[0036] The controller 1 controls the information output device 5 that reports information to the vehicle interior. The information output device 5 may include, for example, a display device 5a that reports information to the driver via images and / or a sound output device 5b that reports information to the driver via sound. The display device 5a may be installed on, for example, the instrument panel or steering wheel ST. The display device 5a may also be a head-up display. The information output device 5 may also report information to the occupants via vibration or light.

[0037] The controller 1 receives instruction input from the occupant (e.g., the driver) via the input device 6. The input device 6 is located in a position that the driver can operate, for example including a switch group 6a for the driver to instruct the vehicle V and / or a turn indicator lever 6b for activating the turn indicator (turn indicator light).

[0038] Controller 1 identifies and determines the current position and travel route (attitude) of vehicle V. In this embodiment, vehicle V is equipped with a gyroscope sensor 7a, a GNSS (Global Navigation Satellite System) sensor 7b, and a communication device 7c. The gyroscope sensor 7a detects the rotational motion (yaw rate) of vehicle V. The GNSS sensor 7b detects the current position of vehicle V. Furthermore, the communication device 7c wirelessly communicates with a server providing map and traffic information to acquire this information. In this embodiment, controller 1 determines the travel route of vehicle V based on the detection results of the gyroscope sensor 7a and the GNSS sensor 7b, and sequentially acquires high-precision map information related to the travel route from the server via the communication device 7c and stores it in database 7d (storage device). Alternatively, sensors for detecting the state of vehicle V, such as a speed sensor for detecting the speed of vehicle V and an acceleration sensor for detecting the acceleration of vehicle V, may also be installed on vehicle V.

[0039] The controller 1 performs driver assistance for the vehicle V based on the detection results of various detection units installed in the vehicle V. The vehicle V is equipped with external sensors (surrounding conditions) such as ambient detection units 8a-8b and internal sensors (in-vehicle detection units 9a-9b) that detect the conditions inside the vehicle (driver's state). The controller 1 can understand the surrounding conditions of the vehicle V based on the detection results of the ambient detection units 8a-8b and perform driver assistance accordingly. Furthermore, the controller 1 can determine whether the driver is performing a predetermined action required of the driver when performing driver assistance based on the detection results of the internal detection units 9a-9b.

[0040] The surrounding detection unit 8a is a camera (hereinafter sometimes referred to as front camera 8a) that captures images of the front of the vehicle V, for example, mounted on the interior side of the front window at the front of the roof of the vehicle V. The controller 1 can extract the outline of the target and lane markings (white lines, etc.) on the road by analyzing the images captured by the front camera 8a.

[0041] The surrounding detection unit 8b is a millimeter-wave radar (hereinafter, sometimes referred to as radar 8b), which uses radio waves to detect objects around the vehicle V, detecting (measuring) the distance to the objects and the direction (azimuth) of the objects relative to the vehicle V. Figure 1 In the example shown, radar 8b is provided with five radars: one in the center of the front of the vehicle V, one at each of the left and right corners of the front, and one at each of the left and right corners of the rear.

[0042] Furthermore, the detection unit installed around the vehicle V is not limited to the structure described above. The number of cameras and radars can be changed, and an optical radar (LIDAR: Light Detection and Ranging) can be installed to detect objects around the vehicle V.

[0043] The in-vehicle detection unit 9a is a camera device (hereinafter sometimes referred to as an in-vehicle camera 9a) that captures images inside the vehicle, for example, installed on the interior side of the roof of the vehicle V. In this embodiment, the in-vehicle camera 9a is a driver monitoring camera that captures images of the driver (e.g., the driver's eyes and face). By analyzing the images (driver's face images) captured by the in-vehicle camera 9a, the controller 1 can determine the driver's gaze and the orientation of their face.

[0044] The in-vehicle detection unit 9b is a grip sensor (hereinafter, sometimes referred to as grip sensor 9b) that detects the driver's grip on the steering wheel ST, and is provided, for example, on at least a portion of the steering wheel ST. Alternatively, a torque sensor 4c that detects the driver's steering torque can also be used as the in-vehicle detection unit.

[0045] As driving assistance for vehicle V, examples include acceleration / deceleration assist, lane keeping assist, and lane change assist. Acceleration / deceleration assist is a driving assistance system that controls the acceleration and deceleration of vehicle V within a predetermined speed by controlling the power unit 2 and the hydraulic system 3 while maintaining a safe distance from the vehicle in front (ACC: Adaptive Cruise Control). Lane keeping assist is a driving assistance system that controls the electric power steering system 4 to keep vehicle V inside the lane (LKAS: Lane Keeping Assist System). Lane change assist is a driving assistance system that controls the electric power steering system 4 to change the driving lane of vehicle V to an adjacent lane (ALC: Auto Lane Changing, ALCA: Active Lane Change Assist). In addition, driving assistance performed by controller 1 may also include collision mitigation braking, ABS function, traction control, and / or vehicle V attitude control, which assist in avoiding collisions with road objects (such as pedestrians, other vehicles, and obstacles) by controlling the hydraulic system 3.

