Vehicle control device, vehicle control method, and storage medium

Abstract

Provided are a vehicle control device, a vehicle control method, and a storage medium capable of improving convenience for an occupant of a vehicle. The vehicle control device automatically controls the steering of the vehicle to perform automatic lane change on the basis of the surrounding situation and instruction information that is an instruction for lane change. The indication information comprises first indication information which is sent according to the fact that the first operation part is operated; and the second indication information is sent according to the fact that the second operation member is operated. The vehicle control device executes a first lane change control for changing the lane of the vehicle to an adjacent lane when it is determined that the lane change can be performed on the basis of the surrounding condition when the first instruction information is acquired, shifts to a standby state for lane change on the basis of the acquisition of the second instruction information, and shifts to a standby state for lane change on the basis of the acquired second instruction information. And a lane change control unit that maintains the standby state on the basis of the surrounding conditions until lane change is possible, and performs a second lane change control for changing the lane of the vehicle to an adjacent lane when it is determined that lane change is possible on the basis of the surrounding conditions in the standby state.

Description

[0001] This application claims priority based on Japanese Patent Application No. 2024-035384 filed on March 7, 2024, the contents of which are incorporated herein by reference. Technical Field

[0002] The present invention relates to a vehicle control device, a vehicle control method and a storage medium. Background Art

[0003] In recent years, efforts to provide sustainable transportation systems that take into account various situations have become increasingly active. To achieve this, research and development efforts are underway in driving support technologies to further improve traffic safety and convenience. For example, a driving control device has been disclosed that automatically changes lanes when the system proposes a lane change and the proposal is accepted, or when the driver operates a turn signal lever (see, for example, WO2020 / 230304). Summary of the Invention

[0004] Problems to be solved by the invention

[0005] Conventional technologies sometimes lacked sufficient convenience for vehicle occupants (e.g., the driver). For example, there was only one lane change option that responded to the driver's intention, and automatic lane changes that reflected the driver's intention were not possible, resulting in insufficient convenience.

[0006] The present invention provides a vehicle control device, a vehicle control method, and a storage medium that can improve the convenience for vehicle occupants (eg, drivers). Furthermore, the present invention contributes to the development of sustainable transportation systems.

[0007] The vehicle control device, vehicle control method, and storage medium of the present invention employ the following structures.

[0008] (1): A vehicle control device according to one embodiment of the present invention comprises: an identification unit that identifies a condition surrounding a vehicle; and a control unit that automatically controls the steering of the vehicle to perform an automatic lane change based on the condition surrounding the vehicle identified by the identification unit and instruction information as an instruction for lane change, the instruction information including: first instruction information that is sent in response to a first operating member being operated; and second instruction information that is sent in response to a second operating member different from the first operating member being operated, the control unit executing a first lane change control for causing the vehicle to change lanes to an adjacent lane when it is determined that a lane change is possible based on the condition surrounding the vehicle at the time of acquisition of the first instruction information, shifting to a standby state for the lane change based on the acquisition of the second instruction information, maintaining the standby state until a lane change is possible based on the condition surrounding the vehicle, and executing a second lane change control for causing the vehicle to change lanes to an adjacent lane when it is determined that a lane change is possible based on the condition surrounding the vehicle in the standby state.

[0009] (2): Based on the above-mentioned aspect (1), the control unit illuminates the direction indicator when the first operating element is operated.

[0010] (3): In the embodiment of (1) above, when the second operating element is operated, the control unit does not illuminate the direction indicator from the time the operation is performed until the standby state ends, and illuminates the direction indicator after the standby state ends.

[0011] (4): Based on the solution of (3) above, when the control unit determines that a lane change is possible based on the surrounding conditions in the standby state of the second lane change control, the control unit illuminates the direction indicator a predetermined time before starting to change the vehicle to an adjacent lane.

[0012] (5): Based on the solution of (1) above, the control unit determines that the lane change can be performed and executes the first lane change control when a first condition is satisfied, and determines that the lane change can be performed and executes the second lane change control when a second condition stricter than the first condition is satisfied.

[0013] (6): Based on the solution of (5) above, the first condition and the second condition are that the distance between other vehicles in the lane of the vehicle's lane change destination and the vehicle in the direction of travel is greater than a first threshold, and the time taken for the other vehicles to reach the reference position set for the vehicle is greater than a second threshold. One or both of them are satisfied.

[0014] (7): Based on the solution of (1) above, the first operating member is a turn signal lever switch, and the second operating member is a push button switch.

[0015] (8): Based on the solution of (1) above, the control unit maintains the vehicle traveling in the lane in which the vehicle is traveling when the control unit determines that lane change is not possible based on the surrounding conditions when the first instruction information is obtained.

[0016] (9): In the aspect of (1) above, the control unit maintains the vehicle traveling in the lane in which the vehicle is traveling in the standby state of the second lane change control.

[0017] (10): Based on the solution of (1) above, the control unit cancels the execution of the second lane change control corresponding to the acquisition of the second instruction information when the standby state continues for a specified time or when the vehicle travels a specified distance in the standby state.

