Control device, control method, and storage medium

Abstract

The invention provides a control device, a control method, and a storage medium capable of outputting an alarm suitable for an occupant of a moving body. When the control device estimates, on the basis of the operation, that the moving body moves to a second lane adjacent to the first lane on which the moving body travels and in which objects present in the vicinity of the moving body exist, the control device performs a first alarm. The automatic lane change control for automatically changing the lane of the moving body to a second lane in which the object exists is started in accordance with the operation, and the moving body is automatically changed to the second lane when it is determined that the lane change can be performed, and the moving body is automatically changed to the second lane when it is determined that the lane change cannot be performed. A second alert is made that the occupant knows that the moving body cannot be automatically changed to the second lane. When any one of the first alarm and the second alarm is performed, the control device suppresses the performing of a different alarm even if a condition for performing an alarm different from the one is satisfied.

Description

Technical Field

[0001] The present invention relates to a control device, a control method and a storage medium. Background Art

[0002] In recent years, efforts to provide sustainable transportation systems that take into account various situations have intensified. To achieve this, research and development efforts are underway to further improve traffic safety and convenience through research and development related to driving support technologies. For example, a rear-side approaching object warning device has been disclosed. When the driver operates the turn signal to change lanes during traffic congestion, it is assumed that the driver is aware of the road conditions behind the adjacent lane. This device suppresses the output of an alert even if other vehicles are detected approaching within a specified range behind the adjacent lane where the vehicle is about to change lanes (Japanese Patent Application Laid-Open No. 2015-132966). Summary of the Invention

[0003] Conventional technology has not considered the relationship with other alarm output functions. As a result, the alarm may not be appropriate for the occupants of the mobile object (e.g., the driver). For example, the occupants of the mobile object may feel annoyed by the alarm.

[0004] The present invention was developed in consideration of these circumstances, and one of its objectives is to provide a control device, control method, and storage medium capable of outputting a warning appropriate for a occupant of a mobile vehicle (e.g., a driver). For example, this can reduce the likelihood of annoyance among occupants of the mobile vehicle. This, in turn, contributes to the development of sustainable transportation systems.

[0005] Solutions to Problems

[0006] The control device, control method, and storage medium of the present invention employ the following structures.

[0007] (1): A control device according to one embodiment of the present invention includes a recognition unit and a processing unit, wherein the recognition unit recognizes an object that is present in a second lane adjacent to a first lane in which a mobile body is traveling and that is present around the mobile body, the processing unit including: a first processing unit that issues a first alarm when it is estimated that the mobile body is moving toward the second lane where the object is present based on an operation performed by an occupant of the mobile body; and a second processing unit that starts automatic lane change control for automatically changing lanes of the mobile body to the second lane where the object is present based on an operation performed by the occupant, wherein the second processing unit automatically changes lanes of the mobile body to the second lane when it is determined that the lane change is possible, and issues a second alarm to inform the occupant that the mobile body cannot automatically change lanes to the second lane when it is determined that the lane change is not possible, and wherein the processing unit, when either the first alarm or the second alarm is issued, suppresses issuing the different alarm even if a condition for issuing an alarm different from the one of the first alarm and the second alarm is satisfied.

[0008] (2): In the above-mentioned aspect (1), when the one alarm is issued for a first object as the object, the processing unit refrains from issuing the different alarm even if a condition for issuing the different alarm for the first object is satisfied.

[0009] (3): In the above-mentioned embodiment (1), when the processing unit issues the one alarm to the first object, the processing unit does not suppress the different alarm when a condition for issuing the different alarm to the second object different from the first object is satisfied.

[0010] (4): In the above-mentioned embodiment (1), the first warning is issued when the occupant performs an operation, and the second warning is issued when it is determined that the automatic lane change cannot be achieved after a predetermined time has passed since the occupant performed the operation.

[0011] (5): Based on the scheme of (1) above, the processing unit issues the first alarm based on the operation performed by the occupant and starts the automatic lane change control for automatically changing the lane of the moving body to the second lane where the object is located. When the processing unit determines that the lane change cannot be performed, the processing unit suppresses the second alarm, and then issues the second alarm when the automatic lane change control is started again based on the operation performed by the occupant.

[0012] (6): Based on the solution of (1) above, after the processing unit issues either the first alarm or the second alarm, when a specified time has passed or the moving body has moved a specified distance and the conditions for issuing an alarm different from either alarm are met, the processing unit issues the different alarm.

[0013] (7): In the embodiment of (1) above, the operation performed by the occupant of the mobile object that triggers the first alarm and the second alarm is an operation on the same operating element.

[0014] (8): Based on the solution of (1) above, the operating member is an operating member for lighting the direction indicator.

[0015] (9): Based on the solution of (1) above, the first alarm is an alarm that notifies the occupant of the moving body of the presence of another moving body in the blind spot on the side of the moving body that is difficult for the occupant of the moving body to visually confirm, and the occupant lights up the direction indicator in a manner of changing lanes to the lane in which the other moving body is traveling.

