Control device of vehicle, control method of vehicle and computer program

Abstract

To suppress that a lane deviation suppression function excessively operates.SOLUTION: A control device 40 of a vehicle 100 is configured to detect a road surface sign on a road on the basis of external environment data regarding environment of the surroundings of the vehicle 100, to implement driving support to warn or avoid deviation of the vehicle from a travel lane on the basis of a detection result of the road surface sign, and to change actuation conditions of the driving support so that implementation of the driving support to approach to a neutral zone is suppressed when the sign showing the neutral zone in which travel of the vehicle 100 is not recommended is included in the road surface sign.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vehicle control device, a vehicle control method, and a computer program. [Background technology]

[0002] Patent Document 1 discloses a conventional lane departure warning device that is configured to change the lane departure judgment line depending on the result of determining whether the dividing lines of the vehicle's lane (e.g., white or yellow lines) are solid or broken. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-49382 A Summary of the Invention [Problem to be solved by the invention]

[0004] Outside the dividing line of the own lane, there may be a neutral zone such as a guide strip (zebra zone) that does not correspond to either the own lane or an adjacent lane. Since driving in the neutral zone is not prohibited, depending on the traffic conditions, etc., a driver may drive part or all of the vehicle into the neutral zone after confirming safety. Therefore, in a vehicle with a lane departure prevention function such as an alarm function or an automatic steering function, if the lane departure judgment line is set without taking such neutral zones into consideration, there is a risk that the lane departure prevention function will be overly activated.

[0005] The present invention has been made in view of such problems, and has an object to prevent the lane departure prevention function from operating excessively. [Means for solving the problem]

[0006] In order to solve the above problems, a vehicle control device according to one aspect of the present invention is configured to detect road markings on a road based on external environmental data relating to the environment around the vehicle, and implement driving assistance to warn of or avoid the vehicle deviating from its lane based on the road marking detection results, and if the road markings include a marking indicating a neutral zone where driving of the vehicle is not recommended, change the operating conditions of the driving assistance so that the implementation of driving assistance for the vehicle entering the neutral zone is suppressed.

[0007] In addition, a vehicle control method according to one aspect of the present invention detects road markings on a road based on external environmental data regarding the environment around the vehicle, and provides driving assistance to warn of or avoid the vehicle's departure from its lane based on the road marking detection results, and if the road markings include a marking indicating a neutral zone where driving of the vehicle is not recommended, changes the operating conditions of the driving assistance so that the implementation of driving assistance for the vehicle's entry into the neutral zone is suppressed.

[0008] In addition, a computer program for a vehicle control device according to one embodiment of the present invention causes the control device to detect road markings on a road based on external environmental data related to the environment around the vehicle, and implement driving assistance to warn of or avoid the vehicle deviating from its lane based on the detection results of the road markings, and if the road markings include a marking indicating a neutral zone where driving of the vehicle is not recommended, change the operating conditions of the driving assistance so that the implementation of driving assistance for the vehicle entering the neutral zone is suppressed. Effect of the Invention

[0009] According to these aspects of the present invention, when the road markings include a marking indicating a neutral zone, the operating conditions of the driving assistance are changed so that the implementation of driving assistance for the vehicle entering the neutral zone is suppressed, thereby suppressing excessive operation of the lane departure prevention function when the vehicle enters the neutral zone. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic system configuration diagram of a vehicle according to an embodiment of the present invention; [Diagram 2] 5 is a flowchart illustrating details of control for setting a lane departure judgment line according to an embodiment of the present invention. [Diagram 3] FIG. 1 is a diagram showing an example of a scene in which a vehicle is traveling on a road in which a neutral zone is provided outside the vehicle's travel lane, the neutral zone including the section line of the travel lane as part of the boundary line. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In the following description, like components are given the same reference numerals. In addition, in this specification, the traffic rules of countries where vehicles are required to drive on the left side of the road are followed.

[0012] FIG. 1 is a schematic system configuration diagram of a vehicle 100 according to an embodiment of the present invention.

[0013] The vehicle 100 includes a steering device 10, an external environment sensor 20, a vehicle sensor 25, a human machine interface (HMI) 30, and a control device 40. The steering device 10, the external environment sensor 20, the vehicle sensor 25, the HMI 30, and the control device 40 are communicatively connected to each other via an in-vehicle network 110 that complies with a standard such as a controller area network.