[0018] (11): Based on the solution of (1) above, the second lane change control maintains the standby state until the lane change is possible even if it is determined that the lane change cannot be made due to the surrounding conditions, i.e., the presence of other vehicles around the vehicle. When it is determined that the lane change is possible based on the surrounding conditions in the standby state, the vehicle is caused to change lanes to an adjacent lane.

[0019] (12): Based on the scheme of (1) above, the first lane change control causes the vehicle to change lanes after a first time has passed since the first indication information was obtained when there are no vehicles around the vehicle that interfere with the lane change of the vehicle. The second lane change control causes the vehicle to change lanes after a second time has passed since the second indication information was obtained when there are no vehicles around the vehicle that interfere with the lane change of the vehicle in the standby state for the lane change, and the second lane change control causes the vehicle to change lanes after a second time has passed since the second indication information was obtained, wherein the second time is longer than the first time.

[0020] (13): A vehicle control method according to another embodiment of the present invention causes a computer to perform the following processing: identifying the surrounding conditions of the vehicle; automatically controlling the steering of the vehicle to perform automatic lane change based on the identified surrounding conditions and instruction information as an instruction for lane change, the instruction information including: first instruction information, which is sent in response to the operation of a first operating member; and second instruction information, which is sent in response to the operation of a second operating member different from the first operating member, when the first instruction information is obtained and it is determined that a lane change can be performed based on the surrounding conditions at the time of obtaining the first instruction information, a first lane change control is executed to cause the vehicle to change lanes to an adjacent lane, when the second instruction information is obtained and it is determined that a lane change can be performed based on the surrounding conditions at the time of obtaining the first instruction information, a standby state for the lane change is transferred to, when the standby state is maintained based on the surrounding conditions until a lane change can be performed, when the lane change is determined that a lane change can be performed based on the surrounding conditions in the standby state, a second lane change control is executed to cause the vehicle to change lanes to an adjacent lane.

[0021] (14): A storage medium according to another embodiment of the present invention is a non-temporary storage medium that can be read by a computer and stores a program, wherein the program is used to cause the computer to perform the following processing: identifying the surrounding conditions of the vehicle; and automatically controlling the steering of the vehicle to perform automatic lane change based on the identified surrounding conditions and instruction information as an instruction for lane change, the instruction information including: first instruction information, which is sent in response to the operation of a first operating member; and second instruction information, which is sent in response to the operation of a second operating member different from the first operating member, when the first instruction information is obtained and it is determined that a lane change can be performed based on the surrounding conditions at the time of obtaining the first instruction information, a first lane change control is executed to cause the vehicle to change lanes to an adjacent lane, when the second instruction information is obtained and it is determined that a lane change can be performed based on the surrounding conditions at the time of obtaining the first instruction information, a standby state for the lane change is transferred to, when the standby state is maintained based on the surrounding conditions until a lane change can be performed, when the lane change is determined that a lane change can be performed based on the surrounding conditions in the standby state, a second lane change control is executed to cause the vehicle to change lanes to an adjacent lane.

[0022] According to the solutions (1) to (14), the convenience for the vehicle occupants (eg, the driver) can be improved. For example, since lane change control is performed according to the operation, the vehicle occupants can select lane change control according to their preferences.

[0023] According to the scheme (2), the intention of the vehicle occupant who wants to change lanes in advance can be reflected.

[0024] According to the aspect (3), the direction indicator can be illuminated at an appropriate timing corresponding to the timing when the waiting state ends and a lane change is started.

[0025] According to the aspect (4), the direction indicator can be illuminated at an appropriate timing before the start of the lane change, and thus the start of the lane change can be notified to other surrounding vehicles.

[0026] According to the scheme (5), lane changes that reflect the intention of the vehicle occupants can be further realized. The first lane change control is based on the intention of the occupant to change lanes at the time, and is therefore assumed to be performed after confirming the surroundings to a certain extent. Therefore, by actively performing lane changes, the vehicle behavior can be realized in accordance with the occupant's intention. The second lane change control is based on the intention of the occupant to change lanes at the time when the system determines that a lane change is possible. Therefore, lane changes with a large safety margin and a sufficient margin can be performed.

[0027] According to the scheme (6), in the first lane change control, lane change can be performed even if the inter-vehicle distance or the time until reaching the other vehicle is short to a certain extent, and in the second lane change control, lane change can be performed with a large safety margin.

[0028] According to the scheme (7), the turn signal lever switch is used to control the lane change according to the occupant's intention, and the button operation can be used to perform a lane change with a margin that gives priority to the system's judgment. In this way, the lane change control can be used differently according to the operating element.

[0029] According to the solution (8), the vehicle can be kept in the driving lane without performing lane change control. Therefore, even when the vehicle cannot change lanes, it is possible to suppress the vehicle's driving behavior from becoming chaotic.

[0030] According to the aspect (9), since the vehicle is kept traveling in the lane in which the vehicle is traveling in the standby state of the second lane change control, the traveling behavior in the standby state is stabilized.

