VEHICLE CONTROL SYSTEM

Abstract

A vehicle control system that performs a lane change control for changing a vehicle's lane from a moving lane to an adjacent lane, cancels the lane change control according to at least one of the vehicle's drivers, the vehicle's surrounding environment and / or the vehicle's moving state during the lane change control, and switches the vehicle to a mode in which the driver drives the vehicle manually, wherein the system comprises the following: a turning signal control unit configured to switch a vehicle turning signal between an OFF state and an ON state according to the lane change control, characterized in that the turning signal control unit keeps the turning signal in the ON state until predefined release conditions are met, when the ongoing lane change control is aborted, and by the turning signal control unit determining that the release conditions are met when the vehicle has traveled a certain distance since the lane change control was aborted.

Description

Technical field

[0001] The present invention relates to a vehicle control system that performs lane change control. background

[0002] JP 2015-160 554 A is known as technical literature relating to a vehicle control system that performs lane change control. JP 2015-160 554 A discloses a vehicle control system that performs lane change control such that a vehicle automatically changes its lane and automatically switches a turn signal, which indicates a lane change direction during a lane change, on and off. DE 10 2013 200 462 A1, DE 103 55 807 A1, and DE 100 12 737 A1 each disclose a system according to the preamble of claim 1. DE 10 2013 012 181 A1 proposes switching off a turn signal after a first timer has elapsed if no lane change has occurred by then. This prevents the turn signal from being permanently, and in particular accidentally, activated. US 2011 / 0 199 200 A1 and DE 10 2013 214 666 A1 each teach that an activated turn signal should be switched off after a certain period of time, regardless of a lane change.Further relevant state of the art can be found in WO 2010 / 045 908 A1, DE 10 2013 225 138 A1 or DE 10 2006 042 966 A1. Brief explanation

[0003] However, generally, when a lane change control is canceled, the vehicle switches to a manual driving mode, in which the driver steers the vehicle manually. The instructions issued by the system to the vehicle during a lane change are also canceled. Therefore, when the lane change control is canceled, the turn signal indicating the lane change direction is also deactivated. However, even when the lane change control is canceled, the driver may still want to change lanes manually in some cases. In this case, the driver must reactivate the turn signal after the lane change control has been canceled. Consequently, this operation becomes more complicated for the driver, which is inconvenient and cumbersome.

[0004] In this technical field, it is preferred to provide a vehicle control system that can improve the convenience or comfort of the driver who changes lanes manually when a lane change control is aborted.

[0005] To solve the aforementioned problem, according to one aspect of the invention, a vehicle control system is provided that performs lane-change control for changing a vehicle's lane from a traveling lane to an adjacent lane, cancels the lane-change control upon at least one actuation by the vehicle's driver, a surrounding environment of the vehicle, and / or a driving or travel state of the vehicle during the lane-change control, and switches the vehicle to a mode in which the driver drives the vehicle manually. The vehicle control system includes a turn signal control unit configured to switch the vehicle's turn signal between an OFF state and an ON state in accordance with the lane-change control. The turn signal control unit maintains the turn signal in the ON state until predetermined release or...Cancellation conditions are met when the ongoing lane change control is aborted and the vehicle is switched to the mode in which the driver drives the vehicle manually.

[0006] In the vehicle control system according to the invention, if the lane change control is canceled by the driver during the lane change operation, the vehicle switches to manual driving mode, and the turn signal remains in the ON state. Therefore, according to the vehicle control system, the time and effort that a driver manually changing lanes would otherwise have to expend to reactivate the turn signal after canceling a lane change operation are eliminated, compared to the prior art system in which the turn signal is automatically switched off when a lane change operation is canceled. Consequently, driver comfort is improved.

[0007] In the vehicle control system, if the vehicle moves from the movement lane to the adjacent lane after the ongoing lane change control has been aborted and the vehicle has been switched to manual driving mode, the turn signal control unit can determine that the enable or disable conditions are met and switch the turn signal to the OFF state.

[0008] According to the vehicle control system, when the vehicle moves from the main lane to an adjacent lane, the turn signal is deactivated, even if it remains in the ON state. Therefore, the vehicle control system allows the turn signal to be deactivated without driver intervention when the driver manually changes lanes and the vehicle moves from the main lane to an adjacent lane. This improves driver comfort.