[0046] The vehicle V’s driver assistance (acceleration and deceleration assist, lane keeping assist, lane change assist) is implemented in multiple driving modes, including manual driving mode, normal assist mode and extended assist mode. Figure 2 The driving assistance functions implemented in the manual driving mode, normal assistance mode, and extended assistance mode of this embodiment are shown. In manual driving mode, acceleration / deceleration assistance, lane keeping assistance, and lane change assistance are not implemented; instead, the driver manually drives the vehicle V.

[0047] In manual driving mode, when the driver inputs an instruction to set Acceleration / Deceleration Assist (ACC) via input device 6 (e.g., switch group 6a), Acceleration / Deceleration Assist is activated, transitioning the driver from manual driving mode to normal assistance mode. In normal assistance mode, in addition to Acceleration / Deceleration Assist, Lane Keeping Assist (LKAS) can also be activated. Lane Keeping Assist is activated when the driver inputs an instruction to set Lane Keeping Assist via input device 6 (e.g., switch group 6a) during the Acceleration / Deceleration Assist setting process. Both Acceleration / Deceleration Assist and Lane Keeping Assist are deactivated when the driver inputs an instruction to deactivate the setting via input device 6 (e.g., switch group 6a).

[0048] In addition, in normal assistance mode, the driver is required to perform predetermined actions such as monitoring the surroundings and controlling the controls. If the in-vehicle detection unit 9b determines that the driver has not performed the predetermined actions, a notification is sent via the information output device 5 to urge the driver to perform the predetermined actions.

[0049] When driving on a specific road begins in the normal assist mode, high-precision map information is acquired via communication device 7c. Furthermore, if the high-precision map information successfully matches an image captured by the forward-facing camera 8a, the system automatically switches from normal assist mode to extended assist mode. The specific road refers to the road for which high-precision map information is provided, such as highways and dedicated motor vehicle lanes. In addition to general information such as the route and location of the specific road, the high-precision map information includes detailed shape-related information such as the presence or absence of curves, curvature, lane additions or subtractions, and gradients. When switching from normal assist mode to extended assist mode, for example, by changing the illumination color of the display device 5a on the steering wheel ST, a notification indicating the switch to extended assist mode is sent via information output device 5.

[0050] In the extended assistance mode, acceleration / deceleration assistance (and lane keeping assistance) is performed in conjunction with high-precision map information. For example, the controller 1 can perform acceleration / deceleration assistance that is more advanced than in the normal assistance mode, such as decelerating the vehicle V near a curve or a point where lanes are reduced, or adjusting the speed of the vehicle V according to the curvature of the curve, based on high-precision map information. Furthermore, in the extended assistance mode, as in the normal assistance mode, the driver is required to perform predetermined actions such as surrounding monitoring and control of the steering components. If the in-vehicle detection unit 9b determines that the driver has not performed the predetermined actions, a notification is sent via the information output device 5 to urge the driver to perform the predetermined actions.

[0051] Furthermore, in the extended assist mode, lane change assist can also be performed. In this embodiment, lane change assist includes: system-led lane change assist (ALC: Auto Lane Changing) that automatically performs lane changes based on the judgment of controller 1; and driver-led lane change assist (ALCA: Active Lane Change Assist) that automatically performs lane changes based on the driver's input. In addition, in both system-led lane change assist (ALC) and driver-led lane change assist (ALCA), when performing lane change assist, the driver is required to perform predetermined actions such as monitoring the surroundings and controlling the controls.

[0052] The system-driven Lane Change Assist (ALC) begins when the driver inputs an instruction to set ALC in Extended Assist Mode via input device 6 (e.g., switch group 6a). During ALC setup, controller 1, based on high-precision map information (lane additions, decreases, branching, etc.), sequentially determines whether a lane change is necessary to reach the driver's pre-set destination, and automatically performs the lane change if necessary. ALC can be set to perform more than one lane change based on controller 1's determination. ALC terminates upon reaching the destination or when the specific road section ends. ALC can also terminate when the driver inputs an instruction to de-set via input device 6 (e.g., switch group 6a).

[0053] Driver-led Lane Change Assist (ALCA) performs a lane change based on the driver's input. In Extended Assist mode, it is executed when the driver inputs an instruction to execute ALCA via input device 6 (e.g., turn signal lever 6b). In ALCA, the driver can input the direction of the lane change via input device 6 (turn signal lever 6b), and the controller 1 automatically performs the lane change to the adjacent lane in the direction input by the driver. In this embodiment, ALCA can be executed based on high-precision map information, but it is not limited to this and can also be executed without using high-precision map information. Furthermore, ALCA can also be executed in the system-led Lane Change Assist (ALC) setting.

