Vehicle control device, storage medium, and method

Abstract

A vehicle control device, a storage medium, and a method are provided that can determine a lane change start section in a manner that can reflect a driver's preference to perform a lane change. The vehicle control device includes: a reference lane change start section that is set on a travel lane when a vehicle is scheduled to move from the travel lane to an adjacent lane; a target lane change section that is determined on the travel lane based on the reference lane change start section and a current correction value to control the vehicle to start moving between lanes; a request count that counts a number of times a driver requests a lane change of the vehicle at a position different from a start position of the target lane change start section; a new correction value that is calculated based on a correction coefficient determined based on the request count and a distance between the start position of the target lane change start section and a request position at which the driver requests the lane change of the vehicle; and a next target lane change start section that is determined based on the reference lane change start section and the new correction value.

Description

Technical Field

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

[0002] The automatic control system integrated into the vehicle generates a navigation route based on the vehicle's current location, destination location, and navigation map. The automatic control system uses map information to estimate the vehicle's current location and controls the vehicle to travel along the navigation route.

[0003] When a vehicle is traveling in one lane (the driving lane) on a road with multiple lanes, there may sometimes be more than one lane between the driving lane and the lane connecting to a branch road leading to a destination. In such cases, the vehicle needs to make multiple lane changes from its current driving lane in order to move to the branch road.

[0004] The vehicle's automatic control system sets lane change initiation intervals for each lane connecting the current driving lane and the branch road, allowing for automatic lane change movement. The automatic control system sets these intervals based on factors such as the vehicle's position, the branch road's location, and the vehicle's speed.

[0005] Japanese Patent Application Publication No. 2020-192824 discloses a driving action control device that sets and determines parameters for the driving action of an autonomous vehicle based on a specific driving condition, detects the occupant's feedback on the driving action generated by the parameters, and determines the driving action of the autonomous vehicle when it encounters the specific driving condition again or a driving condition similar to the specific driving condition based on the parameters changed according to the feedback.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 2020-192824 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] When a driver wants to reach their destination lane quickly, they may request a lane change from a position further away from the start of the lane change zone, as driving at high speed in the overtaking lane allows for faster travel. Conversely, some drivers may request a lane change from a position closer to the start of the lane change zone.

[0011] However, the lane change initiation zone was not set in accordance with the driver's preferences. As mentioned above, although a technology for determining vehicle driving actions based on occupant feedback has been proposed, there is room for improvement regarding the situation of "equally determining the lane change initiation zone".

[0012] The purpose of this disclosure is to provide a vehicle control device that can determine the lane change initiation interval in a manner that reflects the driver's preferences when performing lane changes.

[0013] Technical solutions for solving the problem

[0014] According to one embodiment, a vehicle control device is provided. This vehicle control device includes: a reference interval setting unit, which, when a vehicle is predetermined to move from its current lane to an adjacent lane, sets a reference lane change start interval on the driving lane as the interval where the vehicle begins to move between lanes under automatic control; a target interval determination unit, which, based on the reference lane change start interval and a current correction value, determines a target lane change start interval on the driving lane to control the vehicle so that it begins to move between lanes under automatic control; a counting unit, which counts the number of times the driver requests a lane change at a position different from the start position of the target lane change start interval; and a correction value calculation unit, which calculates a new correction value for the reference lane change start interval based on a correction coefficient determined based on the number of requests and the distance between the start position of the target lane change start interval and the position where the driver requested a lane change; and the target interval determination unit, based on the reference lane change start interval and the new correction value, determines the next target lane change start interval.

[0015] Furthermore, in this vehicle control device, it is preferable that the relationship between the correction coefficient and the number of requests has a first region in which the correction coefficient increases with the increase of the number of requests, a second region in which the correction coefficient increases significantly more than in the first region with the increase of the number of requests, and a third region in which the correction coefficient increases slightly more than in the second region with the increase of the number of requests.

[0016] Furthermore, in this vehicle control device, it is preferable that when the driver requests a lane change at a position different from the starting position of the target lane change start interval, if the surrounding environment information representing the vehicle's surrounding environment detects that there are other vehicles traveling in the driving lane or adjacent lanes within a predetermined range of the vehicle, if the number of such vehicles is greater than a predetermined reference number, the correction value calculation unit does not calculate a new correction value.

[0017] According to another embodiment, a non-transient storage medium is provided for storing a vehicle control computer program. This vehicle control computer program causes a processor to execute a process comprising: when a predetermined vehicle movement is planned from its current lane to an adjacent lane, setting a reference lane change start interval on the driving lane as the interval where the vehicle begins to move between lanes under automatic control; determining a target lane change start interval on the driving lane for controlling the vehicle to begin moving between lanes under automatic control, based on the reference lane change start interval and a current correction value; counting the number of times the driver requests a lane change at a position different from the start position of the target lane change start interval; and calculating a new correction value for the reference lane change start interval based on a correction coefficient determined based on the number of requests and the distance between the start position of the target lane change start interval and the position where the driver requested a lane change; and determining the next target lane change start interval based on the reference lane change start interval and the new correction value.

[0018] According to another embodiment, a vehicle control method is provided. This vehicle control method is executed by a vehicle control device and includes: when a predetermined vehicle movement is planned from a driving lane to an adjacent adjacent lane, setting a reference lane change start interval on the driving lane as the interval where the vehicle begins to move between lanes under automatic control; determining a target lane change start interval on the driving lane based on the reference lane change start interval and a current correction value, thereby controlling the vehicle to begin moving between lanes under automatic control; counting the number of times a driver requests a lane change at a position different from the start position of the target lane change start interval; and calculating a new correction value for the reference lane change start interval based on a correction coefficient determined based on the number of requests and the distance between the start position of the target lane change start interval and the position where the driver requested a lane change; and determining the next target lane change start interval based on the reference lane change start interval and the new correction value.