[0009] As described above, according to various aspects of the invention, it is possible to improve the comfort of the driver who changes lanes manually when a lane change control is aborted. Brief description of the drawings Fig. Figure 1 is a block diagram representing a vehicle control system according to one embodiment. Fig. 2 A is a diagram that represents the state of a turning signal when a lane change control in a vehicle control system is aborted according to the state of the art. Fig. Figure 2B is a diagram that represents the state of a turn signal when a lane change control in a vehicle control system according to this embodiment is aborted. Fig. Figure 3 is a flowchart or process diagram that represents a lane change control start process. Fig. Figure 4 is a flowchart that depicts a lane change control end process and a lane change control abort process. Fig. Figure 5 is a flowchart that depicts a process of releasing or removing the turn signal, which is maintained in an ON state. Detailed explanation

[0010] An embodiment of the invention is described below with reference to the drawings.

[0011] Fig. Figure 1 is a block diagram representing a vehicle control system according to this embodiment. A vehicle control system 100 according to this embodiment, which is in Fig. The vehicle control system shown in Figure 1 is installed in a vehicle, such as a car, and controls the vehicle's movement. The vehicle control system 100 is configured so that the vehicle can be driven automatically. Automated driving is a vehicle control technology that drives the vehicle to its destination without any input from the driver. Any known structure can be used for automated driving. The vehicle control system 100 can switch between automated driving and manual driving, in which the driver operates the vehicle manually.

[0012] The vehicle control system 100 performs a lane change control for the vehicle. Lane change control is a vehicle control function that changes the vehicle's lane from its current lane to an adjacent lane. The lane change control of the vehicle control system 100 is performed as part of automated driving or to assist the driver during manual driving. When the lane change control is performed, a turn signal is activated for the vehicle that is near an adjacent lane (lane change direction). The turn signal can be activated automatically by the vehicle control system 100 or manually by the driver.

[0013] During lane change control, the vehicle control system 100 cancels the lane change control based on at least one of the following factors: driver input, the vehicle's surroundings, or the vehicle's movement status during the lane change control, and switches to manual driving mode, in which the driver operates the vehicle manually. Even if lane change control is canceled, the vehicle control system 100 maintains the turn signal in an ON state until release or cancellation conditions are met. The lane change control cancellation and release / cancellation conditions are described in detail below. Structure of the vehicle control system

[0014] As it is in Fig. As shown in Figure 1, the vehicle control system 100 includes a Global Positioning System receiver unit (GPS receiver unit) 1, an external sensor 2, an internal sensor 3, a map database 4, an actuation detection unit 5, an actuator 6, a turning signal drive unit 7, a human-machine interface or user interface (HMI, human machine interface) 8 and an electronic control unit (ECU, electronic control unit) 10.

[0015] The GPS receiver 1 receives signals from three or more GPS satellites and measures the vehicle's position (e.g., latitude and longitude). The GPS receiver 1 transmits the measured position information(s) of the vehicle to the ECU 10.

[0016] The external sensor 2 is a detector that senses the vehicle's surroundings. The external sensor 2 includes a camera, radar, or a laser imaging detection and ranging (LIDAR) system. The camera is positioned, for example, behind the vehicle's windshield and captures a view in front of the vehicle. Cameras can also be positioned at the rear and sides of the vehicle. The camera transmits information about the captured image of the vehicle's surroundings to the ECU 10. The camera can be a monocular or a stereo camera. The stereo camera contains two imaging units designed to reproduce binocular parallax.

[0017] The radar detects obstacles around the vehicle using radio waves (e.g., millimeter waves). The radar transmits radio waves around the vehicle, receives radio waves reflected from obstacles, and detects the obstacles. The radar then transmits the detected obstacle information to the ECU 10. The LiDAR detects obstacles using light instead of radio waves. The LiDAR also transmits the detected obstacle information to the ECU 10.

[0018] The internal sensor 3 is a detector that detects the vehicle's state of motion. The internal sensor 3 includes a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor 17. The vehicle speed sensor is a detector that detects the vehicle's speed. For example, a wheel speed sensor provided in a wheel of the vehicle or on a drive shaft that rotates integrally with the wheel, which detects the wheel's rotational speed, is used as the vehicle speed sensor. The vehicle speed sensor transmits the detected vehicle speed information (wheel speed information) to the ECU 10.