[0054] [Structure of driver assistance devices]

[0055] The following is for reference Figure 3 An example of the structure of the driving assistance device 10 in this embodiment will be described. Figure 3 This is a block diagram illustrating a structural example of the driving assistance device 10. The diagram extracts the structure and function particularly relevant to the present invention from the aforementioned control device CNT. The driving assistance device 10 of this embodiment is a device that assists in changing lanes from the driving lane in which the vehicle V is currently traveling to an adjacent lane. For example, it may include a surrounding detection unit 11, a status detection unit 12, a speed detection unit 13, a receiving unit 14, a notification unit 15, and an assistance control unit 16. The various units 11 to 16 of the driving assistance device 10 are connected to each other via a system bus in a manner enabling communication.

[0056] Surrounding detection section 11 is Figure 1The front camera 8a and radar 8b shown detect the surrounding conditions of the vehicle V. In this embodiment, the surrounding detection unit 11 can also detect objects around the vehicle V (such as obstacles, other vehicles, pedestrians), and detect the distance to the detected object, as well as the position and direction of the object relative to the vehicle V.

[0057] The status detection unit 12 is Figure 1 The in-vehicle camera 9a and the grip sensor 9b shown detect the driver's state in the vehicle V. In this embodiment, the state detection unit 12 captures images of the driver (e.g., the driver's eyes and face) using the in-vehicle camera 9a and analyzes the resulting images to detect the driver's gaze and the direction of their face. Furthermore, the state detection unit 12 can detect the driver's grip on the steering wheel ST (i.e., whether they are gripping the steering wheel ST) using the grip sensor 9b.

[0058] The speed detection unit 13 detects the speed of the vehicle V (hereinafter sometimes referred to as vehicle speed). In this embodiment, the speed detection unit 13 may include a speed sensor for detecting the speed of the vehicle V, but is not limited thereto; for example, it may be based on a speed sensor that detects the speed of the vehicle V. Figure 1 The speed of vehicle V is detected by the speed sensor 2c, which detects the speed of the output shaft of the automatic transmission. It can also be based on... Figure 1 The GNSS sensor 7b shown detects the position information of vehicle V to detect the speed of vehicle V.

[0059] Acceptance Department 14 is Figure 1 The input device 6 shown (switch assembly 6a, turn signal lever 6b) receives driver input instructions. In this embodiment, the receiving unit 14 includes a first receiving unit 14a and a second receiving unit 14b. The first receiving unit 14a is, for example, the switch assembly 6a provided on the steering wheel ST, which receives a first input instruction from the driver indicating the activation (start) of the system-controlled lane change assist (ALC) setting. Hereinafter, this assist setting activated (started) upon receiving the first input instruction will sometimes be referred to as "ALC setting". The second receiving unit 14b is, for example, the turn signal lever 6b, which receives a second input instruction from the driver indicating the execution of the driver-controlled lane change assist (ALCA). The second receiving unit 14b (turn signal lever 6b) can also receive driver input indicating the direction (right or left) of the lane change assist.

[0060] Notification Department 15 is Figure 1The information output device 5 (display device 5a, sound output device 5b) shown notifies (reports) the driver of the status of the driving assistance mode and the setting status of the driving assistance. In this embodiment, the notification unit 15 is, for example, the display device 5a provided on the instrument panel, which notifies the driver of information indicating the execution of lane change assistance and / or information indicating the predetermined action obligation required of the driver in order to execute lane change assistance, as auxiliary information related to lane change assistance.

[0061] The auxiliary control unit 16 is a computer comprising a processor (represented by a CPU, a storage device such as semiconductor memory), and interfaces for external devices. Figure 1 It functions as part of the controller 1 (ECU) shown. A program (driving assistance program) for driving assistance of vehicle V is stored in a storage device, and the assistance control unit 16 can read and execute the driving assistance program stored in the storage device. In this embodiment, the assistance control unit 16 is configured to control lane change assistance (ALC, ALCA) from the driving lane of vehicle V to an adjacent lane based on the detection results of the surrounding detection unit 11 when the speed of vehicle V detected by the speed detection unit 13 is above a first threshold.