[0016] (10): A control device according to another embodiment of the present invention includes a recognition unit and a processing unit, wherein the recognition unit recognizes an object that exists in a second lane adjacent to a first lane in which a mobile body is traveling and exists around the mobile body, and the processing unit includes: a first processing unit that issues a first alarm when it is estimated that the mobile body is moving toward the second lane where the object exists based on a first operation of an operating member by an occupant of the mobile body; and a second processing unit that starts automatic lane change control for automatically changing lanes of the mobile body to the second lane where the object exists based on a second operation of the operating member by the occupant, and the second processing unit automatically changes lanes of the mobile body to the second lane when it is determined that the lane change can be performed, and issues a second alarm to inform the occupant that the lane change cannot be automatically performed to the second lane when it is determined that the lane change cannot be performed. The processing unit issues the first alarm based on the first operation when the first operation is performed and the second operation is performed continuously with the first operation, and suppresses the second alarm when it is determined that the lane change cannot be performed based on the second operation performed continuously with the first operation.

[0017] (11): A control method according to another embodiment of the present invention causes a computer to perform the following processing: identifying an object existing in a second lane adjacent to a first lane in which a mobile body is traveling and existing around the mobile body; issuing a first alarm when it is inferred that the mobile body is moving toward the second lane in which the object is present based on an operation performed by an occupant of the mobile body; starting automatic lane change control for automatically changing lanes of the mobile body to the second lane in which the object is present based on an operation performed by the occupant; automatically changing lanes of the mobile body to the second lane in which the object is present in case it is determined that the lane change can be performed; issuing a second alarm to inform the occupant that the mobile body cannot automatically change lanes to the second lane in case it is determined that the lane change cannot be performed; and suppressing the issuance of either the first alarm or the second alarm even if the conditions for issuing an alarm different from either of the first and second alarms are satisfied.

[0018] (12): Another embodiment of the present invention is a storage medium storing a program, wherein the program causes a computer to execute the following processing: processing for identifying an object existing in a second lane adjacent to a first lane in which a mobile body is traveling and existing around the mobile body; processing for issuing a first alarm when it is estimated that the mobile body is moving toward the second lane where the object is present based on an operation performed by an occupant of the mobile body; processing for starting automatic lane change control for automatically changing lanes of the mobile body to the second lane where the object is present based on an operation performed by the occupant; processing for automatically changing lanes of the mobile body to the second lane when it is determined that the lane change can be performed; processing for issuing a second alarm to inform the occupant that the mobile body cannot automatically change lanes to the second lane when it is determined that the lane change cannot be performed; and processing for suppressing the issuance of a different alarm when either the first alarm or the second alarm is issued even if a condition for issuing an alarm different from either of the first and second alarms is satisfied.

[0019] Effects of the Invention

[0020] According to the aspects (1) to (12), it is possible to output an alarm suitable for a passenger (eg, a driver) of a moving object, and thus to suppress the passenger's annoyance.

[0021] According to the aspect (2), it is possible to suppress the alarm for the same object, thereby suppressing the annoyance of the occupants of the moving object.

[0022] According to the scheme of (3), warnings are issued for different objects, so that the occupants of the moving object can recognize the different objects.

[0023] According to the aspect (4), even when a lane change determination is made after a predetermined time from the operation, the second warning can be suppressed, thereby suppressing annoyance of the occupant of the moving object.

[0024] According to the solution (5), if the driver of the mobile object has performed lane change operations multiple times, there is a high possibility that the driver has not recognized the object, so the second warning is issued. This allows the driver of the mobile object to more reliably recognize other mobile objects.

[0025] According to the solution of (6), the occupant can more reliably recognize the object.

[0026] According to the aspect (7), the second alarm can be suppressed when a different function is executed by the same operating element. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a configuration diagram of a vehicle system using the vehicle control system according to the embodiment.

[0028] Figure 2 This is a diagram for explaining the first process of the first control unit.

[0029] Figure 3 This is a diagram for explaining the second process of the second control unit.

[0030] Figure 4 It is a timing diagram of the second process.

[0031] Figure 5 It is a diagram for explaining the processing of the comparative example and the present embodiment.

[0032] Figure 6 1 and 2 are diagrams showing a timing chart of the process of the comparative example and a timing chart of the process of the present embodiment.

[0033] Figure 7 This is a flowchart showing an example of the flow of processing executed by the first control unit.

[0034] Figure 8 This is a flowchart showing an example of the flow of processing executed by the first control unit.

[0035] Figure 9 This is a diagram showing an example of reference information.

[0036] Figure 10 This is a diagram for explaining a scenario in which the second alarm is suppressed. DETAILED DESCRIPTION

[0037] [Overall structure]

[0038] Figure 1This is a block diagram of a vehicle system 1 utilizing a vehicle control system according to an embodiment. The vehicle equipped with vehicle system 1 is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its driving source is an internal combustion engine such as a diesel engine or gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a generator coupled to the internal combustion engine, or power discharged from a secondary battery or fuel cell. This embodiment can also be applied to mobile objects other than vehicles, instead of vehicles.

[0039] Vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) device 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, vehicle sensors 40, a navigation device 50, an MPU 60, an operating element 80, a direction indicator 90, a driving support device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are interconnected via multiplexed communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, and wireless communication networks. Figure 1 The illustrated configuration is merely an example, and a portion of the configuration may be omitted, or another configuration may be added. The driving support device 100 is an example of a "control device."