[0019] Invention Effects

[0020] The vehicle control device disclosed herein is capable of determining the lane change initiation range in a manner that reflects the driver's preferences when performing lane changes. Attached Figure Description

[0021] Figure 1 This is a diagram illustrating the general operation of the driving lane planning device according to this embodiment.

[0022] Figure 2 This is a schematic diagram of the vehicle configuration of the vehicle control system of this embodiment.

[0023] Figure 3 This is an example of an action flowchart related to the determination of the target lane change start interval of the driving plan device in this embodiment.

[0024] Figure 4 This is an example of an action flowchart related to the correction value calculation process of the driving plan device in this embodiment.

[0025] Figure 5 This is a graph illustrating an example of the relationship between the correction factor and the required number of times.

[0026] Figure 6 This diagram illustrates lane changing when the lane change initiation is delayed.

[0027] Figure 7 This is a diagram illustrating the calculation and processing of the correction value in the variant example. Detailed Implementation

[0028] Figure 1 This is a diagram illustrating the general operation of the driving lane planning device 14 according to this embodiment. Hereinafter, with reference to... Figure 1 The following is a summary description of the operations of the lane planning device 14 disclosed in this specification related to vehicle control processing. The lane planning device 14 is an example of a vehicle control device.

[0029] The vehicle 10 has a driving lane planning device 14, a driving planning device 15, and a vehicle control device 16. The driving lane planning device 14 selects a lane in the road where the vehicle 10 is to travel from the nearest driving section selected from the navigation route, and generates a driving lane plan representing the predetermined driving lane that the vehicle 10 is to travel.

[0030] The driving plan device 15 generates a driving plan based on a driving lane plan, etc., representing a predetermined driving trajectory of the vehicle 10 up to a predetermined time. The driving plan is represented as a set of target positions of the vehicle 10 and target vehicle speeds at those target positions at each time from the current time to the predetermined time. The vehicle control device 16 controls the actions of the vehicle 10 based on the driving plan. The vehicle 10 may be an autonomous driving vehicle.

[0031] Figure 1 An example of a driving lane plan generated by the driving lane planning device 14 is shown regarding the nearest driving section of the navigation route for vehicle 10. Vehicle 10 is traveling on road 50 and is scheduled to exit from branch point B onto road 60 in order to reach its destination.

[0032] Road 50 has three lanes 51 to 53. Lane 51 and lane 52 are separated by lane marking line 54, and lane 52 and lane 53 are separated by lane marking line 55. At branch point B, lane 53 of road 50 is connected to lane 61 of road 60 between the branch start point 62 and the branch end point 63.

[0033] The driving lane plan shows a scenario where three lane changes are made to exit from road 50 to road 60. Figure 1 In the lane change plan, a target lane change start interval A1 to A3 is set for vehicle 10 to make three lane changes LC1 to LC3 (refer to the dotted line) from its current position, and the movement up to lane 61 of road 60 is planned.

[0034] First, the driving lane planning device 14 sets a reference lane change start interval on lane 51 as the interval in which the vehicle 10 begins to move between lanes under automatic control. The driving lane planning device 14 sets the reference lane change start interval on lanes 51 to 53, for example, based on the current position of the vehicle 10, the branch position B where the road 60 branches off from the road 50, the speed of the vehicle 10, etc.

[0035] Then, based on the reference lane change start interval and the current correction value, the driving lane planning device 14 determines the target lane change start intervals A1 to A3 in lanes 51 to 53 to control the vehicle 10 so that the vehicle 10 begins to move between lanes under automatic control. The target lane change start intervals A1 to A3 are the intervals in which the vehicle 10 is scheduled to begin moving from the driving lane to the adjacent lane through automatic control. In order to change the start position of the reference lane change start interval, the position for starting the movement between lanes is determined in a way that can reflect the driver's preference for lane changes, and the correction value is used.

[0036] After the vehicle 10 enters the target lane change initiation zone A1, the driving plan device 15 generates a driving plan to move from lane 51 to lane 52 when it detects space in the adjacent lane 52 where the vehicle 10 can move. Based on this driving plan, the vehicle control device 16 executes the movement of the vehicle 10 from lane 51 to lane 52.

[0037] However, the driver of vehicle 10 requested a lane change from vehicle 10 at a position closer to the start position Q1 of the target lane change start interval A1, in order to complete the lane change ahead of schedule.

[0038] Therefore, based on the driver's request to change lanes, vehicle 10 moves from lane 51 to lane 52 at a position closer to the starting position Q1 of the target lane change starting interval A1 (refer to solid line LC1).

[0039] After vehicle 10 moved from lane 51 to lane 52, the driver of vehicle 10 wanted to complete the lane change ahead of schedule and requested a lane change at a position Q2, which is closer to the starting position of the target lane change start interval A2.

[0040] Therefore, based on the driver's request to change lanes, vehicle 10 moves from lane 52 to lane 53 at a position closer to the starting position Q2 of the target lane change starting interval A2 (refer to solid line LC2).

[0041] After moving from lane 52 to lane 53, vehicle 10 enters the target lane change start interval A3. Then, space is detected in lane 61 of the adjacent road 60 where vehicle 10 can move, and vehicle 10 moves from lane 53 of road 50 to lane 61 of road 60.

[0042] When the driver requests a lane change for vehicle 10 at a position different from the start position of the target lane change start interval, the driving lane planning device 14 counts the number of times the driver requests a lane change for vehicle 10.

[0043] Then, the driving lane planning device 14 determines the lane change based on a correction factor determined by the number of requests, and the distance between the starting position of the target lane change start interval and the lane change request position requested by the driver for vehicle 10 (refer to...). Figure 1 Using L1 and L2, calculate the new correction value for the starting interval of the baseline lane change. Figure 1 As shown in the example, if a driver requests a lane change at a position closer to the beginning of the target lane change start interval, a correction value is calculated by shifting the beginning of the next target lane change start interval forward.