[0062] Here, even if the surrounding detection unit 11 does not detect a following vehicle traveling in the adjacent lane, there are situations where lane change control should not be performed due to the speed difference between the following vehicle and vehicle V (this vehicle). For example, such as Figure 4 As shown in (a), assuming vehicle V is traveling at 40 km / h and following vehicle S is traveling at 120 km / h in the adjacent lane, we envision a situation where we want to provide lane change assistance to vehicle V to move into the adjacent lane. Figure 4 In condition (a), the following vehicle S does not enter the detectable range R of the surrounding detection unit 11 (radar 8b), and the surrounding detection unit 11 does not detect the following vehicle S, therefore it is determined that lane change assist can be performed. However, if lane change assist is performed in this condition, due to the large speed difference between the current vehicle V and the following vehicle S, the distance between the current vehicle V and the following vehicle S narrows drastically, such as... Figure 4As shown in (b), the vehicle V and the following vehicle S may suddenly approach each other. Therefore, as a condition for executing lane change assist, the assist control unit 16 of this embodiment sets a first threshold for the speed of the vehicle V, and can execute lane change assist when the speed of the vehicle V is above the first threshold. The first threshold can be set arbitrarily, but it can be set to a speed (e.g., 60 km / h) that allows safe execution of lane change assist relative to the maximum speed envisioned for the following vehicle S (e.g., 130 km / h).

[0063] On the other hand, on the road where vehicle V (this vehicle) travels, as explained later... Figures 8A-8B As shown, lanes may sometimes be added. In the area where such lane addition begins, the probability of a subsequent vehicle traveling in that added lane is very low. Therefore, in this area, there is a situation where lane change assistance is desired even if the speed of vehicle V is below a first threshold. Therefore, even if the speed of vehicle V detected by speed detection unit 13 is below the first threshold, lane change assistance is performed by assistance control unit 16 of this embodiment as long as predetermined conditions are met. Furthermore, hereafter, lanes added adjacent to the driving lane of vehicle V are sometimes labeled as "added lanes," and the area where lane addition begins is sometimes labeled as "starting area."

[0064] [Driver Assistance Processing]

[0065] The following is for reference Figure 5 The driving assistance processing of this embodiment will be described. Figure 5 This is a flowchart illustrating the driving assistance processing of this embodiment, which can be implemented by the assistance control unit 16 when the driving assistance program is executed in the driving assistance device 10. Furthermore, Figure 5 The flowchart can be initiated when the driving mode switches from the normal assistance mode to the extended assistance mode because vehicle V begins driving on a specific road. As mentioned above, the specific road is a road for which high-precision map information is provided, such as highways, motor vehicle-only roads, etc.

[0066] In step S101, the auxiliary control unit 16 determines whether the driver's first instruction input has been accepted by the first acceptance unit 14a (switch group 6a). As described above, the first instruction input is an instruction input used to indicate the activation (start) of the system-led lane change assist (ALC) setting, i.e., ALC setting. If the first instruction input is not accepted, step S101 is repeated; if the first instruction input is accepted, step S102 is performed.

[0067] In step S102, the auxiliary control unit 16 activates (starts) the ALC setting. Furthermore, the ALC setting can be deactivated (ends) based on driver input. For example, if the receiving unit 14 receives a driver input instructing the ALC setting to be deactivated (ends), the auxiliary control unit 16 deactivates the ALC setting. In this case, it restarts. Figure 5 The flowchart.

[0068] In step S103, the auxiliary control unit 16 determines, based on map information, whether a lane change is necessary to reach a destination pre-set by the driver. If it is determined that a lane change is not necessary, the process proceeds to step S104; if it is determined that a lane change is necessary, the process proceeds to step S105.

[0069] In step S104, the auxiliary control unit 16 determines whether the second instruction input from the driver has been accepted by the second acceptance unit 14b (direction indicator lever 6b). As described above, the second instruction input is an instruction input for instructing the driver to perform a lane change assist as driver-led lane change assist (ALCA), including an instruction input for the direction of lane change (hereinafter, sometimes referred to as the direction of instruction) indicated by the driver through the operation of the direction indicator lever 6b. If the second instruction input is not accepted, the process proceeds to step S113; if the second instruction input is accepted, the process proceeds to step S105.

[0070] In step S105, the assist control unit 16 notifies the driver of the activation of lane change assist (ALC or ALCA) via the notification unit 15. For example, the assist control unit 16 displays the notification on a display provided on the instrument panel as the notification unit 15 (display device 5a). Figure 6 Image D1, as shown in (a), can notify the driver to perform lane change assistance.

[0071] In step S106, the assistance control unit 16 notifies the driver of a predetermined action obligation required by the driver for performing lane change assistance via the notification unit 15. In this embodiment, such predetermined action obligations may include a surrounding monitoring obligation and a control operation obligation. The surrounding monitoring obligation requires the driver to monitor (confirm) the surroundings of the vehicle V. For example, when performing lane change assistance to the left (left lane), the driver is provided with monitoring of the left direction of the vehicle V. In this case, the assistance control unit 16 displays the notification on a display provided on the instrument panel as the notification unit 15 (display device 5a). Figure 6Image D2, as shown in (b), requests monitoring (confirmation) of the vehicle V's leftward movement. The same applies when performing lane change assist for the rightward movement. Furthermore, the steering wheel control obligation requires the driver to hold the steering wheel ST (steering wheel). The assist control unit 16 displays information on a display provided on the instrument panel as a notification unit 15 (display device 5a). Figure 6 Image D3, as shown in (c), instructs the driver to take control of the steering wheel ST.