[0031] According to the solution of (10), it is possible to prevent the occupant from accidentally changing lanes when forgetting. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural diagram of a vehicle system using the vehicle control system according to the embodiment.

[0033] Figure 2 1 and 2 are diagrams for explaining a first operating element, a second operating element, a first lane change control, and a second lane change control.

[0034] Figure 3 This is a diagram for explaining an example of a scenario in which the first lane change control is executed.

[0035] Figure 4 This is a diagram for explaining an example of a scenario in which the first lane change control is not executed.

[0036] Figure 5 This is a diagram for explaining an example of a scenario in which the second lane change control is executed.

[0037] Figure 6 1 is a diagram for comparing the first lane change control and the second lane change control.

[0038] Figure 7 This is a flowchart showing an example of the flow of processing of the first lane change control.

[0039] Figure 8 This is a flowchart showing an example of the flow of processing of the second lane change control. DETAILED DESCRIPTION

[0040] [Overall structure]

[0041] Figure 1 This 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 a 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.

[0042] 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 structure shown is merely an example, and a part of the structure may be omitted or other structures may be added. The driving support device 100 is an example of a "vehicle control device."

[0043] 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 images of the forward direction, 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 images of the surroundings of the vehicle M. The camera 10 may also be a stereo camera.

[0044] The radar device 12 radiates radio waves, such as millimeter waves, around 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 can be 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.

[0045] LIDAR 14 irradiates light (or electromagnetic waves with a wavelength close to 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.

[0046] 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 may also output the detection results from the camera 10, radar device 12, and LIDAR 14 directly to the driving support device 100. The object recognition device 16 may also be omitted from the vehicle system 1.

[0047] 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.

[0048] 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 may be a speedometer located in the center of the instrument panel of the vehicle M, indicating the vehicle M's speed, or a tachometer indicating the RPM (speed) of the internal combustion engine of the vehicle M. This display device displays various information in the vehicle M, a so-called multi-information display.

[0049] 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.

[0050] 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 also partially or entirely share 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 mapped route) from the vehicle M's position 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 represents the road shape by, for example, displaying road links and the nodes connecting 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 as a function 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.

[0051] The MPU 60, for example, includes a recommended lane determination unit 61, which stores second map information 62 in a storage device such as a 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 on which the vehicle M should travel. If the route on the map branches, the recommended lane determination unit 61 determines the recommended lane so that the vehicle M can travel on a reasonable route to the branch destination. For example, when the vehicle M arrives within a predetermined distance 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.

[0052] The second map information 62 is more accurate than the first map information 54. The second map information 62 includes, for example, information about lane centers or lane boundaries. It can also include road information, traffic restriction information, address information (address / zip code), facility information, and phone number information. The second map information 62 can be updated at any time by communicating with other devices via the communication device 20.

[0053] The operating member 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, and other operating members in addition to the steering wheel 82. A sensor for detecting the amount of operation or the presence or absence of operation is mounted on the operating member 80, and the detection result is output to a portion or all of the driving support device 100, or the driving force output device 200, the braking device 210, and the steering device 220. The steering wheel 82 does not necessarily have to be annular, and may also be in the form of a special-shaped steering wheel, a joystick, a button, etc. The operating member 80 includes a first operating member 84 and a second operating member 86. The direction indicator 90 lights up or goes out according to the operation of the first operating member 84. The details of the first operating member 84 and the second operating member 86 will be described later.

[0054] 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, for example, by 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.

[0055] 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 position of an object 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, for control purposes. The position of an object can be represented by a representative point such as the center of gravity or a corner, or by an area. The "state" of an object can also include its acceleration, jerk, or "behavior" (e.g., whether it is currently changing lanes or intending to change lanes).

[0056] 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 road dividing lines; it can also identify the driving lane by identifying road dividing lines or road boundaries (road boundaries) such as 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 INS processing. The recognition unit 110 identifies temporary stop signs, obstacles, red lights, toll booths, and other road features.

[0057] 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 relative position and posture of the vehicle M relative to the driving lane by using 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. Alternatively, the recognition unit 110 may identify the relative position of the vehicle M relative to the driving lane by using, for example, the position of the vehicle M's reference point relative to either end of the driving lane (a road dividing line or a road boundary).

[0058] 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).

[0059] The control unit 150 controls the steering device 220 so that the vehicle M does not deviate from the 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.

[0060] Hands-on lane keeping control is executed when the driver is holding the steering wheel (a steering wheel grip sensor (not shown) detects whether the driver is holding the steering wheel). The conditions for executing hands-on lane keeping control are less stringent than those for executing hands-off lane keeping control.

[0061] 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-determined to enable hands-off lane keeping control), and the driver is monitoring the road ahead. Hands-off lane keeping control is executed when the driver is monitoring the road ahead; otherwise, the vehicle is not executed or stops.