[0014] The steering device 10 is a device for steering the left and right wheels (hereinafter referred to as "steered wheels") 120 of a vehicle to change the traveling direction of the vehicle. The steering device 10 according to this embodiment includes a steering wheel 50, a steering shaft 60, a rack-and-pinion gear mechanism 70 including a pinion shaft 71 and a rack shaft 72, a link mechanism 80 connecting the gear mechanism 70 and the steered wheels 120, and a steering assist mechanism 90. Note that, although this embodiment illustrates an example of the steering device 10 in which the steering wheel 50 and the steered wheels 120 are mechanically connected, the steering device 10 may be of a steer-by-wire configuration in which they are not mechanically connected.

[0015] The steering wheel 50 is provided at the driver's seat of the vehicle and is operated by the driver of the vehicle. When the driver of the vehicle operates the steering wheel 50 to rotate the steering wheel 50, the steering angle of the steered wheels 120 changes via the steering shaft 60, the gear mechanism 70, and the link mechanism 80, and the traveling direction of the vehicle changes accordingly.

[0016] One end of the steering shaft 60 is connected to the steering wheel 50 and rotates integrally therewith, and the other end is connected to a pinion shaft 71 of a gear mechanism 70. The steering shaft 60 is divided into a steering input shaft 60a on the steering wheel 50 side and a steering output shaft 60b on the gear mechanism 70 side, and these are connected by a torsion bar 61 that twists according to the direction and magnitude of the steering torque applied to the steering wheel 50 and acting on the steering shaft 60.

[0017] The gear mechanism 70 is configured to convert the rotational motion of the pinion shaft 71 into left and right linear motion along the axial direction of the rack shaft 72. One end of the pinion shaft 71 is connected to the steering output shaft 60b and rotates integrally with the steering shaft 60. A pinion gear is formed on the outer circumferential surface of the other end of the pinion shaft 71. The rack shaft 72 extends left and right substantially parallel to the vehicle width direction, and a rack gear that meshes with the pinion gear is formed on part of its outer circumferential surface. As a result, when the pinion shaft 71 rotates, the rack shaft 72 moves left and right along the axial direction depending on the rotation direction.

[0018] The link mechanism 80 includes tie rods 81 attached to both ends of the rack shaft 72 and knuckle arms (not shown) connected to each tie rod 81 to support each steered wheel 120, and is configured to transmit the left and right linear motion of the rack shaft 72 to the steered wheels 120 to change their direction (steered angle).

[0019] The steering assist mechanism 90 includes a motor 91 and a reducer 92 that transmits the output of the motor 91 to the steering output shaft 60b. The motor 91 is controlled by the control device 40 to generate a motor torque MT, and transmits the motor torque MT to the steering output shaft 60b via the reducer 92. This makes it possible to reduce the steering force of the steering wheel 50 and automatically perform the steering operation of the steering wheel 50.

[0020] The external environment sensor 20 is a sensor for generating data related to the environment around the vehicle 100 (hereinafter referred to as "external environment data"). In this embodiment, the vehicle 100 is equipped with one or more external cameras 21 for capturing images of the surroundings of the vehicle 100 as the external environment sensor 20. The external camera 21 captures images of the surroundings of the vehicle 100 at a predetermined frame rate (for example, 10 [Hz] to 40 [Hz]) and generates camera images showing the surroundings of the vehicle 100. Every time the external camera 21 generates a camera image, it transmits the generated camera image to the control device 40 as external environment data.

[0021] In addition to the external camera 21, a distance measurement sensor that measures the distance to targets such as other vehicles, pedestrians, and buildings around the vehicle 100 may be provided as the external environment sensor 20. Examples of distance measurement sensors include a LiDAR (Light Detection And Ranging) that irradiates radar light and measures distance based on the reflected light, and a millimeter wave radar sensor that irradiates radio waves and measures distance based on the reflected waves.

[0022] The vehicle sensor 25 is a sensor for generating data (hereinafter referred to as "vehicle data") related to the state of the vehicle 100, such as the running speed, attitude, and current position of the vehicle 100. In this embodiment, the vehicle 100 includes, as the vehicle sensors 25, a speed sensor 26 for detecting the running speed of the vehicle 100, a yaw rate sensor 27 for detecting the rate of change of the yaw angle when the vehicle 100 turns, i.e., the rotational angular velocity (yaw rate) of the vehicle 100 about the vertical axis to detect the attitude of the vehicle 100, and a GNSS receiver 28 for detecting the current position of the vehicle 100.