[0072] In step S107, the assist control unit 16 determines whether the driver has fulfilled the action obligation notified in step S106 based on the detection result of the state detection unit 12. For example, the assist control unit 16 can determine whether the driver has fulfilled the surrounding monitoring obligation based on the image of the driver captured by the in-vehicle camera 9a, which is the state detection unit 12. Additionally, the assist control unit 16 can determine whether the driver has fulfilled the control obligation based on the detection result of the grip sensor 9b, which is the state detection unit 12. If the driver has not fulfilled the action obligation, the process proceeds to step S108; if the driver has fulfilled the action obligation, the process proceeds to step S110. Furthermore, the driver fulfilling the action obligation can also be understood as a condition for executing lane change assist.

[0073] In step S108, the auxiliary control unit 16 warns of non-performance of the action obligation via the notification unit 15. Alternatively, the auxiliary control unit 16 may, in addition to warning of non-performance of the action obligation, notify the driver via the notification unit 15 to urge them to perform the predetermined action obligation. If a warning of non-performance of the action obligation is issued in step S108, the process proceeds to step S109, where the auxiliary control unit 16 notifies the driver via the notification unit 15 of a lane change requiring manual driving. Step S109 is repeated until the driver begins manual driving. If the driver begins manual driving, the process proceeds to step S114, where the ALC setting is deactivated (ended).

[0074] In step S110, the assist control unit 16 determines whether the speed of vehicle V detected by the speed detection unit 13 is above a first threshold. If the vehicle speed is not above the first threshold, the process proceeds to step S111, where the assist control unit 16 determines whether a predetermined condition is met. Then, if the predetermined condition is not met, the process proceeds to step S109, where the assist control unit 16 notifies the notification unit 15 of a lane change request under manual driving. On the other hand, if the predetermined condition is met, the process proceeds to step S112, where the assist control unit 16 performs lane change assistance based on the detection results of the surrounding detection unit 11. Furthermore, details regarding the determination process in step S111 will be described later.

[0075] In step S113, the auxiliary control unit 16 determines whether vehicle V has left the specific road. For example, the auxiliary control unit 16 can determine whether vehicle V has left the specific road based on the current position of vehicle V detected by GNSS sensor 7b. Alternatively, if map information is no longer obtained through communication device 7c, the auxiliary control unit 16 can determine that vehicle V has left the specific road. If it is determined that vehicle V has not left the specific road, the process returns to step S103. On the other hand, if it is determined that vehicle V has left the specific road, the process proceeds to step S114, and the ALC setting is deactivated (ended).

[0076] Next, refer to Figure 7 The process of determining whether the predetermined conditions are met in step S111 (determination process) will be explained. Figure 7 This is a flowchart illustrating the determination process in step S111. In this embodiment, an example is described where lane change assist is performed in step S112 if all conditions in steps S201 to S204 are met. However, this is not a limitation; lane change assist may also be performed if at least one of the conditions in steps S201 to S204 is met. Furthermore, the order of steps S201 to S204 is arbitrary.

[0077] In step S201, as a predetermined condition, the assist control unit 16 determines whether a first condition, such as performing lane change assist in the starting area of ​​adding a lane, is met. For example, based on map information of a specific road, the assist control unit 16 determines whether the location where lane change assist is to be performed is within the starting area of ​​adding a lane, thereby determining whether the first condition is met. If the first condition is met, the process proceeds to step S202; otherwise, it proceeds to step S203. Figure 5 Step S109. Here, the added lane may be, for example, an interchange (exit) for entering a highway, a lane for a service area, a lane branching off from the main line at an intersection, or an exit lane for exiting from the main line of a specific road.

[0078] In step S202, as a predetermined condition, the assist control unit 16 determines whether a second condition is met, namely, that the destination of the lane change is used as an additional lane to perform lane change assist. For example, based on map information of a specific road, the assist control unit 16 determines whether the adjacent lane for which lane change assist is to be performed is an additional lane, thereby determining whether the second condition is met. If the second condition is met, the process proceeds to step S203; otherwise, it proceeds to step S204. Figure 5 Step S109.