[0062] The conditions for enabling hands-on lane keeping control and hands-off lane keeping control described above are merely examples and may include other conditions (e.g., vehicle M following a preceding vehicle) or omit some conditions. The conditions for enabling hands-on lane keeping control may be less stringent than those for enabling hands-off lane keeping control (or more stringent than those for enabling hands-off lane keeping control). It should be noted that 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's image.

[0063] The control unit 150 automatically changes lanes of the vehicle M. Details of this control will be described later. The automatic lane change control may be conditional on the execution of hands-free lane keeping control or hands-on lane keeping control.

[0064] 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.

[0065] 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, and outputs a braking torque to each wheel in response to the braking operation.

[0066] 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.

[0067] [Controls related to lane changes]

[0068] When the control unit 150 determines that a lane change is possible based on the surrounding conditions at the time of acquisition of the first instruction information, upon acquisition of the first instruction information, the control unit 150 executes a first lane change control to cause the vehicle M to change lanes to an adjacent lane. The "time" of acquiring the first instruction information includes not only the time but also a certain duration. Upon acquisition of the second instruction information, the control unit 150 transitions to a lane change standby state, maintains the standby state until a lane change is possible based on the surrounding conditions, and executes a second lane change control to cause the vehicle M to change lanes to an adjacent lane if the lane change is determined to be possible based on the surrounding conditions during the standby state. In the lane change standby state, even if it is determined that a lane change is not possible due to surrounding conditions, i.e., the presence of other vehicles around the vehicle M, the second lane change control maintains the standby state until a lane change is possible. If the lane change is determined to be possible based on the surrounding conditions during the standby state, the vehicle M is caused to change lanes to an adjacent lane. When a lane change is determined to be impossible based on surrounding conditions, the cause may be other external circumstances in addition to (or instead of) the presence of other vehicles around the vehicle M as described above. Other external circumstances may include, for example, changes in the road shape such as sharp turns, sudden weather changes, and other conditions recognized by the surroundings that may cause the control unit 150 to hesitate about changing lanes.

[0069] The first lane change control causes vehicle M to change lanes after a first time period has elapsed since the first instruction information was obtained, provided that no other vehicles are around the vehicle M that could interfere with the vehicle M's lane change. The second lane change control causes vehicle M to change lanes after a second time period has elapsed since the second instruction information was obtained, provided that no other vehicles are around the vehicle M that could interfere with the vehicle M's lane change in the lane change standby state. The second time period is longer than the first time period. Even when vehicle M is able to change lanes as described above, the lane change performed by the second lane change control is performed at a later time than the lane change performed by the first lane change control.

[0070] The first instruction information is sent to the control unit 150 in response to the operation of the first operating member 84. The first instruction information is, for example, information (e.g., a signal) output by the first operating member 84 when the first operating member 84 is operated. The second instruction information is sent to the control unit 150 in response to the operation of the second operating member 86 different from the first operating member 84. The second instruction information is, for example, information (e.g., a signal) output by the second operating member 86 when the second operating member 86 is operated. The standby state is a state in which the vehicle M is traveling in the driving lane without starting a lane change (for details, refer to the following). Figure 5 and Figure 5 (see instructions for more information).

[0071] Figure 2 This figure illustrates the first operating element 84, the second operating element 86, the first lane change control, and the second lane change control. The first operating element 84 is, for example, a turn signal lever switch. For example, when the driver performs a predetermined operation on the first operating element 84, the first operating element 84 outputs first instruction information. The predetermined operation may include, for example, operating the turn signal lever switch in the desired lane change direction or pressing the turn signal lever switch to a predetermined position within a predetermined time period. More specifically, the predetermined operation involves maintaining the turn signal lever switch in the desired lane change direction and a predetermined position for a predetermined period of time. The first lane change control is executed based on the operation of the first operating element 84.

[0072] The second operating member 86 is, for example, a push button switch. Figure 2 As shown, the second operating element 86 is mounted at a location easily accessible to the driver, such as a steering wheel spoke or the instrument panel. For example, when the driver performs a predetermined operation on the second operating element 86 (operating a button), the second operating element 86 outputs the second instruction information. The second lane change control is executed in response to the operation of the second operating element 86.

[0073] It should be noted that the first operating element 84 or the second operating element 86 may also be a button on a touch panel or other methods instead of the above methods. The first operating element 84 is, for example, a button for operating the direction indicator 90 or other methods, and the second operating element 86 can be any method different from the first operating element 84.

[0074] [First Lane Change Control]

[0075] Figure 3 This diagram illustrates an example scenario for executing the first lane change control. At time T, the driver operates the first operating element 84 to automatically change the lanes of vehicle M from lane L1 to lane L2. Lane L1 is the lane in which vehicle M is currently traveling. Lane L2 is the adjacent lane to lane L1. In response to this operation, the control unit 150 illuminates the direction indicator 90. The control unit 150 illuminates the direction indicator 90 at the time the first operating element 84 is operated. For example, the direction indicator 90 illuminates at the time the operation is performed.