[0019] The acceleration sensor is a detector that measures the vehicle's acceleration. For example, the acceleration sensor may include a longitudinal acceleration sensor, which measures the vehicle's longitudinal acceleration, and a lateral acceleration sensor, which measures the vehicle's lateral acceleration. The acceleration sensor transmits vehicle acceleration information to the ECU 10. The yaw rate sensor is a detector that measures the vehicle's yaw rate (angular velocity) around the vertical axis passing through its center of gravity. For example, a yaw or gyroscope sensor can be used as the yaw rate sensor. The yaw rate sensor transmits the measured vehicle yaw rate information to the ECU 10.

[0020] Map database 4 is a database that stores map information. The map database is stored, for example, on a hard disk drive (HDD) provided in the vehicle. The map information includes, for example, the position(s) of roads, information about the shape of the roads (e.g., a curve, the type of a straight section, and the curvature of the curve), and the position(s) of intersections and junctions.

[0021] The actuation detection unit 5 is a device that detects an actuation of the vehicle by the driver. If a lane change control start button is provided in the vehicle, the actuation detection unit 5 detects an actuation of the lane change control start button being activated and an actuation of the lane change control start button being deactivated. Similarly, if a lane change control cancel button is provided, the actuation detection unit 5 detects an actuation of the lane change control cancel button being activated and an actuation of the lane change control cancel button being deactivated. The buttons are not necessarily provided; for example, levers may be provided.

[0022] The actuation detection unit 5 contains a turn signal detection unit. The turn signal detection unit is located in a turn signal actuation lever of the vehicle and detects the driver's actuation of the turn signal actuation lever. The turn signal detection unit transmits the detected actuation of the turn signal actuation lever to the ECU 10.

[0023] The actuation detection unit 5 contains a steering sensor, an accelerator pedal sensor, and a brake pedal sensor. The steering sensor, for example, includes a steering torque sensor and a steering touch sensor. The steering torque sensor is located in a steering shaft of the vehicle and detects any steering torque applied by the driver to the steering wheel. The steering touch sensor is located in the vehicle's steering wheel and detects the driver's contact with the steering wheel and any pressure applied by the driver to the steering wheel. The accelerator pedal sensor is located in a shaft section of an accelerator pedal and detects any force applied by the driver to the accelerator pedal or the amount of travel (the position of the accelerator pedal) by the driver.The brake pedal sensor is provided in a shaft section of a brake pedal and detects a force applied to the brake pedal by the driver, or the amount of depressurization (the position of the brake pedal) of the brake pedal by the user.

[0024] Actuator 6 is a device that performs motion control for the vehicle. Actuator 6 includes at least one throttle actuator, one brake actuator, and one steering actuator. The throttle actuator controls the amount of air supplied to the engine (throttle position) and thus controls the vehicle's propulsion force in response to a control signal from ECU 10. If the vehicle is a hybrid vehicle, a control signal from ECU 10 is sent to a motor as a drive source to control the propulsion force, in addition to the amount of air supplied to the motor. If the vehicle is an electric vehicle, a control signal from ECU 10 is sent to a motor as a drive source to control the propulsion force. In these cases, the motor, as the drive source, constitutes Actuator 6.

[0025] The brake actuator controls a braking system and regulates the braking force applied to the vehicle's wheels in response to a control signal from the ECU 10. For example, a hydraulic braking system can be used as the braking system. The steering actuator controls the drive of an auxiliary motor, which in turn controls the steering torque in an electric power steering system in response to a control signal from the ECU 10. Therefore, the steering actuator controls the vehicle's steering torque.

[0026] The turn signal drive unit 7 is a device that switches the vehicle's turn signals between an ON state and an OFF state. The turn signal drive unit 7 can, for example, be an electronic control unit containing a drive circuit including a microprocessor, a transistor, and a relay, as well as a communication device. The turn signal drive unit 7 switches the turn signals between the ON state and the OFF state based on a control signal from the ECU 10.

[0027] Turn signals are, for example, lamps that emit light of a specific color and are provided in positions on the left and right sides of the front and rear sections of the vehicle. If the turn signals are lamps, the ON state is, for example, a flashing state or a steady state. The appearance of the turn signal varies depending on the area in which the vehicle is used and the type of vehicle. If the turn signal is not a lamp but a panel that emits light, the ON state is, for example, a state in which the light-emitting panel protrudes from the side of the vehicle in the direction of travel (a state in which the panel, which emits light and is provided with an emission surface facing upwards, is lowered in the direction of travel of the vehicle).

[0028] The HMI 8 is an interface that transmits and outputs information between the vehicle control system 100 and the driver. The HMI 8 includes, for example, a display and a speaker. The HMI 8 displays an image and emits a sound from the speaker in response to a control signal from the ECU 10.