[0079] In step S203, as a predetermined condition, the assistance control unit 16 determines whether a third condition is met: the vehicle speed (vehicle speed) after the lane change assistance information has been provided is lower than a first threshold (i.e., less than the first threshold). In this embodiment, the assistance information includes "information indicating the execution of lane change assistance" provided to the driver in step S105 and "information indicating a predetermined action obligation" provided to the driver in step S106. However, it is not limited to this; the assistance information may be only one of "information indicating the execution of lane change assistance" or "information indicating a predetermined action obligation." If the third condition is met, the process proceeds to step S204; otherwise, it proceeds to step S205. Figure 5 Step S109.

[0080] Here, refer to Figures 8A-8B The details of step S203 are explained below. Figures 8A-8B This diagram illustrates the status of vehicles V around the starting area of ​​the lane addition, and also shows the speed of vehicle V and the on / off status of the ALC setting.

[0081] Figure 8A This represents an example where the vehicle speed was below the first threshold before the notification of auxiliary information. Figure 8A In the example, since the vehicle speed is lower than the first threshold TH at the scheduled notification time t1, the auxiliary control unit 16 does not notify the driver of auxiliary information and waits until the notification limit time. Then, if the vehicle speed has not reached the first threshold TH before the notification limit time t2, the auxiliary control unit 16 notifies the driver of a "lane change request under manual driving" at the notification limit time t2 (step S109). If the driver begins manual driving, ALC is deactivated (step S114). In this case, the driver manually changes lanes to the new lane.

[0082] Furthermore, the predetermined notification timing t1 is the scheduled timing for providing assistance information in the initial area of ​​lane change assistance to be implemented in the area where the lane is being added. The notification limit timing t2 is the timing at which the assistance information is notified in a way that allows the driver to recognize the implementation of lane change assistance before the vehicle V approaches the lane being added, and it can be determined (calculated) based on the distance to the lane being added and the vehicle speed. The notification limit timing t2 can also be understood as the timing at which the driver can manually change lanes to the lane being added based on the notification of the assistance information.

[0083] Figure 8B This represents an example where the vehicle speed falls below a first threshold after receiving assistance information. Figure 8BIn the example, when the vehicle speed is above the first threshold TH at the designated notification time t1, the assistance control unit 16 notifies the driver of assistance information at the designated notification time. Even if the vehicle speed is below the first threshold TH after the assistance information is notified, in this embodiment, the lane change assistance to add lanes is not terminated. Thus, even if the vehicle speed is below the first threshold TH after the assistance information is notified, lane change assistance is still determined, thereby avoiding driver confusion caused by terminating lane change assistance after the assistance information is notified.

[0084] return Figure 7 In step S204, the assist control unit 16 determines, as one of the predetermined conditions, whether a fourth condition is met, such as the speed of vehicle V detected by the speed detection unit 13 being above a second threshold. That is, the assist control unit 16 stops the execution of lane change assist if the speed of vehicle V is below the second threshold. The second threshold can be arbitrarily set as long as it is a value lower than the first threshold; for example, it can be set to the minimum speed at which lane change assist can be safely executed. As an example, the second threshold can be set to a speed (e.g., 40 km / h) at which lane change assist can be safely executed even if a following vehicle approaches at a legal speed (e.g., 100 km / h). The system then proceeds to the next step if this fourth condition is met. Figure 5 Step S112 proceeds if the fourth condition is not met. Figure 5 Step S109.

[0085] As described above, even if the speed of vehicle V detected by speed detection unit 13 is lower than the first threshold, the driving assistance device 10 of this embodiment performs lane change assistance as long as predetermined conditions are met. Furthermore, the predetermined conditions include a first condition such as performing lane change assistance in the starting area of ​​adding a lane. The predetermined conditions may also include a second condition such as performing lane change assistance by adding a lane with the lane change destination as the destination, a third condition such as the vehicle speed being lower than the first threshold after notification of assistance information, and / or a fourth condition such as the vehicle speed being higher than the second threshold. Therefore, lane change assistance for vehicle V in the starting area of ​​adding a lane can be appropriately performed, improving the convenience of lane change assistance.

[0086] <Other Implementation Methods>

[0087] The driving assistance program described in the above embodiments is supplied to the driving assistance device 10 via a network or storage medium, and the computer of the driving assistance device 10 (e.g., one or more processors constituting the assistance control unit 16) can read and execute the program. The present invention can also be implemented in this way.

[0088] <Summary of Implementation Methods>

[0089] 1. The driving assistance device of the above embodiments,

[0090] It is a driver assistance device (e.g., 10) that assists in driving a vehicle (e.g., V).

[0091] The driving assistance device includes:

[0092] A speed detection mechanism (e.g., 13) that detects the speed of the vehicle; and

[0093] A control mechanism (e.g., 1, 16) controls a lane change assist to change lanes from the vehicle's current lane to an adjacent lane when the vehicle's speed, detected by the speed detection mechanism, is above a threshold.