[0076] Furthermore, the control unit 150 determines whether the vehicle M can change lanes from lane L1 to lane L2 based on the surrounding conditions according to the above-mentioned operation. For example, it determines whether the lane change can be made during a predetermined time period after the above-mentioned operation is performed. The control unit 150 determines that the lane change can be made, for example, when the first condition is satisfied. The first condition is, for example, that the degree of interference with the travel of surrounding vehicles such as other vehicles m1 traveling in lane L2 is below a first threshold. The first condition is, for example, that one or both of the following conditions are satisfied: the distance between other vehicles m1 in the lane of the lane change destination of the vehicle M and the vehicle M in the direction of travel is greater than the first threshold, and the time until the other vehicles m1 reach the reference position set for the vehicle M is greater than the second threshold. In the following example, it is assumed that the first condition is satisfied when both conditions are satisfied, and the first condition is not satisfied when either condition is not satisfied.

[0077] exist Figure 3 In the example, the distance from the vehicle M to the other vehicle m1 is greater than or equal to the first threshold value, and the time until the other vehicle m1 reaches the reference position set for the vehicle M ( Figure 3 X1) is greater than the second threshold. When the control unit 150 determines that the first condition is satisfied, the vehicle M changes lanes to the lane L2 within a predetermined time (immediately). Figure 3 In the example shown in FIG. , at time T+1, the control unit 150 changes lanes in front of the other vehicle m1. Note that in this example, the direction indicator may also illuminate after the first condition is satisfied. As described above, the control unit 150 can quickly change lanes in response to operation of the first operating element 84.

[0078] Figure 4 This diagram illustrates an example scenario in which the first lane change control is not executed. At time T, the driver operates the first operating element 84 to automatically change the lane of the vehicle M from lane L1 to lane L2. The control unit 150 illuminates the direction indicator 90 in response to this operation. The control unit 150 illuminates the direction indicator 90 when the first operating element 84 is operated.

[0079] Furthermore, the control unit 150 determines whether the first condition is satisfied based on the above-mentioned operation. Figure 4 In the example, the distance from vehicle M to other vehicle m1 is less than the first threshold value, and the time until other vehicle m1 reaches the reference position set for vehicle M ( Figure 4(X2) is less than the second threshold. At time T, the control unit 150 determines that the first condition is not met and notifies the driver of a notification failure, indicating that the first lane change control cannot be executed. In other words, the first lane change control is canceled. This notification can be made using, for example, sound or images, or by vibrating the steering wheel, driver's seat, driver's seat belt, etc. For example, the control unit 150 outputs a sound indicating a notification failure through the HMI 30. Furthermore, the control unit 150 turns off the direction indicator 90. The timing of turning off the direction indicator 90 can be before, after, or at the same time as the notification failure. When a one-touch turn signal is input, the direction indicator 90 illuminates a number of times corresponding to the one-touch turn signal (e.g., three times). After this number of times, it remains off. Depending on the subsequent determination of whether or not the lane change is possible, the direction indicator 90 may be turned on or off again. The one-touch turn signal function is a function in which the direction indicator 90 illuminates a specified number of times and then automatically turns off when the turn signal lever switch is operated to a specified degree (e.g., lightly). In addition, when the first operating member 84 is a switch different from the turn signal lever switch, the direction indicator 90 may not be illuminated until the vehicle M changes lanes.

[0080] At time T+1, a predetermined time after the notification that notification is not possible, the control unit 150 controls the vehicle M so that it travels in lane L1. If the control unit 150 determines that a lane change is not possible based on the surrounding conditions at the time of acquisition of the first instruction information, the control unit 150 maintains the vehicle M in the lane in which it is traveling. As described above, the control unit 150 can implement control that is appropriate to the surrounding conditions.

[0081] [Second Lane Change Control]

[0082] Figure 5 This diagram illustrates an example scenario for executing the second lane change control. At time T, the driver operates second operating element 86 to automatically change vehicle M from lane L1 to lane L2. At time T+1, control unit 150 accepts the lane change and notifies the driver of the completion of the acceptance. This notification is provided, for example, via sound, image, vibration, etc., as described above.

[0083] When a lane change is accepted, the control unit 150 determines whether a second condition is satisfied. The second condition is that one or both of the following conditions are satisfied: the distance in the travel direction of another vehicle m1 located in the lane of the vehicle M's lane change destination from the vehicle M is greater than or equal to a third threshold, and the time required for the other vehicle m1 to reach the reference position set for the vehicle M is greater than or equal to a fourth threshold. In the following example, the second condition is satisfied when both conditions are satisfied, and is not satisfied when either condition is not satisfied.

[0084] The second condition is a stricter condition (a condition that is less likely to be met) than the first condition. The second condition ensures that the degree of interference with other vehicles when vehicle M changes lanes is lower than the first condition. A lower degree of interference means that the speed of other vehicles is less likely to change, and the impact on drivers of other vehicles caused by vehicle M's lane change is smaller. For example, the third threshold is a distance greater than the first threshold for the first lane change control. For example, the fourth threshold is a time greater than the second threshold for the first lane change control.