[0044] When a lane change is scheduled in the next driving section selected from the navigation route, the driving lane planning device 14 determines the target lane change start section for the next time based on the baseline lane change start section and a new correction value.

[0045] As explained above, the driving lane planning device 14 uses the current correction value to determine the target lane change start interval, thus enabling it to determine the lane change start interval in a manner that reflects the driver's preferences. Furthermore, referring to... Figure 1 A more detailed description of the operation of the driving lane planning device 14 will follow.

[0046] Figure 2This is a schematic diagram of the vehicle 10 of the vehicle control system 1 implemented in this embodiment. The vehicle 10 includes a front camera 2, a monitoring camera 3, a direction indicator 4, a positioning information receiver 5, a navigation device 6, a user interface (UI) 7, a map information storage device 11, a position estimation device 12, an object detection device 13, a lane planning device 14, a driving planning device 15, and a vehicle control device 16. Furthermore, the vehicle 10 may also include a ranging sensor (not shown) such as millimeter-wave radar for determining the distance to objects around the vehicle 10. The vehicle control system 1 includes at least a lane planning device 14.

[0047] 2. Forward camera; 3. Surveillance camera; 4. Direction indicator; 5. Position information receiver; 6. Navigation device; 7. User interface; 11. Map information storage device; 12. Position estimation device; 13. Object detection device; 14. Lane planning device; 15. Driving planning device; 16. Vehicle control device 16 are connected in a communicative manner via a standard in-vehicle network 17 based on a controller area network.

[0048] The front camera 2 is an example of a camera unit installed in the vehicle 10. The front camera 2 is mounted on the vehicle 10 so as to face forward. For example, the front camera 2 captures camera images of the environment representing a predetermined area in front of the vehicle 10 at predetermined intervals. The camera images can show the road and road features such as lane markings within the predetermined area in front of the vehicle 10. The front camera 2 has a 2D detector, such as a CCD or C-MOS, composed of an array of photoelectric conversion elements with photosensitivity to visible light, and an imaging optical system that images the area to be photographed onto the 2D detector.

[0049] Whenever the front-facing camera 2 captures an image, it outputs the image and the time of capture via the in-vehicle network 17 to the position estimation device 12 and the object detection device 13. The camera image is used in the position estimation device 12 to estimate the position of the vehicle 10. Additionally, the camera image is used in the object detection device 13 to detect other objects around the vehicle 10.

[0050] The surveillance camera 3 is disposed inside the vehicle interior in a manner capable of capturing surveillance images including the face of the driver of the vehicle 10. The surveillance camera 3 is an example of a capturing device that captures surveillance images including the driver's face. The surveillance camera 3 may be disposed, for example, in the steering column, interior mirror, dashboard, instrument panel, etc.

[0051] The surveillance camera 3 captures surveillance images of the area near the driver's seat at predetermined intervals. The surveillance camera 3 has a 2D detector, such as a CCD or C-MOS, composed of an array of photoelectric conversion elements sensitive to infrared light, and an imaging optical system that images the area to be photographed onto the 2D detector. Whenever a surveillance image is captured, the surveillance camera 3 outputs the surveillance image and the time of capture via the in-vehicle network 18 to the vehicle control device 16, etc.

[0052] The direction indicator 4 is positioned near the steering wheel in a manner operable by the driver. When the vehicle control system 1 is in control and the vehicle 10 is being driven, the driver, who requires the vehicle 10 to move between lanes, operates the direction indicator 4 towards the lane side where the vehicle 10 is to be moved. The direction indicator 4 generates an operation signal corresponding to the driver's operation. The direction indicator 4 outputs the operation signal to the driving lane planning device 14, etc., via the in-vehicle network 17. Furthermore, when the driver is in control and the vehicle 10 is being driven, when making a right turn, left turn, or moving between lanes, the driver operates the direction indicator 4 towards the side where the vehicle 10 is to be moved. Based on the operation signal output by the direction indicator 4, a turn signal indicator (not shown) flashes.

[0053] The positioning information receiver 5 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiver 5 can be configured as a GNSS receiver. Whenever the positioning information is acquired at a predetermined reception period, the positioning information receiver 5 outputs the positioning information and the time of acquisition of the positioning information to the navigation device 6 and the map information storage device 11, etc.

[0054] The navigation device 6 generates a navigation route from the current position of the vehicle 10 to the destination position based on navigation map information, the destination position of the vehicle 10 input from the UI7, and the positioning information receiver 5 indicating the current position of the vehicle 10. The navigation route includes information related to right turns, left turns, merging, branching, etc. The navigation device 6 generates a new navigation route for the vehicle 10 when a new destination position is set or when the current position of the vehicle 10 deviates from the navigation route. Whenever a navigation route is generated, the navigation device 6 outputs the navigation route to the position estimation device 12 and the driving lane planning device 14 via the in-vehicle network 17.

[0055] UI7 is an example of a notification unit. Controlled by navigation device 6, driving plan device 15, and vehicle control device 16, UI7 notifies the driver of driving information of vehicle 10. Driving information includes the vehicle's current position, lane changes, navigation routes, and other information related to the vehicle's current and future paths. UI7 has a display device 7a, such as an LCD or touch panel, to display driving information. Additionally, UI7 may have an audio output device (not shown) for notifying the driver of driving information. Furthermore, UI7 generates operation signals corresponding to the driver's actions on vehicle 10. Operation information may include, for example, the destination location, route, vehicle speed, and other control information. As an input device for inputting operation information from the driver to vehicle 10, UI7 may have, for example, a touch panel or operation buttons. UI7 outputs the input operation information to navigation device 6, driving plan device 15, and vehicle control device 16 via in-vehicle network 17.

[0056] The map information storage device 11 stores wide-area map information covering a relatively wide range (e.g., a radius of 10 to 30 km) including the current location of the vehicle 10. This map information includes high-precision map information such as 3D road surface information, and information on road features and structures such as speed limits, road curvature, lane markings, etc.