[0023] The HMI 30 is a user interface for exchanging information between the vehicle 100 and its occupants. The HMI 30 includes an output device 31 for notifying the vehicle occupant through the vehicle occupant's bodily senses (e.g., vision, hearing, touch, etc.), and an input device 32 for the vehicle occupant to perform input operations and response operations. Examples of the output device 31 include displays (e.g., a meter display, a center display, a head-up display, etc.), lamps, speakers, vibration units, etc. Examples of the input device 32 include a touch panel, operation buttons, operation switches, microphones, etc.

[0024] In this embodiment, the HMI 30 displays information (e.g., text information or image information) on a display in response to a display signal received from the control device 40 via the in-vehicle network 110, and outputs sound from a speaker in response to a sound signal. The HMI 30 also transmits data input by the occupant via the input device 32 (hereinafter referred to as "occupant input data") to the control device 40 via the in-vehicle network 110.

[0025] The control device 40 is an ECU (Electronic Control Unit) including a communication unit 41, a storage unit 42, and a processing unit 43.

[0026] The communication unit 41 includes an interface circuit for connecting the control device 40 to the in-vehicle network 110. The communication unit 41 supplies data received from the outside (for example, external environment data, vehicle data, and occupant input data) to the processing unit 43. The communication unit 41 also transmits display signals and audio signals output from the processing unit 43 to the HMI 30, and outputs a motor control signal to the motor 91.

[0027] The storage unit 42 has a storage medium such as a hard disk drive (HDD), a solid disk drive (SSD), or a semiconductor memory, and stores various computer programs and data used for processing by the processing unit 43.

[0028] The processing unit 43 includes one or more CPUs (Central Processing Units) and their peripheral circuits. The processing unit 43 executes various computer programs stored in the storage unit 42, and is, for example, a processor.

[0029] As an example of the processing performed by the processing unit 43, the processing unit 43 detects road markings (division lines, and road markings such as regulation signs and instruction signs) on the road based on the camera image included in the external environment data, and recognizes the lane in which the host vehicle 100 is traveling (hereinafter referred to as "host lane"). Typical examples of division lines are white and yellow lines on the road. Typical examples of road markings are arrows indicating the directions in which the vehicle can travel, such as going straight, turning right, and turning left, and guidance zones (zebra zones) provided in places on the road where it is necessary to guide the traveling vehicle.

[0030] Then, the processing unit 43 judges whether or not there is a risk of the host vehicle 100 deviating from its own lane based on the recognition result of the host vehicle lane and the vehicle data, and if there is a risk, issues an alarm (hereinafter referred to as a "lane departure alarm") to the vehicle occupants notifying them that the host vehicle 100 is likely to deviate from its own lane via the output device 31 of the HMI 30. Specifically, the processing unit 43 basically sets the dividing lines on the left and right of the host vehicle lane as lane departure judgment lines, predicts the arrival position of the front wheels of the host vehicle 100 after a predetermined time has elapsed (e.g., after several seconds) based on the position of the host vehicle 100 in the lane, the traveling direction of the host vehicle 100, the traveling speed of the host vehicle 100, and the like, and issues a lane departure alarm when it is estimated that the front wheels will reach the lane departure judgment line after the predetermined time has elapsed.

[0031] The lane departure warning may be implemented by the driver's vision through displays and lamps, by the driver's hearing through a speaker, by the driver's sense of touch through a vibration unit built into the driver's seat, or by a combination of these. In addition, when it is estimated that the front wheels will reach the lane departure judgment line after a predetermined time has elapsed, a steering assist may be implemented in which the steering assist mechanism 90 automatically steers the steering wheel 50 so that the vehicle 100 does not deviate from the vehicle's lane, in addition to or instead of the lane departure warning.

[0032] Incidentally, there are cases where a neutral zone, which is neither the own lane nor a driving lane adjacent to the own lane (hereinafter simply referred to as an "adjacent lane"), is provided outside the dividing line of the own lane by, for example, a white line painted on the road surface. A typical example of a neutral zone is a guide strip (zebra zone) which is marked by white lines painted in stripes on the road surface. Driving in the neutral zone is not prohibited although it is not recommended, so depending on the traffic conditions, etc., a driver may deviate from the own lane and drive part or all of his / her vehicle into the neutral zone after confirming safety.