[0085] exist Figure 5 In the example, the distance between vehicle M and other vehicle m1 is less than the third threshold, and the time required for other vehicle m1 to reach the reference position set for vehicle M is less than the fourth threshold. In this case, at time T+2, control unit 150 maintains vehicle M in lane L1 (maintains vehicle M in the lane currently occupied by vehicle M) while on standby for the second lane change control, and yields to other vehicle m1. "Giving way" means waiting until other vehicle m1 overtakes vehicle M.

[0086] After other vehicle m1 overtakes vehicle M, at time T+3, control unit 150 notifies the driver of the start of the vehicle change. This notification can be provided, for example, through sound, images, vibration, etc., as described above. While the above example illustrates "giving way" based on vehicle M, which waits until other vehicle m1 overtakes vehicle M, the same process can be performed when "giving way" based on vehicle m1, which waits until vehicle M overtakes vehicle m1 and leaves a predetermined distance from vehicle m1.

[0087] After the notification, at time T+4, the control unit 150 illuminates the direction indicator 90. For example, if the second operating element 86 is operated, the control unit 150 does not illuminate the direction indicator from the time of the operation until the end of the standby state, and then illuminates the direction indicator 90 after the end of the standby state. If the control unit 150 determines that a lane change is possible based on the surrounding conditions in the standby state of the second lane change control, the control unit 150 illuminates the direction indicator 90 a predetermined time before starting the lane change of the vehicle M to the adjacent lane.

[0088] The "standby state" is a state between a first timing and a second timing. The first timing is when the second operating element 86 is operated or when a lane change is accepted. The second timing is when the second condition is determined to be satisfied, when the direction indicator 90 is illuminated (e.g., immediately before illumination), when a lane change start notification is issued, when a lane change is initiated, or a predetermined timing associated therewith.

[0089] At time T+5 after lighting the direction indicator 90 for a predetermined time, the control unit 150 starts a lane change of the vehicle M. At time T+6, the control unit 150 causes the vehicle M to enter the lane L2.

[0090] As described above, even when another vehicle is present in the lane of the lane change destination, the control unit 150 can allow the vehicle M to change lanes by letting the other vehicle pass.

[0091] Thus, during the first lane change control, if a lane change cannot be made due to surrounding conditions at the time the driver indicates his lane change intention (when the first operating element 84 is operated), the first lane change control is canceled. Secondly, if the driver intended to change lanes at the time of operating the first operating element 84 and therefore cannot change lanes at that time, canceling the lane change early reflects the driver's intention.

[0092] In contrast, during the second lane change control, the driver indicates their intention to change lanes at an appropriate time (operation of the second operating element 86). Therefore, even if a lane change is not possible due to surrounding conditions, the second lane change control is not canceled, and the vehicle M is placed on hold until an appropriate time arrives. Furthermore, when the appropriate time arrives, the vehicle M is caused to change lanes during the second lane change control. This is because, when the driver operates the second operating element 86, they intend to change lanes at an appropriate time, not at the time they operate the second operating element 86. Therefore, even if a lane change is not possible at the time they operate the second operating element 86, causing the vehicle M to change lanes after the standby time reflects the driver's intention.

[0093] This allows the driver to make lane changes according to their intention, improving convenience. For example, if the driver wants to drive ahead of another vehicle m1 as much as possible or wants to reach a lane close to a branch road as quickly as possible, they operate the first operating element 84. In this case, the first lane change control corresponding to the above intention is executed. If the driver wants to change lanes in a way that minimizes the impact on other vehicle m1 or wants to change lanes at a time appropriate for surrounding conditions, they operate the second operating element 86. In this case, the second lane change control corresponding to the above intention is executed. This improves driver convenience.

[0094] [Comparison of Lane Change Control 1 and Lane Change Control 2]

[0095] Figure 6 is a diagram for comparing the first lane change control and the second lane change control. Figure 6 In this example, a situation is assumed in which there are no other vehicles nearby that could interfere with vehicle M's lane change, allowing it to change lanes at any time. When the first operating element 84 is operated, the control unit 150 illuminates the direction indicator 90 and initiates the lane change if the first condition is satisfied. In the first lane change control, the direction indicator 90 is illuminated at an earlier time than when the driver's lane change intention is indicated by the second lane change control (operation of the first operating element 84), described later. The first lane change control respects the driver's intention to change lanes at the time the first operating element 84 is operated. The first lane change control is a control in which the first condition described above is less severe than the second condition, making it more likely to reflect the driver's intention.

[0096] When the second operating element 86 is operated, the control unit 150 illuminates the direction indicator 90 and initiates a lane change if the second condition is satisfied. The timing of illuminating the direction indicator 90 during the second lane change control is, for example, later than the timing of illuminating the direction indicator 90 during the first lane change control. The timing of initiating the lane change during the second lane change control is, for example, later than the timing of initiating the lane change during the first lane change control. The timing of determining that the second condition for the second lane change control is satisfied is, for example, later than the timing of determining that the first condition for the first lane change control is satisfied.