[0057] The map information storage device 11 receives wide-area map information from an external server via a base station and stores it in the storage device based on the current location of the vehicle 10 through wireless communication via a wireless communication device (not shown) mounted on the vehicle 10. Whenever positioning information is input from the positioning information receiver 5, the map information storage device 11 refers to the stored wide-area map information and outputs map information including a relatively narrow area (e.g., a radius of 100m to 10km) of the current location represented by the positioning information to the location estimation device 12, object detection device 13, driving lane planning device 14, driving planning device 15, and vehicle control device 16 via the in-vehicle network 17.

[0058] The position estimation device 12 estimates the position of the vehicle 10 at the time the camera image was captured, based on the road features surrounding the vehicle 10 shown in the camera image captured by the front camera 2. For example, the position estimation device 12 compares the lane markings identified in the camera image with the lane markings shown in the map information input from the map information storage device 11 to determine the estimated position and estimated azimuth of the vehicle 10 at the time the camera image was captured. In addition, the position estimation device 12 estimates the driving lane of the road on which the vehicle 10 is located based on the lane markings shown in the map information and the estimated position and estimated azimuth of the vehicle 10. Whenever the position estimation device 12 determines the estimated position, estimated azimuth, and driving lane of the vehicle 10 at the time the camera image was captured, it outputs this information to the object detection device 13, the driving lane planning device 14, the driving planning device 15, and the vehicle control device 16.

[0059] The object detection device 13 detects other objects and their types (e.g., vehicles) around the vehicle 10 based on camera images. Other objects include other vehicles traveling around the vehicle 10. The object detection device 13 tracks the detected other objects and calculates their trajectories and speeds. Based on lane markings and the positions of other objects represented by map information, the object detection device 13 determines the driving lane in which the other objects are traveling. Furthermore, the object detection device 19 outputs object detection information, including information indicating the type of detected other objects, information indicating their position and speed, and information indicating the driving lane, to the driving lane planning device 14 and the driving planning device 15, etc.

[0060] The lane planning device 14 performs planning processing, setting processing, decision processing, counting processing, and calculation processing. For this purpose, the lane planning device 14 has a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, memory 22, and processor 23 are connected via signal lines 24. The communication interface 21 has interface circuitry for connecting the lane planning device 14 to the in-vehicle network 17.

[0061] Memory 22 is an example of a storage unit, such as a volatile semiconductor memory or a non-volatile semiconductor memory. Furthermore, memory 22 stores computer programs and various data used in information processing executed by processor 23.

[0062] The driving lane planning device 14 has all or part of its functions, for example, implemented by a computer program operating on the processor 23. The processor 23 has a planning unit 231, a setting unit 232, a decision unit 233, a counting unit 234, and a calculation unit 235. Alternatively, the functional modules of the processor 23 may be dedicated arithmetic circuits provided on the processor 23. The processor 23 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 23 may also have other arithmetic circuits such as logic operation units, numerical operation units, or graphics processing units.

[0063] At a predetermined interval for generating a driving lane plan, the planning unit 231 selects a lane within the road where the vehicle 10 will travel, based on map information, the navigation route, surrounding environment information, and the current position of the vehicle 10, within the nearest driving range (e.g., 10 km) selected according to the navigation route. The surrounding environment information includes the position and speed of other vehicles traveling around the vehicle 10. The driving lane planning device 14 generates the driving lane plan, for example, in a manner that causes the vehicle 10 to travel in a lane other than the overtaking lane. Whenever a driving lane plan is generated, the driving lane planning device 14 outputs the driving lane plan to the driving planning device 15. Other operations of the driving lane planning device 14 will be described later.

[0064] The driving plan device 15 performs driving plan processing, that is, at a driving plan generation time set at a predetermined period, it generates a driving plan representing the predetermined driving trajectory of the vehicle 10 up to a predetermined time (e.g., 5 seconds) based on the driving lane plan, map information, the current position of the vehicle 10, surrounding environment information, and vehicle status information. The vehicle status information includes the current position of the vehicle 10, vehicle speed, acceleration, and direction of travel. The driving plan is represented as a set of the target positions of the vehicle 10 and the target vehicle speeds at those target positions at each time from the current time to the predetermined time. The driving plan generation period is preferably shorter than the driving lane plan generation period. The driving plan device 15 generates the driving plan at an interval that allows the vehicle 10 to maintain a distance or more than a predetermined distance from other objects (vehicles, etc.). Whenever a driving plan is generated, the driving plan device 15 outputs the driving plan to the vehicle control device 16.

[0065] The vehicle control unit 16 controls various parts of the vehicle 10 based on the vehicle 10's current position, speed, yaw rate, and the driving plan generated by the driving plan unit 15. For example, the vehicle control unit 16 calculates the vehicle 10's steering angle, acceleration, and angular acceleration according to the driving plan, speed, and yaw rate, and sets the steering input, accelerator opening, or braking input in a manner consistent with these values. Then, the vehicle control unit 16 outputs a control signal corresponding to the set steering input to an actuator (not shown) controlling the steering wheels of the vehicle 10 via the in-vehicle network 17. Additionally, the vehicle control unit 16 outputs a control signal corresponding to the set accelerator opening to the vehicle 10's drive unit (engine or motor) via the in-vehicle network 17. Alternatively, the vehicle control unit 16 outputs a control signal corresponding to the set braking input to the vehicle 10's brakes (not shown) via the in-vehicle network 17.

[0066] Map information storage device 11, location estimation device 12, object detection device 13, driving lane planning device 14, driving planning device 15, vehicle control device 16, such as an electronic control unit (ECU). Figure 2 In this description, the map information storage device 11, the location estimation device 12, the object detection device 13, the driving lane planning device 14, the driving planning device 15, and the vehicle control device 16 are described as independent devices, but all or part of these devices may also constitute a single device.