[0029] The ECU 10 is an electronic control unit that includes, for example, a central processing unit (CPU), read-only memory (ROM), random access memory (RAM), and a controller area network communication circuit (CAN). Within the ECU 10, a program stored in ROM by the CAN is loaded into RAM, and the CPU executes the program to implement each function. The ECU can contain a variety of electronic control units. Additionally, the ECU 10 performs automated driving functions. Using a known method, the ECU 10 generates a vehicle movement plan in advance to enable automated driving.The movement plan consists of data relating the vehicle's position on the map to a control setpoint (a target vehicle speed or a target steering angle). The ECU 10 executes the automated driving of the vehicle according to the movement plan.

[0030] Next, the functional structure of the ECU 10 is described. The ECU 10 contains a vehicle position detection unit 11, a surrounding environment detection unit 12, a movement state detection unit 13, a lane change control unit 14, and a turn signal control unit 15.

[0031] The vehicle position detection unit 11 detects the vehicle's position on the map based on the position information from the GPS receiver unit 1 and the map information in the map database 4. The vehicle's position on the map is used by the vehicle control system 100 to determine when the lane change control starts during automated driving. The vehicle position detection unit 11 can detect the vehicle's position using a simultaneous localization and mapping technique (SLAM) based on the position information of fixed obstacles, such as electrical poles, contained in the map information of the map database 4 and the detection result from the external sensor 2.

[0032] The vehicle position detection unit 11 detects the lateral position of the vehicle using a known image processing method based on an image (an image of white lines) in front of the vehicle, captured by an in-vehicle camera. The mounting position of the in-vehicle camera is determined, and the camera's field of view is defined by this mounting position. Additionally, the ratio between the camera's mounting position and the position of the vehicle's center (positional ratio in a top view) is determined. Therefore, the vehicle position detection unit 11 can calculate the position of the vehicle's center (the vehicle's lateral position) in a lane width direction from the position of two left and right white lines in the image captured by the camera. The white lines can be detected by radar or LiDAR instead of the camera.

[0033] The surrounding environment detection unit 12 detects the vehicle's surroundings based on the detection result from the external sensor 2. The surrounding environment includes, for example, the position of an obstacle relative to the vehicle, the speed of an obstacle relative to the vehicle, and the direction of movement of an obstacle relative to the vehicle. The surrounding environment detection unit 12 detects the vehicle's surroundings using a known method based on the image captured by the camera, obstacle information from the radar, or obstacle information from the LiDAR.

[0034] The motion state detection unit 13 detects the vehicle's motion state. The vehicle's motion state includes, for example, the vehicle's speed, acceleration, and steering angle. The motion state detection unit 13 detects the vehicle's motion state based on the detection result from the internal sensor 3. Additionally, the vehicle's motion state includes the failure state of the vehicle control system 100.The failure state of the vehicle control system 100 includes, for example, a failure of the vehicle's sensors (e.g., the GPS receiver 1, the external sensor 2, and the internal sensor 3), a failure of the actuator 6, such as the steering actuator, a failure of the communication device, a failure of a power supply device, a failure of the electronic control unit, a failure of the turn signals, and a failure of the HMI 8. The vehicle control system 100 determines a failure of each device using a known method. The motion state detection unit 13 detects the motion state of the vehicle based on the detection result from the internal sensor 3 and the failure determination information from the vehicle control system 100.

[0035] The lane change control unit 14 performs a lane change operation, which changes the vehicle's lane from the lane of travel to an adjacent lane. The lane change control unit 14 transmits a control signal to the actuator 6 to execute the lane change operation.

[0036] While the vehicle is driving automatically, the lane change control unit 14 initiates lane change control based on the vehicle's position on the map, which has been detected by the vehicle position detection unit 11. The lane change control unit 14 initiates lane change control according to the movement plan specified for automated driving.

[0037] While the vehicle is being driven manually, the lane change control unit 14 initiates the lane change control based on the detection result from the actuation detection unit 5. When the user actuation is detected by turning on the lane change control start button, the lane change control unit 14 initiates the lane change control. The user's lane change control start actuation is not limited to turning on the start button. The lane change control start actuation can be the driver switching the turn signal near an adjacent lane of the vehicle from an OFF state to an ON state, or the driver turning the steering wheel to the adjacent lane with a steering torque equal to or greater than a predefined value.