[0033] Therefore, if the left and right dividing lines of the vehicle's lane are set as lane departure judgment lines without considering the existence of such neutral zones, the lane departure warning and steering assist, i.e., the driving assistance function for suppressing lane departure (hereinafter referred to as the "lane departure suppression function") may be excessively activated. As a result, the vehicle occupants may find the lane departure suppression function annoying.

[0034] Therefore, in this embodiment, when a neutral zone is provided outside the own lane, the lane departure judgment line is set so that the lane departure suppression function is less likely to operate than when no neutral zone is provided. Hereinafter, the setting control of the lane departure judgment line according to this embodiment will be described with reference to Figures 2 and 3.

[0035] Fig. 2 is a flowchart for explaining a detailed method of setting and controlling a lane departure judgment line, which is implemented by the processing unit 43 and, in turn, the control device 40. Fig. 3 is a diagram showing an example of a scene in which the vehicle 100 is traveling on a road where a neutral zone is provided outside the vehicle's lane, with the vehicle's lane section line being a part of the boundary line.

[0036] In step S1, the control device 40 detects road markings on the road by performing various image processing such as edge detection processing on the camera image received from the external camera 21. Note that the detection of road markings on the road is not limited to this method and can be performed by various known methods.

[0037] In step S2, the control device 40 recognizes the vehicle's travel lane (hereinafter referred to as "own lane") defined by the dividing lines LL, LR based on the dividing lines LL, LR on the left and right sides of the vehicle among the detected road markings (see FIG. 3).

[0038] In step S3, the control device 40 determines whether the detected road markings include a marking indicating a neutral zone. In this embodiment, if the detected road markings include a guidance strip (zebra zone) that has the current lane section line as part of the boundary line, the control device 40 proceeds to processing in step S4. On the other hand, if the detected road markings do not include a guidance strip (zebra zone), the control device 40 proceeds to processing in step S6.

[0039] In step S4, the control device 40 determines whether the detected road markings include a right-turn road marking such as a right-turn arrow (or a left-turn road marking in a country where driving on the right is mandatory). In this embodiment, if the detected road markings include a right-turn road marking indicating that the lane ahead, which is guided by the guidance strip, is a right-turn lane, the control device 40 proceeds to processing in step S5. On the other hand, if the detected road markings do not include a right-turn road marking, the control device 40 proceeds to processing in step S6.

[0040] In this embodiment, the reason why such a condition is set in step S4 is as follows. That is, since entering the guidance strip is not prohibited but not recommended, the lane departure prevention function is suppressed from operating only in a scene where entering the guidance strip is particularly likely to occur, that is, a scene where there is a right-turn-only lane ahead of the guidance strip. Therefore, in another embodiment, step S4 may be omitted, and the process may proceed directly to step S5 if the detected road markings include a marking indicating a neutral zone.

[0041] In step S5, the control device 40 sets the lane departure judgment line to a function suppression line. The function suppression line is a virtual line that allows the vehicle to cross the dividing line of the lane in question and enter a part or all of the vehicle into a neutral zone that uses the dividing line as part of the boundary line without activating the lane departure function.

[0042] In this embodiment, the control device 40 sets a function inhibition line on the right side of the vehicle 100 based on a right-side dividing line LR of the vehicle's lane and a right-side boundary line BR of a neutral zone (guiding strip) with the dividing line LR as the left-side boundary line BL, as shown in Fig. 3 for example. More specifically, the control device 40 sets a virtual line connecting a line segment LW, which is parallel to the lane width direction (direction perpendicular to the lane travel direction) connecting the right-side dividing line LR of the vehicle's lane and the right-side boundary line BR of the neutral zone (guiding strip) with the dividing line LR as the left-side boundary line BL, and an internal division point Q, which divides the line segment LW at a predetermined internal division ratio, in the lane travel direction, as the function inhibition line on the right side of the vehicle 100. The function inhibition line on the left side of the vehicle 100 is set to, for example, the left-side dividing line LL of the vehicle's lane.