[0067] Figure 3 This is an example of an operation flowchart related to the target lane change start interval determination process of the driving lane planning device 14 in this embodiment. Hereinafter, with reference to... Figure 3 The following explains the target lane change start interval determination process of the driving lane planning device 14. The driving lane planning device 14 determines the target lane change start interval at a predetermined time according to... Figure 3 The flowchart shown illustrates the execution of the target lane change start interval determination process. The preferred execution cycle for this process is less than or equal to the cycle of the driving plan generation time.

[0068] First, based on the driving lane plan, the setting unit 232 determines whether a lane change (step S101) is scheduled to move the vehicle 10 from its current driving lane to an adjacent lane in the nearest driving section selected according to the navigation route. The setting unit 232 is an example of a reference section setting unit.

[0069] When a lane change is planned (step S101 - Yes), the setting unit 232 sets a reference lane change start interval in the driving lane as the interval in which the vehicle 10 begins to move between lanes under automatic control (step S102). For example, the setting unit 232 sets the lane completion position where the vehicle 60 completes its movement in an adjacent lane, and sets the reference lane change start interval in the driving lane based on the lane completion position, the current position of the vehicle 10, the speed of the vehicle 10, etc. In addition, when two or more lane changes are planned, firstly, the lane completion position is set in the lane where the vehicle's movement is last completed, and based on the lane completion position, the current position of the vehicle 10, the speed of the vehicle 10, etc., the reference lane change start interval is set in each lane.

[0070] Next, the decision unit 233 determines the target lane change start interval (step S103) in the driving lane based on the reference lane change start interval and the current correction value, so that the vehicle 10 can be controlled to start moving between lanes under automatic control, and ends the series of processes. The decision unit 233 is an example of a target interval decision unit.

[0071] The decision unit 233, as shown in the following formula (1), corrects the starting position P (coordinate along the travel direction of the vehicle 10) of the reference lane change start interval with the current correction value M, and calculates the starting position Q of the target lane change start interval.

[0072] Q = P + M (1)

[0073] Since the length of the target lane change start interval is the same as the length of the reference lane change start interval, the starting position of the target lane change start interval is determined by the change correction value M relative to the reference lane change start interval. When the correction value M is negative, the starting position P of the target lane change start interval moves closer to the starting position Q of the reference lane change start interval. When the correction value M is positive, the starting position P of the target lane change start interval moves farther from the starting position Q of the reference lane change start interval.

[0074] On the other hand, if there is no predetermined lane change (step S101 - No), the series of processes ends. This could mean that, regarding lane changes following the aforementioned target lane change start interval determination process based on the driving lane plan, no target lane change start interval determination process is performed until the vehicle 10 passes the lane completion position.

[0075] Next, regarding the operation of the driving lane planning device 14 in determining the starting section of the target lane change, please refer to the following section. Figure 1 While explaining.

[0076] As mentioned above, in Figure 1 In the example shown, vehicle 10 is traveling on road 50 and, in order to reach its destination, is scheduled to exit onto road 60 from branch point B. Figure 1 The lane change plan involves three lane changes from the current position, LC1 to LC3 (refer to the dotted lines).

[0077] The lane planning device 14 sets a lane completion position 64 on lane 61 of road 60, indicating the completion of movement of vehicle 10 from lane 53 of road 50. Next, based on the lane completion position 64, the current position of vehicle 10, and the speed of vehicle 10, the lane planning device 14 sets a reference lane change start interval on lane 53. The length of the reference lane change start interval is the distance along the direction of travel of vehicle 10. The longer the distance between the current position of vehicle 10 and the lane completion position 64, the longer the reference lane change start interval. Alternatively, the faster the speed of vehicle 10, the longer the reference lane change start interval. Furthermore, if two or more lane changes are planned, the closer to the driving lane, the longer the reference lane change start interval. Alternatively, the lengths of all reference lane change start intervals can be the same.

[0078] Then, the driving lane planning device 14 determines the target lane change start interval A1 to A3 in lanes 51 to 53 based on the reference lane change start interval and the current correction value. The correction value used to determine the target lane change start interval A1 to A3 is the same.

[0079] Additionally, the lane planning device 14 sets the target lane change start interval A1 and the branch end position 63 in lane 51 as the manual lane change start interval M1. If lane changes cannot be performed by vehicle 10 under automatic control within the target lane change start intervals A1 to A3, the vehicle control unit 16 notifies the driver to manually initiate a lane change via UI7. The driver then manually moves the vehicle between lanes.

[0080] Similarly, in lane 52, the area between the target lane change start interval A2 and the branch end position 63 is set as the manual lane change start interval M2, and in lane 53, the area between the target lane change start interval A3 and the branch end position 63 is set as the manual lane change start interval M3.

[0081] After the vehicle 10 enters the target lane change initiation zone, the vehicle control unit 16 generates a driving plan for lane movement when it detects space for the vehicle 10 to move in the lane of the destination. Then, the vehicle control unit 16 notifies the driver via UI7 of "lane change" and "destination lane". If the driver agrees to the lane change, the driver operates the direction indicator 4 to indicate the destination lane. Conversely, if the driver disagrees with the lane change, the driver operates the direction indicator 4 to indicate the opposite side of the destination lane.

[0082] If the driver consents to a lane change, the vehicle control unit 16 determines, based on a surveillance image, whether the driver's face is facing the lane of the destination. If it is determined that the driver's face is facing the lane of the destination, the vehicle control unit 16 executes the lane change. On the other hand, if it is not determined that the driver's face is facing the lane of the destination, the vehicle control unit 16 does not execute the lane change.

[0083] Next, refer to the following side. Figure 4 The process of calculating the correction value is explained. Figure 4 This is an example of an operation flowchart related to the correction value calculation process of the driving lane planning device 14 in this embodiment. Whenever the vehicle 10 passes through the target lane change initiation zone, the driving lane planning device 14 calculates the correction value according to... Figure 4 The flowchart shown executes the correction value calculation process. Additionally, it can be done as follows: Figure 1 As shown, when a series of multiple target lane change start intervals are determined, a correction value is calculated after vehicle 10 has passed through these target lane change start intervals.