[0038] When the lane change control is activated, the lane change control unit 14 can notify the driver of the activation via the HMI 8. The lane change control unit 14 emits a sound from the speaker or displays an image on the screen to inform the driver that the lane change control has been activated.

[0039] When the lane change control is initiated, the lane change control unit 14 establishes a target trajectory for the vehicle. The target trajectory is the path along which the lane change control will move the vehicle from the current lane to an adjacent lane. The lane change control unit 14 determines the target trajectory based on the vehicle's lateral position, detected by the vehicle position detection unit 11, the vehicle's surroundings, detected by the surroundings detection unit 12, and the vehicle's motion state, detected by the motion state detection unit 13. Additionally, the lane change control unit 14 establishes a target vehicle speed pattern (for example, time-series data from a vehicle speed control setpoint) within the lane change control system.The lane change control unit 14 sets the target vehicle speed pattern, in which the vehicle's lateral acceleration is equal to or less than a predefined value, based on the vehicle's current speed, in such a way as to ensure the driver does not experience discomfort. The lane change control unit 14 can use one of a variety of pre-stored combinations of target driving trajectories and target vehicle speed patterns.

[0040] The lane change control unit 14 performs the lane change control based on the target driving trajectory and the target vehicle speed pattern. The lane change control unit 14 performs the lane change control such that the vehicle moves into an adjacent lane based on the lateral position of the vehicle detected by the vehicle position detection unit 11, the surrounding environment detected by the surrounding environment detection unit 12, and the driving state of the vehicle detected by the motion state detection unit 13.

[0041] The lane change control unit 14 determines whether the vehicle's lane change has been completed based on the vehicle's lateral position, which is detected by the vehicle position detection unit 11. For example, when the vehicle's lateral position reaches the center of an adjacent lane (the center of the adjacent lane in the lane width direction), the lane change control unit 14 determines that the vehicle's lane change has been completed. Once the vehicle's lane change is complete, the lane change control unit 14 terminates the lane change control.

[0042] During lane change control, the lane change control unit 14 terminates the lane change control based on at least one of the following values: driver input, the vehicle's surroundings, and the vehicle's movement state. Termination of the lane change control means the interruption (handover) of the lane change control before a lane change is completed. The lane change control unit 14 terminates the lane change control if predefined termination conditions are met. These termination conditions determine whether terminating the lane change control is necessary.

[0043] When driver action that cancels the lane change control is detected based on the detection result of the action detection unit 5, the lane change control unit 14 determines that the cancellation conditions have been met. Examples of driver action that cancels the lane change control include driver action applying a steering torque to the vehicle's steering wheel equal to or greater than a predetermined value, driver action applying a force equal to or greater than a predetermined value to the brake or accelerator pedal, driver action depressing the brake or accelerator pedal with a pressure equal to or greater than a predetermined value, and driver action turning on the lane change control (or system) cancel button.

[0044] If the driver continuously operates at least one of the steering wheel, brake pedal, or accelerator pedals for a predetermined period or longer, the lane change control unit 14 can determine that the abort conditions have been met. Similarly, if the time integration of the steering torque applied by the driver is equal to or greater than a predetermined value, the lane change control unit 14 can determine that the abort conditions have been met.

[0045] If another vehicle is detected approaching the vehicle within a predetermined distance range, based on the surrounding environment as detected by the Surrounding Environment Detection Unit 12, the Lane Change Control Unit 14 determines that the abort conditions have been met. Similarly, if the vehicle control system 100 fails, based on the vehicle's movement state as detected by the Movement State Detection Unit 13, the Lane Change Control Unit 14 determines that the abort conditions have been met. This means that even if the driver does not perform any action, the Lane Change Control Unit 14 will automatically abort the lane change control based on the surrounding environment or the movement state. When the lane change control is aborted, the Lane Change Control Unit 14 switches the vehicle to manual driving mode.

[0046] The turn signal control unit 15 switches the vehicle's turn signals between an OFF state and an ON state. The turn signal control unit 15 transmits a control signal to the turn signal drive unit 7 to control the state of the turn signals. When the autonomously driven vehicle initiates lane change control, the turn signal control unit 15 automatically switches the turn signal near an adjacent lane (lane change direction) from the OFF state to the ON state.

[0047] When the manually driven vehicle activates the lane change control and the turn signal near an adjacent lane is in the OFF state, the turn signal control unit 15 automatically activates the turn signal. The driver can also activate the turn signal manually. In any case, the turn signal near an adjacent lane will be activated when the lane change control is activated.