[0094] Under predetermined conditions, even if the vehicle's speed detected by the speed detection mechanism is lower than the threshold, the control mechanism still executes the lane change assist.

[0095] The predetermined conditions include conditions such as performing the lane change assistance in the starting area of ​​an additional lane added adjacent to the driving lane.

[0096] Based on this structure, lane change assistance can be appropriately implemented in the starting area of ​​the lane when the probability of subsequent vehicles approaching is very low, thereby improving the convenience of lane change assistance.

[0097] 2. In the above embodiments,

[0098] The predetermined conditions include conditions such as using the lane change destination as the added lane to perform the lane change assistance.

[0099] According to this structure, in the initial area of ​​adding lanes, lane change assistance can be appropriately executed to change to the added lane, and the convenience of lane change assistance can be further improved.

[0100] 3. In the above embodiments,

[0101] The control mechanism determines whether lane change assistance, which adds lane change, needs to be executed in order to reach a pre-set destination.

[0102] According to this structure, lane change assistance can be appropriately performed to increase lane change in order to reach the destination.

[0103] 4. In the above embodiments,

[0104] The driving assistance device also includes a notification mechanism (e.g., 5, 15) that notifies the driver of assistance information related to the lane change assistance.

[0105] The predetermined conditions include conditions such as the vehicle speed falling below the threshold after the notification agency notifies the driver of the assistance information.

[0106] According to this structure, lane change assistance is determined even if the vehicle speed is below a threshold after the assistance information is notified, thereby avoiding driver confusion caused by discontinuing lane change assistance after the assistance information is notified.

[0107] 5. In the above embodiments,

[0108] The assistance information includes information indicating that the lane change assistance is being performed in the starting area.

[0109] According to this structure, lane change assistance is determined even if the vehicle speed is below a threshold after the lane change assistance is executed in the area where the driver is notified of the start of the lane increase, thereby avoiding driver confusion caused by the termination of lane change assistance after the notification of assistance information.

[0110] 6. In the above embodiments,

[0111] The assistance information includes information indicating the action obligations required of the driver in order to perform the lane change assistance.

[0112] According to this structure, lane change assistance is determined even if the vehicle speed is below a threshold after the driver is notified of the action obligation, thereby avoiding driver confusion caused by discontinuing lane change assistance after the notification of assistance information.

[0113] 7. In the above embodiments,

[0114] The driving assistance device also includes a status detection mechanism (e.g., 9a, 9b, 12) that detects the driver's status.

[0115] The predetermined conditions include conditions such as the driver being performing the action obligation based on the detection results of the state detection mechanism.

[0116] According to this structure, lane change assistance can be appropriately implemented depending on whether the driver is performing an action obligation.

[0117] 8. In the above embodiments,

[0118] If the speed of the vehicle detected by the speed detection mechanism is lower than the second threshold, the control mechanism terminates the execution of the lane change assist.

[0119] The second threshold is set to a value lower than the threshold.

[0120] According to this structure, lane change assistance can be performed safely and appropriately even when the vehicle speed is below the threshold.

[0121] 9. In the above embodiments,

[0122] The control mechanism is capable of performing lane change assistance on specific roads.

[0123] The added lane is an exit lane for exiting from the specific road.

[0124] According to this structure, lane change assistance can be appropriately performed in the starting area of ​​the exit lane that serves as the addition of a lane, and the convenience of lane change assistance can be improved.

[0125] 10. In the above embodiments,

[0126] The specific road mentioned is the road that provides map information.

[0127] Based on this structure, lane change assistance can be appropriately implemented based on map information.

[0128] 11. In the above embodiments,

[0129] The control mechanism is able to perform the lane change assistance on specific roads where map information is provided, and determine the starting area based on the map information.

[0130] Based on this structure, lane change assistance can be appropriately implemented by determining the starting area for adding lanes based on map information.

[0131] 12. In the above embodiments,

[0132] The map information includes information related to the shape of the specific road.

[0133] According to this structure, lane change assistance can be appropriately performed based on map information containing information related to the shape of a specific road.

[0134] 13. In the above embodiments,

[0135] The driving assistance device also includes a first receiving mechanism (e.g., 6a, 14a) that receives a first instruction input from the driver indicating the activation of the lane change assistance setting.

[0136] When the first instruction input is received by the first receiving agency and the assistance setting is activated, the control agency can execute the lane change assistance.

[0137] Based on this structure, in the initial area of ​​adding lanes, system-led lane change assist (ALC) can be appropriately executed.

[0138] 14. In the above embodiments,

[0139] The driving assistance device also includes a second receiving mechanism (e.g., 6b, 14b) that receives a second instruction input instructing the execution of the lane change assistance.