[0084] First, the counting unit 234 determines whether the driver requested a lane change for vehicle 10 at a location different from the starting position of the target lane change start zone (step S201). The counting unit 234 calculates the distance between the starting position of the target lane change start zone and the position where the driver requested a lane change for vehicle 10 (refer to...). Figure 1 L1, L2 and Figure 6 If the distances (L3, L4) are greater than or equal to a predetermined reference distance, it is determined that the driver requested a lane change for vehicle 10 at a location different from the starting position of the target lane change initiation zone. The distance between the starting position of the target lane change initiation zone and the position where the driver requested the lane change for vehicle 10 is a distance along the direction of travel of vehicle 10. This reference distance can be a fixed value. Alternatively, the reference distance can be determined based on the speed of vehicle 10. In this case, the reference distance is determined to be longer the faster the speed of vehicle 10.

[0085] When a lane change request is made (step S201 - Yes), the counting unit 234 counts the number of times the driver requests a lane change for vehicle 10 at a position different from the starting position of the target lane change start interval (step S202). The initial value of the number of requests is zero.

[0086] Next, the calculation unit 235 calculates a new correction value for the reference lane change start interval based on the correction coefficient determined by the number of requests and the distance between the starting position of the target lane change start interval and the lane change request position of the vehicle 10 requested by the driver (step S203), and ends the series of processes. The calculation unit 235 is an example of a correction value calculation unit.

[0087] On the other hand, if no lane change is required (step S201 - No), the series of processes ends.

[0088] Next, regarding the process of the calculation unit 235 obtaining the new correction value, please refer to the following section. Figure 5 The explanation continues. The calculation unit 235 calculates the correction factor determined based on the number of requests and the distance L (refer to) between the starting position of the target lane change start interval and the requested position where the driver requested a lane change for vehicle 10. Figure 1 L1, L2 and Figure 6 The product of L3 and L4 is used as the new correction value.

[0089] Figure 5 This is a diagram illustrating an example of the relationship between the correction factor and the number of requests. The relationship between the correction factor and the number of requests has three regions: a first region where the correction factor increases with the number of requests; a second region where the correction factor increases significantly more than in the first region; and a third region where the correction factor increases slightly more than in the second region. During the learning process, since there are cases where the driver's initial request position is accidental, the correction factor is decreased (first region). Furthermore, when the driver's request position shows a tendency, the correction factor is increased (second region). However, a substantial upper limit is set on the correction factor (third region). For example, a sigmoid function can be used as the correction factor. In this embodiment, the correction factor has a positive value.

[0090] The product M (correction value) of the correction factor and the distance L is obtained by the following equation (2). Here, i is the number of iterations required, and α is the product of the correction factor and the distance L. i L is the correction factor for the i-th change. i This is the distance of the i-th change. Furthermore, the initial value of the correction coefficient α0 can also be set to zero.

[0091] N = αi L i (2)

[0092] If the lane change has occurred at the beginning of the target lane change zone and the lane has been moved forward, the distance L i If negative, the correction factor α i Since the value is zero or positive, the correction value M is either zero or negative. On the other hand, if the starting position of the target lane change initiation zone changes further to the side, the distance L... i If positive, the correction factor α i Since the absolute value is zero or positive, the correction value M is also zero or positive. It is preferable to set an upper limit for the absolute value of the correction value M. This upper limit can be determined, for example, through experimentation or experience.

[0093] Next, refer to the following side. Figure 1 One example illustrates the operation of the driving lane planning device 14 when the driver requests a lane change for vehicle 10 at a position slightly ahead of the starting position of the target lane change start zone.

[0094] As described above, vehicle 10 is traveling on road 50 and, in order to reach its destination, is scheduled to exit onto road 60 from branch point B. Figure 1 The lane change plan sets a target lane change start interval A1 to A3 for making three lane changes from the current position LC1 to LC3 (refer to the dotted line), and plans to move to lane 61 of road 60.

[0095] After the vehicle 10 enters the target lane change initiation zone A1 of lane 51, the driving plan device 15 generates a driving plan to move from lane 51 to lane 52 when it detects space in the adjacent lane 52 where the vehicle 10 can move. Based on this driving plan, the vehicle control device 16 executes the movement of the vehicle 10 from lane 51 to lane 52.

[0096] However, the driver of vehicle 10 wanted to complete the lane change in advance and operated the direction indicator 4, requesting a lane change from vehicle 10 at a position closer to the start position Q1 of the target lane change start interval A1.

[0097] Therefore, based on the driver's request to change lanes, vehicle 10 moves from lane 51 to lane 52 at a position closer to the starting position Q1 of the target lane change starting interval A1 (refer to solid line LC1).

[0098] After vehicle 10 moved from lane 51 to lane 52, the driver of vehicle 10 wanted to complete the lane change in advance and operated the direction indicator 4 to request a lane change at a position close to the beginning position Q2 of the target lane change start interval A2.

[0099] Therefore, based on the driver's request to change lanes, vehicle 10 moves from lane 52 to lane 53 at a position closer to the starting position Q2 of the target lane change starting interval A2 (refer to solid line LC2).

[0100] After entering the target lane change initiation zone A3 of lane 53, vehicle 10 detects space in lane 61 of adjacent road 60 where vehicle 10 can move, and moves from lane 53 of road 50 to lane 61 of road 60.

[0101] After passing through the target lane change start interval in the three lane change LC1 to LC3, the driving lane planning device 14 performs correction value calculation processing.

[0102] Since the driver requested a lane change at a position close to the beginning of the target lane change start interval A1 of lane 51, the driving lane planning device 14 counts the number of times the driver requested a lane change for vehicle 10.

[0103] Then, the driving lane planning device 14 calculates a new correction value for the reference lane change start interval based on the correction coefficient determined by the number of requests and the distance L1 between the starting position Q1 of the target lane change start interval A1 and the lane change request position of the vehicle 10 requested by the driver.