[0097] As described above, the timing of the lane change-related action of the first lane change control is earlier than the timing of the lane change action of the second lane change control. The driver recognizes this characteristic or the idea of ​​lane change control and operates the first operating element 84 or the second operating element 86, thereby achieving control that is more in line with the driver's intention and improving the convenience of the user.

[0098] In the above description, the case where the timing of the lane change-related action of the first lane change control is different from the timing of the lane change action of the second lane change control in a situation where lane changes can be made at any time is described. However, these timings may be the same instead.

[0099] [Flowchart (First Lane Change Control)]

[0100] Figure 7 This is a flowchart illustrating an example of the process for the first lane change control. First, the control unit 150 determines whether the first operating element 84 has been operated (step S100). If the first operating element 84 has been operated, the control unit 150 illuminates the direction indicator 90 and determines whether a first condition is satisfied (step S102). If the first condition is satisfied, the control unit 150 causes the vehicle M to change lanes (step S104). The direction indicator 90 may be illuminated at the timing of step S104, rather than at the timing of step S102. In other words, the direction indicator 90 may be illuminated at a time corresponding to the lane change. For example, if the first operating element 84 is a switch other than the turn signal lever switch, the direction indicator 90 may be illuminated at the timing of step S104.

[0101] If the first condition is met, the control unit 150 notifies the driver of a lane change failure notification indicating that the vehicle change cannot be accepted (step S106). The control unit 150 then causes the vehicle M to maintain its lane (step S108). This concludes the processing of one routine in this flowchart. As described above, if the first condition is met, the control unit 150 can execute the lane change of the vehicle M in advance at the timing of the operation of the first operating element 84.

[0102] [Flowchart (Second Lane Change Control)]

[0103] Figure 8 This is a flowchart showing an example of the process of the second lane change control. First, the control unit 150 determines whether the second operating element 86 is operated (step S200). If the second operating element 86 is operated, the control unit 150 determines whether the second condition is satisfied (step S202). If the second condition is satisfied, the control unit 150 causes the vehicle M to change lanes (step S204). For example, as described above Figure 5 As described in , the lane change is started after the lane change start notification and the lighting of the direction indicator 90. The processing of one routine of this flowchart is thus completed.

[0104] If the second condition is not met, the control unit 150 causes the vehicle M to travel in the driving lane in a standby state (step S206), and the process returns to step S202. In this manner, the vehicle M remains in the standby state until the second condition is met. The control unit 150 may also cancel the second lane change control if the standby state continues for a predetermined time or if the vehicle M has traveled a predetermined distance in the standby state.

[0105] As described above, the control unit 150 can change the lane of the vehicle M while letting the other vehicle m1 pass in the standby state even when the second condition is not satisfied.

[0106] According to the embodiment described above, the control unit 150 executes the first lane change control to cause the vehicle M to change lanes to an adjacent lane when it is determined that a lane change is possible based on the surrounding conditions when the first indication information is obtained, changes to a standby state for lane change based on the acquisition of the second indication information, maintains the standby state based on the surrounding conditions until a lane change is possible, and executes the second lane change control to cause the vehicle M to change lanes to an adjacent lane when it is determined that a lane change is possible based on the surrounding conditions in the standby state, thereby improving convenience for vehicle occupants (such as the driver).

[0107] The above-described embodiment can be expressed as follows.

[0108] A control device comprising:

[0109] a storage device storing a program; and

[0110] Hardware processor,

[0111] The hardware processor performs processing by executing a program stored in the storage device:

[0112] Identify the surrounding conditions of the vehicle;

[0113] Automatically controlling the steering of the vehicle to perform an automatic lane change based on the recognized surrounding conditions and instruction information as an instruction to change lanes,

[0114] The instruction information includes: first instruction information, which is sent in response to a situation in which a first operating element is operated; and second instruction information, which is sent in response to a situation in which a second operating element different from the first operating element is operated.

[0115] executing a first lane change control for causing the vehicle to change lanes to an adjacent lane when it is determined that a lane change is possible based on the surrounding conditions at the time of acquisition of the first instruction information,

[0116] Based on the acquisition of the second indication information, the vehicle is transferred to a standby state for lane change, and the standby state is maintained based on the surrounding conditions until a lane change can be made. When it is determined that a lane change can be made based on the surrounding conditions in the standby state, a second lane change control is executed to cause the vehicle to change lanes to an adjacent lane.

[0117] While specific embodiments of the present invention have been described above, 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 vehicle control device, wherein: The vehicle control device comprises: an identification unit that identifies a condition surrounding the vehicle; and a control unit that automatically controls the steering of the vehicle to perform an automatic lane change based on the surrounding conditions recognized by the recognition unit and instruction information as an instruction to change lanes, The instruction information includes: first instruction information, which is sent in response to a situation in which a first operating element is operated; and second instruction information, which is sent in response to a situation in which a second operating element different from the first operating element is operated. The control unit executes a first lane change control for causing the vehicle to change lanes to an adjacent lane when the control unit determines that a lane change is possible based on the surrounding conditions when the first instruction information is obtained, upon obtaining the first instruction information. The control unit shifts to the standby state for the lane change based on the acquisition of the second indication information, maintains the standby state until a lane change is possible based on the surrounding conditions, and executes a second lane change control to cause the vehicle to change lanes to an adjacent lane when it is determined that a lane change is possible based on the surrounding conditions in the standby state.