[0040] The camera 10 is, for example, a digital camera utilizing a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is mounted anywhere on the vehicle (hereinafter referred to as the vehicle M) equipped with the vehicle system 1. To capture the forward view, the camera 10 is mounted on the upper portion of the windshield, behind the rearview mirror, or elsewhere. For example, the camera 10 periodically and repeatedly captures the surroundings of the vehicle M. The camera 10 may also be a stereo camera.

[0041] The radar device 12 radiates radio waves, such as millimeter waves, toward the periphery of the vehicle M and detects the radio waves (reflected waves) reflected by objects to detect at least the object's position (range and direction). The radar device 12 is mounted anywhere on the vehicle M. The radar device 12 can also detect the object's position and velocity using the FM-CW (Frequency Modulated Continuous Wave) method.

[0042] LIDAR 14 irradiates light (or electromagnetic waves with a wavelength close to that of light) around the vehicle M and measures the scattered light. LIDAR 14 detects the distance to the object based on the time between light emission and light reception. The irradiated light is, for example, pulsed laser light. LIDAR 14 can be mounted anywhere on the vehicle M.

[0043] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, radar device 12, and LIDAR 14 to identify the position, type, speed, etc. of the object. The object recognition device 16 outputs the recognition results to the driving support device 100. The object recognition device 16 can output the detection results from the camera 10, radar device 12, and LIDAR 14 to the driving support device 100 as is. The object recognition device 16 may also be omitted from the vehicle system 1.

[0044] The communication device 20 communicates with other vehicles around the vehicle M using, for example, a cellular network, Wi-Fi network, Bluetooth (registered trademark), or DSRC (Dedicated Short Range Communication), or communicates with various server devices via a wireless base station.

[0045] The HMI 30 presents various information to the occupants of the vehicle M and accepts input operations from the occupants. The HMI 30 includes various display devices, speakers, a buzzer, a touch panel, switches, buttons, and the like. The HMI 30 includes a display device. For example, the display device is located in the center of the instrument panel of the vehicle M and is a display device that displays various information in the vehicle M, such as a speedometer (vehicle speed) indicating the vehicle M's travel speed or a rotational speed meter (tachometer) indicating the rotational speed (rotational speed) of the internal combustion engine of the vehicle M. This is a so-called multi-information display.

[0046] The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity about a vertical axis, an azimuth sensor that detects the orientation of the vehicle M, and the like.

[0047] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 stores first map information 54 in a storage device such as an HDD (Hard Disk Drive) or flash memory. The GNSS receiver 51 determines the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M can also be determined or supplemented by an INS (Inertial Navigation System) utilizing the output of the vehicle sensors 40. The navigation HMI 52 includes a display, speakers, a touch panel, keys, etc. The navigation HMI 52 may partially or entirely be shared with the HMI 30 described above. The route determination unit 53, for example, refers to the first map information 54 to determine a route (hereinafter referred to as a "map route") from the position of the vehicle M determined by the GNSS receiver 51 (or an input arbitrary position) to a destination input by the occupant using the navigation HMI 52. The first map information 54 is information representing the shape of the road, for example, by representing road links and nodes connected by the links. The first map information 54 may also include road curvature, POI (Point of Interest) information, and the like. The route on the map is output to the MPU 60. The navigation device 50 may also provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may also be implemented using the functions of a terminal device such as a smartphone or tablet computer held by the passenger. The navigation device 50 may also transmit the current location and destination to a navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0048] The MPU 60, for example, includes a recommended lane determination unit 61 and stores second map information 62 in a storage device such as an HDD or flash memory. The recommended lane determination unit 61 divides the route on the map provided by the navigation device 50 into multiple blocks (for example, every 100 meters in the vehicle's travel direction) and determines a recommended lane for each block by referring to the second map information 62. The recommended lane determination unit 61 determines the lane from the left to be traveled. If the route on the map branches, the recommended lane determination unit 61 determines a recommended lane so that the vehicle M can travel along a reasonable route to the branch destination. For example, when the vehicle M reaches a predetermined distance ahead of the branch road, the recommended lane determination unit 61 determines the lane connected to the branch road as the recommended lane. The recommended lane determination unit 61 and the second map information 62 may also be functional units or information included in other devices such as the driving support device 100.

[0049] The second map information 62 is more accurate than the first map information 54. For example, the second map information 62 includes information about lane centers or lane boundaries. The second map information 62 may also include road information, traffic restriction information, address information (address and postal code), facility information, and telephone number information. The second map information 62 is also updated regularly through communication with other devices via the communication device 20.

[0050] The operating elements 80 include, for example, an accelerator pedal, a brake pedal, a shift lever, and other operating elements in addition to the steering wheel 82. Sensors are mounted on the operating elements 80 to detect the amount of operation or the presence or absence of an operation. These sensors output the detection results to the driving support device 100, or to some or all of the driving force output device 200, the braking device 210, and the steering device 220. The steering wheel 82 need not necessarily be annular; it may also be a specially shaped steering wheel, a joystick, or a button. The operating elements 80 include a first operating element 84. The direction indicator 90 illuminates or extinguishes in response to the operation of the first operating element 84.