[0140] The control mechanism can perform the lane change assistance once based on the fact that the second instruction input has been accepted by the second receiving agency.

[0141] According to this structure, driver-led lane change assist (ALCA) can be appropriately executed in the initial area of ​​adding lanes.

[0142] 15. In the above embodiments,

[0143] The driving assistance device also includes an ambient detection mechanism (e.g., 8a, 8b, 11) that detects the surrounding conditions of the vehicle.

[0144] The control mechanism controls the lane change assist based on the detection results of the surrounding detection mechanism.

[0145] According to this structure, lane change assistance can be appropriately implemented based on the detection results of the vehicle's surrounding conditions.

[0146] This invention is not limited to the embodiments described above. Various changes and modifications can be made without departing from the spirit and scope of this invention.

Claims

1. A driving assistance device, which is a driving assistance device for assisting in driving a vehicle, characterized in that, The driving assistance device includes: A speed detection mechanism that detects the speed of the vehicle; as well as A control mechanism that, when the speed of the vehicle detected by the speed detection mechanism is above a threshold, controls a lane change assist to change the vehicle from its current lane to an adjacent lane. Under predetermined conditions, even if the vehicle's speed detected by the speed detection mechanism is lower than the threshold, the control mechanism still executes the lane change assist. The predetermined conditions include conditions such as performing the lane change assistance in the starting area of ​​an additional lane added adjacent to the driving lane.

2. The driving assistance device according to claim 1, characterized in that, The predetermined conditions include conditions such as using the lane change destination as the added lane to perform the lane change assistance.

3. The driving assistance device according to claim 2, characterized in that, The control mechanism determines whether lane change assistance, which adds lane change, needs to be executed in order to reach a pre-set destination.

4. The driving assistance device according to claim 1, characterized in that, The driving assistance device also includes a notification mechanism that notifies the driver of assistance information related to the lane change assistance. The predetermined conditions include conditions such as the vehicle speed falling below the threshold after the notification agency notifies the driver of the assistance information.

5. The driving assistance device according to claim 4, characterized in that, The assistance information includes information indicating that the lane change assistance is being performed in the starting area.

6. The driving assistance device according to claim 4, characterized in that, The assistance information includes information indicating the action obligations required of the driver in order to perform the lane change assistance.

7. The driving assistance device according to claim 6, characterized in that, The driving assistance device also includes a status detection mechanism that detects the driver's status. The predetermined conditions include conditions such as the driver being performing the action obligation based on the detection results of the state detection mechanism.

8. The driving assistance device according to claim 1, characterized in that, If the speed of the vehicle detected by the speed detection mechanism is lower than the second threshold, the control mechanism terminates the execution of the lane change assist. The second threshold is set to a value lower than the threshold.

9. The driving assistance device according to claim 1, characterized in that, The control mechanism is capable of performing lane change assistance on specific roads. The added lane is an exit lane for exiting from the specific road.

10. The driving assistance device according to claim 9, characterized in that, The specific road in question is one for which map information is provided.

11. The driving assistance device according to claim 1, characterized in that, The control mechanism is able to perform the lane change assistance on specific roads where map information is provided, and determine the starting area based on the map information.

12. The driving assistance device according to claim 10, characterized in that, The map information includes information related to the shape of the specific road.

13. The driving assistance device according to claim 1, characterized in that, The driving assistance device also includes a first receiving mechanism that receives a first instruction input from the driver instructing the activation of the lane change assistance setting. When the first instruction input is received by the first receiving agency and the assistance setting is activated, the control agency can execute the lane change assistance.

14. The driving assistance device according to claim 1, characterized in that, The driving assistance device also includes a second receiving mechanism that receives a second instruction input to instruct the execution of the lane change assistance. The control mechanism can perform the lane change assistance once based on the fact that the second instruction input has been accepted by the second receiving agency.

15. The driving assistance device according to claim 1, characterized in that, The driving assistance device also includes an ambient detection mechanism that detects the surrounding conditions of the vehicle. The control mechanism controls the lane change assist based on the detection results of the surrounding detection mechanism.

16. A vehicle, characterized in that, It has the driving assistance device as described in any one of claims 1 to 15.

17. A driving assistance method, characterized in that, The driving assistance method includes: A speed detection step, wherein the speed of the vehicle is detected; and In the control step, if the vehicle speed detected by the speed detection step is above a threshold, lane change assist is controlled to change from the vehicle's current lane to an adjacent lane. In the control step, if predetermined conditions are met, lane change assistance is performed even if the vehicle speed detected by the speed detection step is lower than the threshold. The predetermined conditions include conditions such as performing the lane change assistance in the starting area of ​​an additional lane added adjacent to the driving lane.

18. A storage medium storing a program for causing a computer to perform the driving assistance method of claim 17.

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