[0043] If the distance from the dividing line LR to the dividing point Q is DX, and the distance from the dividing point Q to the boundary line BR is DY, for example, by setting the internal division ratio DX:DY to 1:1, a virtual line connecting the midpoints of the line segment LW in the direction of travel of the lane can be set as the function suppression line. That is, the function suppression line can be set in the center of the neutral zone. Also, for example, by setting the internal division ratio DX:DY to 2:1, making DX larger than DY, the function suppression line can be shifted from the center of the neutral zone to the boundary line BR side, and conversely, by setting the internal division ratio DX:DY to 1:2, making DX smaller than DY, the function suppression line can be shifted from the center of the neutral zone to the dividing line LR side. In this way, by setting the internal division ratio DX:DY so that the dividing point Q is located inside the neutral zone, that is, by setting the function departure line inside the neutral zone, the operation of the lane departure function for the dividing line of the own lane that constitutes the boundary line of the neutral zone can be suppressed.

[0044] Also, the boundary line BL can be set as the function suppression line by setting DY to 0. In this way, the lane departure function for the neutral zone can be suppressed. In other words, the boundary line BL is also the adjacent lane marking LRR of the lane marking LR of the own lane.

[0045] In any case, the internal ratio DX:DY may be set appropriately. The internal ratio DX:DY may be a fixed ratio in advance, or may be changed according to the surrounding traffic conditions (congested or not congested) and the traveling speed of the host vehicle 100. For example, in a traffic jam, entering a neutral zone may allow smoother movement, so the internal ratio DX:DY may be changed so that the function suppression line is shifted toward the boundary line BR compared to when the vehicle is not congested. The method of determining the surrounding traffic conditions is not particularly limited, and may be determined based on, for example, external environment data or the average traveling speed of the host vehicle 100 for a certain period of time.

[0046] In step S6, the control device 40 sets the lane departure judgment line as the reference line. The reference line is a virtual line that can determine whether the vehicle is likely to depart from the lane or whether the vehicle has actually departed from the lane. In this embodiment, the control device 40 sets the left and right dividing lines LL and LR of the lane as the reference lines.

[0047] The control device 40 of the vehicle 100 according to the present embodiment described above is configured to detect road markings on the road based on external environmental data relating to the environment around the vehicle 100, and to implement driving assistance to warn of or avoid deviation from the vehicle's lane (the lane in which the vehicle 100 is traveling) based on the detection results of the road markings, and if the road markings include a marking indicating a neutral zone in which it is not recommended that the vehicle 100 travel, to change the operating conditions of the driving assistance so that the implementation of driving assistance for entering the neutral zone is suppressed.

[0048] Thus, according to this embodiment, when the road markings include a marking indicating a neutral zone, the operating conditions of the driving assistance are changed so that the implementation of driving assistance for the vehicle entering the neutral zone is suppressed, thereby suppressing excessive operation of the lane departure prevention function when the vehicle enters the neutral zone.

[0049] The control device 40 according to this embodiment is configured to change the operating conditions of the driving assistance so that the implementation of driving assistance for entering the neutral zone across a boundary line that defines the neutral zone and that extends diagonally toward the direction of travel of the vehicle's lane is at least suppressed.

[0050] This makes it possible to prevent the lane departure prevention function from operating excessively in situations where driving through the neutral zone after confirming safety would result in smoother movement.

[0051] For example, the control device 40 can be configured to set a lane departure judgment line used to determine departure from the vehicle's own lane based on the detection results of road markings, and when the dividing line LR of the vehicle's own lane constitutes part of the boundary line BL of the neutral zone, to set the lane departure judgment line (departure judgment line) within the neutral zone.

[0052] More specifically, the control device 40 can be configured to set, as the lane departure judgment line, a virtual line connecting a dividing point Q that divides a line segment LW that is parallel to the lane width direction perpendicular to the traveling direction of the own lane and connects the dividing line LR of the own lane and an adjacent dividing line LLR of the own lane, which constitutes another part of the boundary line of the neutral zone, at a predetermined internal division ratio.

[0053] In this way, by setting the internal division ratio so that the internal division point Q is located inside the neutral zone, i.e., by setting the lane departure judgment line inside the neutral zone, it is possible to suppress the operation of the lane departure function for the dividing line LR of the own lane, which constitutes the boundary line BL of the neutral zone.