[0051] The first operating element 84 is, for example, a turn signal lever switch. For example, when the driver operates the first operating element 84, the direction indicator 90 illuminates in accordance with the operation. When the driver performs a predetermined operation on the first operating element 84, the control unit 150 activates the ALC (Auto Lane Change) function, causing the vehicle M to automatically change lanes (automatic lane change). The predetermined operation is the operation that triggers the activation of the ALC function. Prescribed operations include, for example, operating the turn signal lever switch in the direction of the desired lane change for a predetermined period of time, pressing the turn signal lever switch to a predetermined position, and the like. More specifically, the predetermined operation refers to maintaining the turn signal lever switch in the direction of the desired lane change and in a predetermined position for a predetermined period of time.

[0052] The driving support device 100 includes, for example, a recognition unit 110 and a control unit 150. The recognition unit 110 and the control unit 150 are implemented by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be implemented using hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), or a System on Chip (SOC), or through a combination of software and hardware. The program may be pre-stored in a storage device (including a non-transitory storage medium) such as a HDD or flash memory in the driving support device 100, or may be stored on a removable storage medium such as a DVD or CD-ROM and installed in the HDD or flash memory of the driving support device 100 by attaching the storage medium (non-transitory storage medium) to a drive device.

[0053] The recognition unit 110 identifies the position, velocity, acceleration, and other states of objects surrounding the vehicle M based on information input from the camera 10, radar device 12, and LIDAR 14 via the object recognition device 16. The object's position is identified, for example, as an absolute coordinate position with a representative point of the vehicle M (such as the center of gravity or the center of the drive shaft) as the origin, and is used for control. The object's position can be represented by a representative point such as the object's center of gravity or a corner, or by an area. The object's "state" can also include its acceleration, jerk, or "behavior" (e.g., whether it is currently changing lanes or about to change lanes).

[0054] The recognition unit 110, for example, identifies the lane in which the vehicle M is traveling (driving lane). For example, the recognition unit 110 identifies the driving lane by comparing the road dividing line pattern (e.g., an arrangement of solid and dashed lines) obtained from the second map information 62 with the road dividing line pattern surrounding the vehicle M identified from the image captured by the camera 10. The recognition unit 110 is not limited to identifying road dividing lines; it can also identify driving lanes by identifying road boundaries (road boundaries) such as road dividing lines, shoulders, curbs, medians, and guardrails. This recognition may also take into account the position of the vehicle M obtained from the navigation device 50 and the results of processing by the INS. The recognition unit 110 identifies stop signs, obstacles, red lights, toll booths, and other road features.

[0055] When identifying a driving lane, the recognition unit 110 identifies the position and posture of the vehicle M relative to the driving lane. For example, the recognition unit 110 may identify the deviation of the vehicle M's reference point from the lane center and the angle formed by the vehicle M's travel direction with respect to a line connecting the lane centers as the relative position and posture of the vehicle M relative to the driving lane. Alternatively, the recognition unit 110 may identify the position of the vehicle M's reference point relative to any side end of the driving lane (a road dividing line or a road boundary) as the relative position of the vehicle M relative to the driving lane.

[0056] The control unit 150 performs driving support control. For example, the control unit 150 automatically controls the driving force output device 200 and the braking device 210 without relying on the driver's operation, thereby automatically controlling the speed of the vehicle M. The control unit 150 performs so-called ACC (Adaptive Cruise Control).

[0057] The control unit 150 controls the steering device 220 so as to prevent the vehicle M from deviating from its driving lane. For example, the control unit 150 controls the steering device 220 so that the vehicle M travels in the center or near the center of the driving lane identified by the recognition unit 110. This control may be referred to as "lane keeping control" hereinafter. The control unit 150 performs both hands-on lane keeping control and hands-off lane keeping control.

[0058] Hands-on lane keeping control is executed when the driver is holding the steering wheel (a steering wheel grip sensor (not shown) detects the steering wheel being held). The conditions under which hands-on lane keeping control can be executed are less stringent than those under hands-off lane keeping control.

[0059] Hands-off lane keeping control is executed when the driver is not gripping the steering wheel (when the steering wheel grip sensor (not shown) is not detecting the steering wheel being gripped). Hands-off lane keeping control can be executed, for example, when the following conditions are met: the vehicle M's speed is above a predetermined speed, the vehicle M is traveling on a predetermined road (e.g., a road or road type pre-defined as one where hands-off lane keeping control is enabled), and the driver is monitoring the road ahead. Hands-off lane keeping control is executed when the driver is monitoring the road ahead; otherwise, it is not executed or is stopped.

[0060] The conditions for enabling hands-on lane keeping control and hands-off lane keeping control described above are merely examples; other conditions may be included (e.g., vehicle M following the preceding vehicle), or some conditions may be omitted. The conditions for enabling hands-on lane keeping control may be less stringent than those for hands-off lane keeping (or stricter than those for hands-off lane keeping control). The driving support device 100 identifies whether the driver is monitoring the road ahead based on images captured by a camera (not shown) that captures the driver. The control unit 150 includes a first control unit 152 and a second control unit 154. Details of these will be described later.

[0061] The driving force output device 200 outputs the driving force (torque) for driving the vehicle M to the drive wheels. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU that controls these components. The ECU controls the aforementioned components based on information input from the driving support device 100 or information input from the operating element 80.