[0104] In addition, since the driver requested a lane change at a position close to the beginning of the target lane change start interval A2 of lane 52, the driving lane planning device 14 counts the number of times the driver requested a lane change for vehicle 10.

[0105] Then, the driving lane planning device 14 calculates a new correction value for the reference lane change start interval based on a correction coefficient determined by the number of requests and the distance L2 between the starting position Q2 of the target lane change start interval A2 and the lane change request position of the vehicle 10 requested by the driver. Furthermore, the driving lane planning device 14 can calculate new correction values ​​for lane changes LC1 and LC2 respectively.

[0106] Next, refer to the following side. Figure 6 One example illustrates the operation of the driving lane planning device 14 when the driver requests a lane change for vehicle 10 at a position far beyond the starting position of the target lane change start zone. Figure 6 This diagram illustrates lane changing when the lane change initiation is delayed. Figure 6 In the example shown, plans were also made with Figure 1The same lane change plan.

[0107] After vehicle 10 enters the target lane change initiation zone A1 of lane 51, driving plan device 15 generates a driving plan to move from lane 51 to lane 52 when it detects space for vehicle 10 to move in adjacent lane 52. Based on this driving plan, vehicle control device 16 notifies the driver via UI7 of the lane change and the lane 52 of the destination. However, the driver wants to reach the destination lane as soon as possible and therefore wants to drive in the current lane, which is the overtaking lane. The driver operates the direction indicator 4 in a manner that indicates the opposite side of the lane 52 of the destination, disagreeing with the lane change.

[0108] After the vehicle 10 has been traveling for a period of time within the target lane change initiation zone A1 of lane 51, the driver operates the direction indicator 4 towards the lane 52 of the destination lane in order to move the vehicle from lane 51 to lane 52.

[0109] Therefore, based on the driver's request to change lanes, vehicle 10 moves from lane 51 to lane 52 at a position further away from the starting position Q1 of the target lane change starting interval A1 (refer to solid line LC1).

[0110] After vehicle 10 enters the target lane change initiation zone A2 of lane 52, driving plan device 15 generates a driving plan to move from lane 52 to lane 53 when it detects space for vehicle 10 to move in adjacent lane 53. Based on this driving plan, vehicle control device 16 notifies the driver via UI7 of the lane change and the lane 53 to which the destination is to be moved. However, the driver wants to reach the destination lane as soon as possible and therefore wants to drive in the current lane, which is the overtaking lane. The driver operates the direction indicator 4 in a manner that indicates the opposite side of the lane 52 to which the destination is to be moved, thus disagreeing with the lane change.

[0111] After the vehicle 10 has been traveling for a period of time within the target lane change initiation zone A2 of lane 52, the driver operates the direction indicator 4 towards the lane 53 of the destination lane in order to move the vehicle from lane 52 to lane 53.

[0112] Therefore, based on the driver's request to change lanes, vehicle 10 moves from lane 52 to lane 53 at a position further away from the starting position Q2 of the target lane change starting interval A2 (refer to solid line LC2).

[0113] After entering the target lane change initiation zone A3 of lane 53, vehicle 10 detects space in lane 61 of adjacent road 60 where vehicle 10 can move, and moves from lane 53 of road 50 to lane 61 of road 60.

[0114] After passing through the target lane change start interval in the three lane change LC1 to LC3, the driving lane planning device 14 performs correction value calculation processing.

[0115] Since the driver requested a lane change at a position far from the starting position Q1 of the target lane change start interval A1 of lane 51, the driving lane planning device 14 counts the number of times the driver requested a lane change for vehicle 10.

[0116] Then, the lane planning device 14 calculates a new correction value for the baseline lane change start interval based on a correction factor determined by the number of requests and the distance L3 between the starting position Q1 of the target lane change start interval A1 and the position where the driver requested a lane change for vehicle 10. Furthermore, the starting position of the target lane change start interval A1 can also be the position where the vehicle control device 16 notifies the driver of "lane change" and "moving to destination lane 53". In this case, the distance L3 becomes the distance between the position R1 where the vehicle control device 16 notifies the driver of "lane change" and "moving to destination lane 52" and the position where the driver requested a lane change for vehicle 10.

[0117] In addition, since the driver requested a lane change at a position far from the starting position Q2 of the target lane change start interval A2 of lane 52, the driving lane planning device 14 counts the number of times the driver requested a lane change for vehicle 10.

[0118] Then, the driving lane planning device 14 calculates a new correction value for the reference lane change start interval based on the correction coefficient determined by the number of requests and the distance L4 between the starting position Q2 of the target lane change start interval A2 and the lane change request position of the vehicle 10 requested by the driver.

[0119] In such Figure 6 As shown in the example, if the driver requests a lane change at a position farther than the starting position of the target lane change start interval, a correction value is calculated to shift the starting position of the next target lane change start interval farther away. Furthermore, the driving lane planning device 14 can also calculate new correction values ​​for lane changes LC1 and LC2 respectively.

[0120] As explained above, the driving lane planning device of this embodiment uses the current correction value to determine the target lane change start interval, so it can determine the lane change start interval in a way that reflects the driver's preference.

[0121] Next, refer to the following side. Figure 7 A variation of the driving lane planning device of the present embodiment described above will be explained. Figure 7 This is a diagram illustrating the calculation and processing of the correction value in the variant example.

[0122] exist Figure 7 The correction value shown is calculated by adding step S302 to the process, which is consistent with the above. Figure 4 The processing for calculating the correction values ​​shown is different. The processing for steps S301, 303, and 304 is the same as that for steps S201 to 203 described above.

[0123] In this variant, when a lane change is requested (step S301 - Yes), it is determined whether, based on the surrounding environment information representing the environment around the vehicle 10, other vehicles traveling in the driving lane or adjacent lanes adjacent to the driving lane are detected within a predetermined range from the vehicle 10, if there is a predetermined reference number or more of them (step S302).