[0048] When the lane change control ends, the turn signal control unit 15 switches the turn signal from the ON state to the OFF state. If the vehicle enters an adjacent lane, the turn signal control unit 15 can switch off the turn signal.

[0049] If the lane change control is aborted and the vehicle is switched to manual driving mode, the turn signal control unit 15 maintains the turn signal that is near an adjacent lane in the ON state until predefined release or cancellation conditions are met. These release or cancellation conditions determine whether the turn signal should be maintained in the ON state.

[0050] Fig. Figure 2A is a diagram depicting the state of the turn signal when a lane change control in the vehicle control system is aborted according to the state of the art. As shown in Fig. As shown in Figure 2A, in the vehicle control system, according to the state of the art, at a time tc when a lane change control is aborted, the turning signal, which is in an ON state, is automatically switched off. Fig. Figure 2B is a diagram depicting the state of the turn signal when a lane change control in the vehicle control system 100 is aborted according to this embodiment. As shown in Fig. As shown in Figure 2B, according to the vehicle control system 100, if a lane change control is aborted, the turn signal control unit 15 maintains the turn signal in an ON state at a time tc. Therefore, it is possible to avoid the time and effort required for the driver, who wishes to continue changing lanes manually, to manually switch on the turn signal, which has been automatically switched to the OFF state.

[0051] Even if the lane change control is canceled and the vehicle is switched to manual driving mode, the turn signal control unit 15 does not activate the turn signal if it is in the OFF state. This means that if the turn signal near an adjacent lane has already been switched off, for example, if the vehicle has moved into the adjacent lane, the turn signal control unit 15 will not switch the turn signal from the OFF state to the ON state, even if the lane change control is canceled.

[0052] When the vehicle is switched to manual drive mode and enters an adjacent lane from the moving lane, the turn signal control unit 15 determines that the enable or disable conditions have been met. The turn signal control unit 15 detects the vehicle's entry from the moving lane into an adjacent lane based on the white lines and the vehicle's lateral position, which is detected by the vehicle position detection unit 11. The vehicle is determined to enter an adjacent lane from the moving lane when the vehicle's center line (a virtual line passing through the center of the vehicle and extending in a front-to-back direction) crosses a white line that forms a boundary between the moving lane and the adjacent lane.It can be determined that the vehicle enters an adjacent lane from the lane of travel when the front wheel of the vehicle closest to the adjacent lane crosses the white line. When the driver operates the turn signal control lever, the turn signal control unit 15 determines that the enable or disable conditions have been met.

[0053] If a predetermined time period has elapsed since the lane change control was aborted and the vehicle was switched to manual driving mode, the turn signal control unit 15 determines that the release or

[0054] The release conditions have been met. Additionally, if the vehicle has traveled a predetermined distance since the lane change control was aborted and the vehicle has been switched to manual driving mode, the turn signal control unit 15 can determine that the release conditions have been met. For example, the turn signal control unit 15 calculates the distance traveled from the vehicle speed and the elapsed time.

[0055] If the vehicle has moved a predetermined distance laterally since the lane change control was aborted and the vehicle was switched to manual driving mode, the turn signal control unit 15 can determine that the enable or disable conditions have been met. The turn signal control unit 15 calculates the vehicle's lateral movement distance based on the vehicle's lateral position, which is detected by the vehicle position detection unit 11.

[0056] When it is determined that the enable or disable conditions have been met, the turn signal control unit 15 enables or disables the retention of the turn signal's ON state to turn the turn signal off. If the enable or disable conditions are met and the turn signal is off, the turn signal control unit 15 can notify the driver that the turn signal has been turned off via the HMI 8. When the retention of the turn signal's ON state is enabled or disabled, the turn signal control unit 15 does not necessarily turn the turn signal off. Lane change control start process in the vehicle control system

[0057] Next, the lane change control start process in the vehicle control system 100 according to this embodiment will be described. Fig. 3 is a flowchart that depicts the lane change control start process. The process in the flowchart, which is in Fig. 3 is performed when the lane change control is determined to be started by automatic driving, or when the driver performs a lane change control start actuation.

[0058] As it is in Fig. As shown in Figure 3, in S10 the ECU 10 of the vehicle control system 100 notifies the driver that the lane change control has been initiated by the HMI 8. The HMI 8 emits a sound or displays an image to inform the driver that the lane change control has been initiated in response to a control signal transmitted by the lane change control 14. The ECU 10 then moves to S12.