[0062] The brake system 210 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a brake ECU. The brake ECU controls the electric motor based on information input from the driving support device 100 or information input from the operating element 80, thereby outputting a braking torque corresponding to the braking operation to each wheel.

[0063] The steering system 220 includes, for example, a steering ECU and an electric motor. The electric motor applies force to, for example, a rack-and-pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor based on information input from the driving support device 100 or information input from the operating element 80 to change the direction of the steering wheel.

[0064] [First Processing of the First Control Unit]

[0065] The first control unit 152 issues a first warning when, based on an operation performed by a passenger of vehicle M, it is estimated that vehicle M is moving into a second lane where an object adjacent to the first lane in which vehicle M is traveling is located. The first control unit 152 implements a so-called blind spot information function. The first warning notifies the passenger of vehicle M of the presence of another vehicle in a blind spot to the side of vehicle M that is difficult for the passenger to visually identify, and the passenger illuminates the turn signal indicator to change lanes toward the lane in which the other vehicle is traveling. The first warning is issued when the passenger performs an operation (for example, illuminating the turn signal indicator 90).

[0066] Figure 2This figure illustrates the first processing performed by the first control unit 152. At time T, vehicle M is traveling in the first lane L1, and vehicle M1 is traveling in the second lane. Based on the recognition results of the recognition unit 110, if vehicle M1 is present in the first area AR1, the first control unit 152 notifies the driver of the presence of vehicle M1. This notification is made, for example, by illuminating a predetermined indicator provided on vehicle M. The first area AR1 may be, for example, an area to the side of vehicle M in the second lane L2, such as an area that is difficult for the driver to visually recognize, such as the area behind or to the side, or an area that is not reflected in the door mirror of vehicle M.

[0067] At time T+1, when the driver operates the first operation item 84 to illuminate the direction indicator 90, the first control unit 152 outputs a first alarm. The first alarm may be, for example, caused by flashing the indicator. The first alarm may be provided by visual or audio signals, or by vibrating the seat belt or steering wheel. The driver's operation to illuminate the direction indicator 90 (such as illuminating the direction indicator 90 in the lane for which the lane change is being made) "infers that the vehicle M is moving into the second lane." In this way, the first control unit 152 can notify the driver of vehicle M of the presence of vehicle M1 in the first area AR1, which is difficult for the driver to visually identify.

[0068] [Second Processing of the Second Control Unit]

[0069] The control unit 150 automatically changes lanes of the vehicle M. The automatic lane change control may be conditional on the execution of the hands-free lane keeping control or the execution of the hands-on lane keeping control.

[0070] The second control unit 154 activates automatic lane change control for automatically changing the lane of the vehicle M to the second lane where the object is located in response to an operation performed by the occupant. If the second control unit 154 determines that the lane change is possible, the second control unit 154 automatically changes the lane of the vehicle M to the second lane. If the second control unit 154 determines that the lane change is not possible, the second control unit 154 issues a second warning to inform the occupant that the vehicle M cannot automatically change its lane to the second lane.

[0071] Figure 3This figure illustrates the second process performed by the second control unit 154. At time T, vehicle M is traveling in the first lane L1, while vehicle M1 is traveling in the second lane L2. When the driver performs a predetermined operation on the direction indicator 90, the second control unit 154 activates the automatic lane change (ALC) function. When the automatic lane change function (ALC) is activated, if the recognition unit 110 identifies the presence of vehicle M1 in the second area AR2, the second control unit 154 issues a second warning to the driver indicating that the automatic lane change cannot be performed. This second warning can be provided, for example, via an image, sound, or by vibrating the seat belt or steering wheel.

[0072] The second area AR2 is, for example, an area to the side of the vehicle M in the second lane L2 and in front of and behind the vehicle M in the direction of travel. The second area AR2 includes a position a predetermined distance ahead of the vehicle M in the direction of travel. The second area AR2 may also be an area whose length in the direction of travel is variable depending on the speed of the vehicle M or the speed of other vehicles traveling in the second lane L2. For example, the faster the other vehicles are, the longer the length of the second area AR2 in the direction of travel is set. While the first area AR1 is an area to the side of the vehicle M in the second lane L2 and behind the vehicle M in the direction of travel, the second area AR2 is also an area ahead of the vehicle M in the direction of travel in the second lane L2.

[0073] At time T+1, if another vehicle is present in the second area AR2, the second control unit 154 warns the driver of the vehicle M that the automatic lane change cannot be performed. If no other vehicle is present in the second area AR2, the second control unit 154 determines that the vehicle M can change lanes to the second lane L2 without interfering with other vehicles and causes the vehicle M to perform the automatic lane change.

[0074] Figure 4 This is the timing diagram of the second process. Figure 4 In the Figure 3 In the example of Figure 4In the example, the other vehicle M1 is not present in the first area AR1 but is present in the second area AR2, so the first process is not executed and the second process is executed. When the driver performs an operation to illuminate the direction indicator 90, the activation condition of the ALC function is met. The second control unit 154 attempts to identify other vehicles that interfere with the automatic lane change based on the recognition result of the recognition unit 110. In the case where other vehicles that interfere with the automatic lane change exist, the second control unit 154 issues a second alarm. As described above, when the other vehicle M1 is not present in the first area AR1, the first alarm is not issued and the second alarm is issued. The second alarm is issued when it is determined that automatic lane change cannot be achieved after a predetermined time has passed since the occupant performed an operation (for example, an operation to illuminate the direction indicator 90).