[0124] If no other vehicles exceeding the predetermined baseline number are detected (step S302 - No), the counting unit 234 counts the number of times the driver requests a lane change for vehicle 10 at a position different from the start position of the target lane change start interval (step S303).

[0125] On the other hand, if other vehicles exceeding a predetermined baseline number are detected (step S302 - Yes), the series of processes ends.

[0126] In this variant, when there are more than a predetermined number of other vehicles around vehicle 10 (in the driving lane or adjacent lane), sometimes the driver wants to change lanes earlier or later than planned due to congestion. Therefore, if the driver requests a lane change for reasons other than the driver's preference, no new correction value is calculated. Thus, a correction value that reflects the driver's preference for lane changes can be calculated.

[0127] In this disclosure, the vehicle control device, vehicle control computer program, and vehicle control method described above can be appropriately modified without departing from the spirit of this disclosure. Furthermore, the technical scope of this disclosure is not limited to these embodiments, but extends to the invention described in the claims and its equivalents.

[0128] For example, when the vehicle is in adverse weather conditions such as rain or snow, the correction factor can be made zero or smaller compared to favorable weather conditions such as sunny days. Because the road surface is wet in adverse weather, the driving conditions differ from those on dry roads. Therefore, the impact of the correction for adverse weather conditions on the correction value for favorable weather conditions can be reduced. Alternatively, correction values ​​can be calculated separately for favorable and adverse weather conditions.

Claims

1. A vehicle control device, characterized in that, have: The reference interval setting unit, when a vehicle is scheduled to move from its driving lane to an adjacent lane, sets a reference lane change start interval on the driving lane as the interval in which the vehicle begins to move between lanes under automatic control. The target interval determination unit determines, based on the reference lane change start interval and the current correction value, the target lane change start interval in the driving lane for controlling the vehicle to begin moving between lanes under automatic control. The counting unit counts the number of times the driver requests a lane change for the vehicle at a position different from the starting position of the target lane change start interval. as well as The correction value calculation unit calculates a new correction value for the reference lane change start interval based on a correction coefficient determined according to the number of requests and the distance between the starting position of the target lane change start interval and the position where the driver requested a lane change for the vehicle. The target lane change determination unit determines the next target lane change start interval based on the baseline lane change start interval and the new correction value. The relationship between the correction coefficient and the number of requests includes a first region where the correction coefficient increases with the number of requests, a second region where the correction coefficient increases significantly more than in the first region, and a third region where the correction coefficient increases slightly more than in the second region. When a driver requests a lane change at a location different from the starting position of the target lane change start interval, and if, based on surrounding environment information indicating the vehicle's surroundings, other vehicles traveling in the driving lane or an adjacent lane within a predetermined range of the vehicle are detected at a predetermined reference number, the correction value calculation unit does not calculate a new correction value. If the vehicle cannot perform a lane change under automatic control within the target lane change initiation zone, the vehicle control device notifies the driver to manually initiate a lane change.

2. A non-transitory storage medium storing a computer-readable vehicle control computer program that causes a processor to perform processing. The process includes: In the case where a vehicle is scheduled to move from its current lane to an adjacent lane, a reference lane change start interval is set on the current lane as the interval in which the vehicle begins to move between lanes under automatic control. Based on the baseline lane change initiation interval and the current correction value, a target lane change initiation interval is determined on the driving lane to control the vehicle so that the vehicle can begin to move between lanes under automatic control. The number of times the driver requested a lane change for the vehicle at a position different from the starting position of the target lane change start interval is counted; as well as Based on the correction factor determined by the number of requests, and the distance between the starting position of the target lane change initiation interval and the position where the driver requested a lane change for the vehicle, a new correction value is calculated for the baseline lane change initiation interval. Based on the baseline lane change start interval and the new correction value, the next target lane change start interval is determined. In the process, The relationship between the correction coefficient and the number of requests includes a first region where the correction coefficient increases with the number of requests, a second region where the correction coefficient increases significantly more than in the first region, and a third region where the correction coefficient increases slightly more than in the second region. When a driver requests a lane change at a location different from the starting position of the target lane change start interval, and if environmental information representing the vehicle's surroundings detects that there are other vehicles traveling in the driving lane or an adjacent lane within a predetermined range of the vehicle, exceeding a predetermined baseline number, no new correction value is calculated. If the vehicle cannot perform a lane change under automatic control within the target lane change initiation zone, the driver is notified to manually initiate a lane change.

3. A vehicle control method, executed by a vehicle control device, The vehicle control method includes: In the case where a vehicle is scheduled to move from its current lane to an adjacent lane, a reference lane change start interval is set on the current lane as the interval in which the vehicle begins to move between lanes under automatic control. Based on the baseline lane change initiation interval and the current correction value, a target lane change initiation interval is determined on the driving lane to control the vehicle so that the vehicle can begin to move between lanes under automatic control. The number of times the driver requested a lane change for the vehicle at a position different from the starting position of the target lane change start interval is counted; as well as Based on the correction factor determined by the number of requests, and the distance between the starting position of the target lane change initiation interval and the position where the driver requested a lane change for the vehicle, a new correction value is calculated for the baseline lane change initiation interval. Based on the baseline lane change start interval and the new correction value, the next target lane change start interval is determined. In the vehicle control method described above The relationship between the correction coefficient and the number of requests includes a first region where the correction coefficient increases with the number of requests, a second region where the correction coefficient increases significantly more than in the first region, and a third region where the correction coefficient increases slightly more than in the second region. When a driver requests a lane change at a location different from the starting position of the target lane change start interval, and if environmental information representing the vehicle's surroundings detects that there are other vehicles traveling in the driving lane or an adjacent lane within a predetermined range of the vehicle, exceeding a predetermined baseline number, no new correction value is calculated. If the vehicle cannot perform a lane change under automatic control within the target lane change initiation zone, the driver is notified to manually initiate a lane change.

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