[0059] In S12, the lane change control unit 14 initiates the lane change control from the ECU 10. The lane change control unit 14 transmits a control signal to the actuator 6 to perform the lane change, which changes the vehicle's lane from the moving lane to an adjacent lane. In S12, if the turn signal near the adjacent lane is in an OFF state, the turn signal control unit 15 automatically activates the turn signal. The turn signal control unit 15 transmits a control signal to the turn signal actuator unit 7 to activate the turn signal. Lane change control end process and lane change control abort process in the vehicle control system

[0060] Next, a lane change control end process and a lane change control abort process in the vehicle control system 100 will be described with reference to Fig. 4 described. Fig. 4 is a flowchart depicting the lane change control end process and the lane change control abort process. The processes in the flowchart, which is in Fig. The steps shown in section 4 are performed when the lane change control is activated in S12. Fig. 3 starts.

[0061] As it is in Fig. As shown in Figure 4, in S20 the lane change control unit 14 determines from the ECU 10 in the vehicle control system 100 whether a lane change has been completed by the lane change control. The lane change control unit 14 determines whether a lane change has been completed based on the lateral position of the vehicle, which is detected by the vehicle position detection unit 11. If it is determined that a lane change has been completed (S20: YES), the ECU 10 advances to S22. If it is determined that a lane change has not been completed (S20: NO), the ECU 10 advances to S26.

[0062] In S22, the ECU 10 notifies the driver that the lane change control has ended via the HMI 8. The HMI 8 emits a sound or displays an image to notify the driver that the lane change control has ended, in response to a control signal transmitted by the lane change control unit 14. The ECU 10 then advances to S24.

[0063] In S24, the lane change control unit 14 of the ECU 10 terminates the lane change control. If the turn signal is in an ON state, the turn signal control unit 15 switches the turn signal to an OFF state. If the vehicle moves into an adjacent lane from the moving lane during the lane change control, the turn signal control unit 15 can switch the turn signal near the adjacent lane to an OFF state. Then the ECU 10 terminates the current process.

[0064] In S26, the lane change control unit 14 determines from the ECU 10 whether the abort conditions have been met. For example, if the driver's action that aborts the lane change control is detected based on the detection result from the action detection unit 5, the lane change control unit 14 determines that the abort conditions have been met. If another vehicle approaching the vehicle within a specified distance range is detected based on the surrounding environment as perceived by the surrounding environment detection unit 12, the lane change control unit 14 determines that the abort conditions have been met. If it is determined that the abort conditions have not been met (S26: NO), the ECU 10 terminates the current process. The ECU 10 then repeats the process from S20.If it is determined that the abort conditions have been met (S26: YES), the ECU 10 advances to S28.

[0065] In S28, the ECU 10 notifies the driver that the lane change control has been aborted via the HMI 8. The HMI 8 emits a sound or displays an image to inform the driver that the lane change control has been aborted in response to a control signal transmitted by the lane change control unit 14. The ECU 10 then advances to S30.

[0066] In S30, the lane change control unit 14 of the ECU 10 terminates the lane change control. The ECU 10 switches the vehicle for which the lane change control was terminated to manual driving mode. In this case, the turn signal unit 15 maintains the turn signal near the adjacent lane in the ON state. Then the ECU 10 terminates the current process. Turn signal enable / disable process in the vehicle control system

[0067] Next, a turn signal enable / disable process will be implemented in the vehicle control system 100 with reference to Fig. 5 described. Fig. Figure 5 is a flowchart depicting the process of releasing and releasing the turn signal, which is maintained in the ON state. The process in the flowchart, which is shown in Fig. The process shown in section 5 is carried out when the turning signal is in the ON state in S30. Fig. 4 is maintained.

[0068] As it is in Fig.As shown in Figure 5, in S40 the lane change control unit 14 determines from the ECU 10 in the vehicle control system 100 whether the enable or disable conditions have been met. If the vehicle, which has been switched to manual drive mode, moves into an adjacent lane from the moving lane, the lane change control unit 14 determines that the enable or disable conditions have been met. If a predetermined time interval has elapsed since the lane change control was aborted and the vehicle has been switched to manual drive mode, the lane change control unit 14 determines that the enable or disable conditions have been met. If it is determined that the enable or disable conditions have been met, the lane change control unit 14 determines that the lane change control has been aborted.

[0069] If the release conditions have not been met (S40: NO), ECU 10 terminates the current process. ECU 10 then repeats the process in S40. If it is determined that the release or cancellation conditions have been met (S40: YES), ECU 10 advances to S42.