[0075] [Comparison between Comparative Example and This Embodiment]

[0076] In contrast, in Figure 5 As shown, when the other vehicle M1 is present in the first area AR1 and the second area AR2, the first and second warnings are issued in the comparative example.

[0077] In this embodiment, as described below, when either the first alarm or the second alarm is issued in response to an operation, the control unit 150 suppresses issuing a different alarm or issuing an alarm with a different scheme from that of one alarm even if the conditions for issuing a different alarm are met.

[0078] The operations performed by a passenger of vehicle M that trigger the aforementioned first and second alarms are performed on the same operating element. For example, the operating element is an operating element that illuminates the direction indicator (e.g., a turn signal stalk switch). Alternatively, the same operating element may be operated on a different operating element. The operating element may be a button or a button displayed on a display unit. If the operating element is the same, the first and second alarms are triggered by the same operating element. However, if the operating elements are different, the first alarm is triggered by the first operating element (e.g., a turn signal stalk switch), while the second alarm is triggered by the second operating element (e.g., a button that activates automatic lane change).

[0079] The operation performed by the occupant of vehicle M that triggers the second alarm may be the same operation as or different from the operation that triggered the first alarm. The operation performed by the occupant of vehicle M that triggers the second alarm may also be performed consecutively to the operation performed by the occupant of vehicle M that triggered the first alarm. If the control unit 150 performs the first operation and then performs the second operation consecutively to the first operation, the control unit 150 issues the first alarm based on the first operation, and suppresses the second alarm if it determines that a lane change cannot be performed based on the second operation performed consecutively to the first operation.

[0080] The first operation may be, for example, an operation of operating the turn signal lever switch to a predetermined degree in a direction causing the vehicle M to change lanes (operating the turn signal lever switch to a position that illuminates the direction indicator 90). The second operation may be, for example, an operation of maintaining the predetermined degree of operation for a predetermined time (maintaining the halfway-pressed state). The second operation, which is continuous with the first operation, may be an operation of further operating the turn signal lever switch in the same direction as the first operation.

[0081] Suppressing the issuance of an alert may mean not issuing a different alert, or reducing the severity of the alert to the occupants of the vehicle M compared to the first alert. For example, a less severe alert may include a quieter sound or a simpler image display compared to the first alert. A different alert type may mean, for example, that the first alert is audible, while the second alert is a different type of alert from the first, such as lighting an indicator or using a different sound from the first.

[0082] Figure 6 1 and 2 are diagrams showing a timing chart of the process of the comparative example and a timing chart of the process of the present embodiment. Figure 6 yes Figure 5 The timing diagram for the process in the situation shown is shown. In the comparative example, the indicator is illuminated due to the presence of another vehicle M1. When the driver illuminates the direction indicator 90, a first warning is issued, and then the ALC function is activated. After the ALC function is activated, if an object interfering with the lane change destination is detected, a second warning is issued. Thus, in the comparative example, different warnings are issued, which may annoy the driver.

[0083] In this embodiment, the indicator lights up due to the presence of another vehicle M1. When the driver illuminates the direction indicator 90, a first warning is issued, and the ALC function is then activated. After the ALC function is activated, the second control unit 154 suppresses the second warning even if it recognizes the presence of an object interfering with the lane change destination. Thus, in this embodiment, by suppressing warnings for different functions, the driver is less likely to feel annoyed.

[0084] While the above example describes suppressing the second alarm, it is also possible to suppress the first alarm (a different alarm) even if the second alarm (one alarm) is issued first. For example, if the other vehicle M1 is not in the first area AR1 but is in the second area AR2, the second control unit 154 issues the second alarm. Immediately thereafter, if the other vehicle M1 is in the first area AR1 and the direction indicator 90 is operated, the first control unit 152 may suppress the first alarm.

[0085] [Flowchart (First Process)]

[0086] Figure 7 This is a flowchart illustrating an example of the process flow executed by the first control unit 152. First, the first control unit 152 determines whether another vehicle is present in the first area AR1 (step S100). If another vehicle is present in the first area AR1, the first control unit 152 illuminates the indicator (step S102). Next, the first control unit 152 determines whether the direction indicator 90 has been operated (step S104). If the direction indicator 90 has not been operated, the process returns to step S100. If the direction indicator 90 has been operated, the first control unit 152 outputs a first alarm (step S106). This concludes the process of one routine in this flowchart.

[0087] [Flowchart (Second Process)]

[0088] Figure 8 This is a flowchart illustrating an example of the process flow executed by the first control unit 152. The second control unit 154 determines whether the ALC function is activated (step S200). When the ALC function is activated, the second control unit 154 identifies surrounding objects based on the recognition results of the recognition unit 110 (step S202). Next, the second control unit 154 determines whether another vehicle M1 that would interfere with the lane change exists (step S204). If no other vehicle M1 that would interfere with the lane change exists, the second control unit 154 executes a lane change, causing the vehicle M to change lanes (step S206).

[0089] If it is determined in step S204 that the vehicle change cannot be performed, the second control unit 154 determines whether the first alarm has been issued for the same object (step S208). Figure 9 reference information to execute the processing of step S208.