2. The vehicle control device according to claim 1, wherein: The control unit lights up the direction indicator when the first operating member is operated.

3. The vehicle control device according to claim 1, wherein: When the second operating element is operated, the control unit does not illuminate the direction indicator from the time the operation is performed until the standby state ends, and illuminates the direction indicator after the standby state ends.

4. The vehicle control device according to claim 3, wherein: The control unit lights the direction indicator a predetermined time before starting to change the vehicle's lane to an adjacent lane, when the control unit determines that a lane change is possible based on the surrounding conditions in the standby state of the second lane change control.

5. The vehicle control device according to claim 1, wherein: The control unit determines that the lane change is possible and executes the first lane change control when a first condition is satisfied. The control unit determines that the lane change is possible and executes the second lane change control when a second condition stricter than the first condition is satisfied.

6. The vehicle control device according to claim 5, wherein: The first condition and the second condition are that one or both of the distance between the other vehicles in the lane of the vehicle's lane change destination and the vehicle in the direction of travel is greater than a first threshold, and the time taken for the other vehicles to reach the reference position set for the vehicle is greater than a second threshold.

7. The vehicle control device according to claim 1, wherein: The first operating member is a turn signal lever switch, The second operating member is a push button switch.

8. The vehicle control device according to claim 1, wherein: The control unit maintains the vehicle traveling in the lane in which the vehicle is traveling, if the control unit determines that a lane change is not possible based on the surrounding conditions when the first instruction information is obtained, upon obtaining the first instruction information.

9. The vehicle control device according to claim 1, wherein: The control unit maintains the vehicle traveling in the lane in which the vehicle is traveling in the standby state of the second lane change control.

10. The vehicle control device according to claim 9, wherein: The control unit cancels execution of the second lane change control corresponding to acquisition of the second instruction information when the standby state continues for a predetermined time or when the vehicle travels a predetermined distance in the standby state.

11. The vehicle control device according to claim 1, wherein: The second lane change control maintains the standby state until the lane change becomes possible in the standby state for the lane change, even if it is determined that the lane change cannot be performed due to the surrounding conditions, i.e., the presence of other vehicles around the vehicle. If it is determined that the lane change can be performed based on the surrounding conditions in the standby state, the vehicle is caused to change lanes to an adjacent lane.

12. The vehicle control device according to claim 1, wherein: The first lane change control causes the vehicle to change lanes after a first time has elapsed since the first instruction information was acquired, when there is no vehicle around the vehicle that interferes with the vehicle's lane change. The second lane change control causes the vehicle to change lanes after a second time has passed since the second instruction information was obtained, when there is no vehicle around the vehicle interfering with the lane change of the vehicle in the lane change standby state. The second time is longer than the first time.

13. A vehicle control method, wherein: The vehicle control method causes the computer to perform the following processing: Identify the surrounding conditions of the vehicle; and Automatically controlling the steering of the vehicle to perform an automatic lane change based on the recognized surrounding conditions and instruction information as an instruction to change lanes, The instruction information includes: first instruction information, which is sent in response to a situation in which a first operating element is operated; and second instruction information, which is sent in response to a situation in which a second operating element different from the first operating element is operated. executing a first lane change control for causing the vehicle to change lanes to an adjacent lane when it is determined that a lane change is possible based on the surrounding conditions at the time of acquisition of the first instruction information, Based on the acquisition of the second indication information, the vehicle is transferred to a standby state for lane change, and the standby state is maintained based on the surrounding conditions until a lane change can be made. When it is determined that a lane change can be made based on the surrounding conditions in the standby state, a second lane change control is executed to cause the vehicle to change lanes to an adjacent lane.

14. A storage medium which is a non-transitory storage medium that stores a program and can be read by a computer, wherein: The program is used to cause the computer to perform the following processing: Identify the surrounding conditions of the vehicle; and Automatically controlling the steering of the vehicle to perform an automatic lane change based on the recognized surrounding conditions and instruction information as an instruction to change lanes, The instruction information includes: first instruction information, which is sent in response to a situation in which a first operating element is operated; and second instruction information, which is sent in response to a situation in which a second operating element different from the first operating element is operated. executing a first lane change control for causing the vehicle to change lanes to an adjacent lane when it is determined that a lane change is possible based on the surrounding conditions at the time of acquisition of the first instruction information, Based on the acquisition of the second indication information, the vehicle is transferred to a standby state for lane change, and the standby state is maintained based on the surrounding conditions until a lane change can be made. When it is determined that a lane change can be made based on the surrounding conditions in the standby state, a second lane change control is executed to cause the vehicle to change lanes to an adjacent lane.

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