[0070] In S42, the ECU 10 notifies the driver that the turn signal has been deactivated via the HMI 8. The HMI 8 emits a sound or displays an image to inform the driver that the turn signal has been deactivated, in response to a control signal transmitted by the turn signal control unit 15. The ECU 10 then advances to S44.

[0071] In S44, the turn signal control unit 15 switches off the turn signal from the ECU 10. The turn signal control unit 15 enables or disables the retention of the turn signal's ON state and switches the turn signal off. The turn signal control unit 15 transmits a control signal to the turn signal drive unit 7 to switch off the turn signal. Then the ECU 10 terminates the current process. Function and effect of the vehicle control system

[0072] According to the aforementioned vehicle control system 100 in this embodiment, if the lane change control is canceled, for example, by an action of the user during the lane change control, and the vehicle is switched to manual driving mode, the turn signal is maintained in an ON state. Therefore, according to vehicle control system 100, the time and effort required by the driver to reactivate the turn signal is eliminated, compared to the prior art system in which the turn signal is automatically switched off when the lane change control is canceled. Consequently, according to vehicle control system 100, it is possible to improve the convenience or comfort of the driver manually changing lanes when a lane change control is canceled.

[0073] According to the vehicle control system 100, when the vehicle enters an adjacent lane from the movement lane, it is determined that the enable / disable conditions have been met, even if the turn signal remains in the ON state. The turn signal is then switched off. If the driver manually changes lanes by moving the vehicle into an adjacent lane from the movement lane, the turn signal can be switched off without driver intervention. This improves driver convenience and comfort. Additionally, when the vehicle enters an adjacent lane from the movement lane, the turn signal is switched off.Therefore, it is possible that drivers of adjacent vehicles will be prevented from misunderstanding that the vehicle is changing its lane to a lane adjacent to the neighboring lane, compared to a case where the turn signal is maintained in an ON state until a lane change control ends.

[0074] The preferred embodiment of the invention has been described above; however, the invention is not limited to the embodiment described above. Various modifications and various improved structures of the invention, which includes the embodiment described above, can be made based on the prior art knowledge of a person skilled in the art.

[0075] For example, the vehicle control system 100 does not necessarily have to perform automated driving. In this case, the vehicle control system 100 can perform lane change control as a driving assistance measure that supports the driver's manual driving. When the lane change control as a driving assistance measure ends, the vehicle control system 100 switches the vehicle's driving state to a state in which the driver is driving the vehicle manually. After the lane change control as a driving assistance measure ends, the vehicle control system 100 can initiate other types of driving assistance, such as lane keeping assist. If the vehicle control system 100 performs lane change control as part of automated driving, the lane change control is not necessarily performed as a driving assistance measure during manual driving.The vehicle control system 100 can perform both lane change control as automated driving and lane change control as driving assistance.

[0076] In the embodiment described above, the vehicle control system 100 includes the GPS receiver 1 and the map database 4. However, the GPS receiver 1 and the map database 4 are not essential. Additionally, the HMI 8 is not essential. This means that, in the embodiment described above, various notifications are transmitted to the driver via the HMI 8. However, this notification to the driver is not essential. Furthermore, the conditions for releasing or canceling the turn signal, which is maintained in an ON state, do not necessarily include the vehicle moving from the lane of travel into an adjacent lane. Reference symbol list 1 GPS receiver unit 2 external sensors 3 internal measuring sensors 4 Map database 5 Actuation detection unit 6 Actuator 7 Turn signal drive unit 11 Vehicle position detection unit 12 Surrounding Environment Detection Unit 13 Movement status detection unit 14 Lane Change Control Unit 15 Turn signal control unit 100 Vehicle control system

Claims

[1] A vehicle control system that performs lane change control for changing a vehicle from a moving lane to an adjacent lane, cancels the lane change control in accordance with at least one of the vehicle driver's actions, the vehicle's surrounding environment and / or the vehicle's moving state during the lane change control, and switches the vehicle to a mode in which the driver drives the vehicle manually, wherein the system comprises: a turning signal control unit configured to switch a vehicle turning signal between an OFF state and an ON state according to the lane change control, characterized by , that the turn signal control unit keeps the turn signal in the ON state until predefined release conditions are met, if the ongoing lane change control is aborted, and by the turning signal control unit determining that the release conditions are met when the vehicle has traveled a certain distance since the lane change control was aborted.

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