[0090] If the first alarm is issued for the same object, the second control unit 154 does not issue a second alarm for the same object. If the first alarm is not issued for the same object, the second control unit 154 issues a second alarm for the same object (step S210). If the second control unit 154 issues a single alarm for the first object, even if the conditions for issuing a different alarm for the first object are met, it refrains from issuing a different alarm. If the second control unit 154 issues a single alarm for the first object, it issues an alarm without suppressing the different alarm if the conditions for issuing a different alarm for a second object different from the first object are met. This concludes the processing of one routine in this flowchart.

[0091] Figure 9 160 is a diagram showing an example of reference information 160. Reference information 160 is information that establishes a correspondence between identification information of other vehicles, the positions of other vehicles at each moment, and the presence or absence of the first alarm. When the first control unit 152 issues a first alarm to other vehicle "001" at time T, the information indicating that the first alarm has been issued is associated with the corresponding record in the reference information 160. The second control unit 154 can refer to the reference information 160 to determine whether the first alarm has been issued to the target vehicle M. The information indicating that the first alarm has been issued in the reference information 160 is deleted after a specified time has passed since the information is associated with the reference information 160. Therefore, after the first alarm is issued, the second control unit 154 does not suppress the second alarm until a specified time has passed.

[0092] Figure 10 This diagram illustrates a scenario in which the second alert is suppressed. At time T, first control unit 152 issues a first alert to other vehicle M1 before the driver illuminates turn indicator 90 and the ALC function is activated. At time T+2, other vehicle M1 moves forward of vehicle M, outside both first area AR1 and second area AR2. Vehicle M2 behind vehicle M1 enters second area AR2. In this state, the ALC function is activated. In this situation, second control unit 154 does not issue a first alert to other vehicle M2, and therefore issues a second alert to that vehicle.

[0093] In the above, the case where another vehicle overtakes vehicle M is described, but instead of (or in addition to) this, when vehicle M overtakes another vehicle that has issued a first alarm and then the target of the second alarm becomes another other vehicle, the control unit 150 does not suppress the second alarm for the other other vehicle.

[0094] As described above, the control unit 150 determines whether to issue the second warning to the other vehicle or suppress the second warning, depending on whether the first warning is issued to the other vehicle.

[0095] The second control unit 154 may also issue a first alert based on an operator's operation and activate automatic lane change control to automatically change the vehicle M to the second lane where the object is located. If it determines that the lane change is not possible, the second alert is suppressed. Subsequently, if automatic lane change control is activated again based on an operator's operation within a specified time period from the previous operation, the second alert is issued. In this case, the first alert may be omitted or suppressed for the second or subsequent times. Thus, if the driver of vehicle M repeatedly performs lane change operations, there is a high probability that the driver has not recognized the other moving object, and therefore the second alert is issued. This allows the driver of vehicle M to more reliably recognize other vehicles.

[0096] After issuing either the first or second alert, the control unit 150 may issue a different alert if a specified time has passed or the vehicle M has traveled a specified distance, and if the conditions for issuing a different alert are met. This allows for appropriate alerts to be issued when the conditions of the vehicle M and other vehicles have changed after a specified time has passed or the vehicle M has traveled a specified distance since the first alert. For example, the control unit 150 issues the first alert and monitors the surrounding conditions, waiting for the opportunity to perform an automatic lane change. If a specified time has passed or the vehicle M has traveled a specified distance since the first alert, and another vehicle targeted by the first alert is present in the second area AR2, the control unit 150 issues a second alert for that other vehicle. By issuing the second alert after a specified time has passed or the vehicle M has traveled a specified distance since the first alert, the control unit 150 can reliably identify the presence of other vehicles to the occupants.

[0097] According to the embodiment described above, the control unit 150 suppresses issuing a different alarm when either the first alarm or the second alarm is issued even if the conditions for issuing a different alarm are met, thereby being able to output an alarm suitable for the occupant of the vehicle M (e.g., the driver).

[0098] The above-described embodiment can be expressed as follows.

[0099] A control device, wherein:

[0100] The control device is configured to include:

[0101] a storage device storing a program; and

[0102] Hardware processor,

[0103] The hardware processor executes the program stored in the storage device to perform the following processing:

[0104] identifying an object that is present in a second lane adjacent to a first lane in which a moving object is traveling and that is present around the moving object;

[0105] issuing a first warning when it is estimated based on an operation performed by an occupant of the mobile object that the mobile object is moving toward the second lane where the object is present;

[0106] activating, in response to an operation performed by the occupant, automatic lane change control for automatically changing the lane of the mobile body to the second lane in which the object is located;

[0107] If it is determined that the lane change is possible, automatically changing the lane of the mobile object to the second lane;

[0108] If it is determined that the lane change cannot be performed, issuing a second warning to inform the occupant that the moving object cannot automatically change lanes to the second lane; and

[0109] When either the first alarm or the second alarm is issued, even if a condition for issuing an alarm different from the one is satisfied, issuing the different alarm is suppressed.

[0110] While specific embodiments of the present invention have been described above using the embodiments, the present invention is not limited to these embodiments at all, and various modifications and substitutions can be made without departing from the spirit of the present invention.

Claims

1. A control device, wherein: The control device includes an identification unit and a processing unit. The recognition unit recognizes an object that is present in a second lane adjacent to a first lane in which the moving body is traveling and that is present around the moving body. The processing unit includes: a first processing unit that issues a first warning when it is estimated based on an operation performed by an occupant of the mobile body that the mobile body is moving toward the second lane where the object is present; and a second processing unit that, based on an operation performed by the occupant, activates automatic lane change control for automatically changing the lane of the mobile body to the second lane where the object is located, and, if the second processing unit determines that the lane change is possible, automatically changes the lane of the mobile body to the second lane, and, if the second processing unit determines that the lane change is not possible, issues a second warning to inform the occupant that the automatic lane change of the mobile body to the second lane is not possible. When either the first alarm or the second alarm is issued, the processing unit refrains from issuing a different alarm even if a condition for issuing an alarm different from the first alarm is satisfied.

2. The control device according to claim 1, wherein: When the one alarm is issued for a first object as the object, the processing unit refrains from issuing the different alarm even if a condition for issuing the different alarm for the first object is satisfied.

3. The control device according to claim 1, wherein: When the one alarm is issued for a first object as the object, the processing unit does not suppress the different alarm when a condition for issuing the different alarm for a second object different from the first object is satisfied.

4. The control device according to claim 1, wherein: The first alarm is issued when the occupant performs an operation. The second warning is issued when it is determined that the automatic lane change cannot be achieved after a predetermined time has elapsed since the occupant performed the operation.

5. The control device according to claim 4, wherein: The processing unit, based on an operation performed by the occupant, Performing the first alert, and starting an automatic lane change control for causing the mobile body to automatically change lanes to the second lane where the object is located; The processing unit suppresses the second warning when determining that the lane change is not possible, and then issues the second warning when automatic lane change control is activated again in response to an operation performed by the occupant.

6. The control device according to claim 1, wherein: After issuing one of the first alarm and the second alarm, the processing unit issues the different alarm if a condition for issuing an alarm different from the one is satisfied when a predetermined time has passed or the moving body has moved a predetermined distance.

7. The control device according to claim 1, wherein: The operation performed by the occupant of the mobile object that triggers the first alarm and the second alarm is an operation on the same operating element.

8. The control device according to claim 7, wherein: The operating member is an operating member for lighting a direction indicator.

9. The control device according to claim 1, wherein: The first alarm is an alarm notifying the existence of the other moving object in the blind spot when there is another moving object in the blind spot on the side of the moving object that is difficult for the occupant of the moving object to visually confirm, and the occupant lights up the direction indicator in a manner of changing lanes to the lane in which the other moving object is traveling.

10. A control device, wherein: The control device includes an identification unit and a processing unit. The recognition unit recognizes an object that is present in a second lane adjacent to a first lane in which the moving body is traveling and that is present around the moving body. The processing unit includes: a first processing unit that issues a first warning when it is estimated that the mobile body is moving toward the second lane where the object is located based on a first operation of an operating element by an occupant of the mobile body; and a second processing unit that, in response to a second operation of the operating element by the occupant, activates automatic lane change control for automatically changing the lane of the mobile body to the second lane where the object is located, and, if the second processing unit determines that the lane change is possible, automatically changes the lane of the mobile body to the second lane, and, if the second processing unit determines that the lane change is not possible, issues a second warning to inform the occupant that the automatic lane change of the mobile body to the second lane is not possible. The processing unit issues the first warning based on the first operation when the first operation is performed and the second operation is performed continuously with the first operation, and suppresses the second warning when it is determined that the lane change cannot be performed based on the second operation performed continuously with the first operation.

11. A control method, wherein: The control method enables the computer to perform the following processing: identifying an object that is present in a second lane adjacent to a first lane in which a moving object is traveling and that is present around the moving object; issuing a first warning when it is estimated based on an operation performed by an occupant of the mobile object that the mobile object is moving toward the second lane where the object is present; activating, in response to an operation performed by the occupant, automatic lane change control for automatically changing the lane of the mobile body to the second lane in which the object is located; If it is determined that the lane change is possible, automatically changing the lane of the mobile object to the second lane; If it is determined that the lane change cannot be performed, issuing a second warning to inform the occupant that the movable body cannot automatically change lanes to the second lane; as well as When either the first alarm or the second alarm is issued, even if a condition for issuing an alarm different from the one is satisfied, issuing the different alarm is suppressed.

12. A storage medium storing a program, wherein: The program is used to cause a computer to execute the following processing: a process for identifying an object that is present in a second lane adjacent to a first lane in which a moving object is traveling and that is present around the moving object; performing a first warning process when it is estimated based on an operation performed by an occupant of the mobile object that the mobile object is moving toward the second lane where the object is present; a process for starting an automatic lane change control for automatically changing lanes of the mobile body to the second lane where the object is located, based on an operation performed by the occupant; If it is determined that the lane change is possible, automatically changing the lane of the mobile object to the second lane; If it is determined that the lane change cannot be performed, performing a second warning process to inform the occupant that the movable body cannot automatically change lanes to the second lane; as well as When either the first alarm or the second alarm is issued, even if a condition for issuing an alarm different from the one is satisfied, processing for issuing the different alarm is suppressed.

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