[0054] At this time, by changing the interior division ratio based on the traffic conditions or the traveling speed around the host vehicle 100, the operation of the lane departure function can be appropriately suppressed according to the traffic conditions or the traveling speed.

[0055] In addition, the control device 40 can also be configured to set an adjacent dividing line LRR of the dividing line LR of the own lane, which constitutes another part of the boundary line of the neutral zone, as a lane departure judgment line when the dividing line LR of the own lane constitutes part of the boundary line BL of the neutral zone.

[0056] This makes it possible to suppress the activation of the lane departure function for the entire neutral zone.

[0057] Also, in this embodiment, the neutral zone is a guidance strip (zebra zone) defined by a boundary line painted on the road surface, and the control device 40 is configured to change the operating conditions of the driving assistance so that the implementation of driving assistance for entering the neutral zone is suppressed when the road markings include a marking indicating a guidance strip and a marking indicating that the driving lane to which the guidance strip leads is a right-turn lane.

[0058] Although entering the guidance strip is not prohibited, it is not recommended either. With this configuration, the lane departure prevention function can be suppressed from operating only in situations where entering the guidance strip is particularly likely, i.e., when there is a right-turn-only lane in front of the guidance strip.

[0059] Furthermore, in this embodiment, when the road markings do not include a marking indicating a neutral zone, the control device 40 is configured to set the left and right dividing lines LL, LR of the own lane as departure determination lines.

[0060] This makes it possible to prevent the host vehicle 100 from departing from its own lane when a neutral zone is not detected.

[0061] Although the embodiments of the present invention have been described above, the above-mentioned embodiments merely show some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above-mentioned embodiments.

[0062] For example, in this embodiment, road markings are detected based on camera images, but road markings may also be detected based on fusion data (FNS data) obtained by integrating camera images and data obtained from a distance measurement sensor.

[0063] In addition, when it is determined that there is an oncoming vehicle in the opposite lane, or when it is predicted that the oncoming vehicle will enter the neutral zone based on the direction of travel of the oncoming vehicle, the lane departure judgment line may not be set as a function suppression line, but rather the lane departure judgment line may be set, for example, to the left and right dividing lines LL, LR of the vehicle's own lane, i.e., the reference line, and an early warning or steering assist may be implemented.

[0064] In the above embodiment, the neutral zone may be a zone where there are road markings prohibiting parking and stopping.

[0065] In addition, in the above embodiment, the computer program executed in the control device 40 may be provided in a form recorded on a computer-readable portable recording medium, such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of symbols]

[0066] 40 Control device 100 vehicles

Claims

1. A control device for a vehicle, Detecting road markings on a road based on external environmental data relating to an environment around the vehicle; Based on the detection result of the road marking, a driving assistance is provided to warn or avoid the deviation of the vehicle from a driving lane; When the road markings include a marking indicating a neutral zone in which driving of the vehicle is not recommended, an operating condition of the driving assistance is changed so that the implementation of the driving assistance for entering the neutral zone is suppressed. Vehicle control device.

2. setting a departure determination line used to determine a departure of the vehicle from the driving lane based on the detection result of the road marking; When a dividing line of a lane of the vehicle constitutes a part of a boundary line of the neutral zone, the departure judgment line is set within the neutral zone. The vehicle control device according to claim 1 .

3. The deviation judgment line is set by connecting a virtual line that connects a line segment that is perpendicular to the traveling direction of the vehicle and parallel to the lane width direction of the lane and that connects a lane marking of the vehicle's traveling lane and an adjacent lane marking that constitutes another part of the boundary line of the neutral zone, and that divides the line segment at a predetermined division ratio. The vehicle control device according to claim 2.

4. The internal division ratio is changed based on a traffic condition around the vehicle or a traveling speed of the vehicle. The vehicle control device according to claim 3.

5. setting a departure determination line used to determine a departure of the vehicle from the driving lane based on the detection result of the road marking; When a lane marking of the vehicle's driving lane constitutes a part of the boundary line of the neutral zone, an adjacent lane marking of the lane marking that constitutes another part of the boundary line of the neutral zone is set as the departure judgment line. The vehicle control device according to claim 1 .

6. The neutral zone is a guidance strip defined by a boundary line painted on the road surface, When the road markings include a marking indicating the guidance strip and a marking indicating that the driving lane to which the guidance strip is directed is a right-turn lane, an operating condition of the driving assistance is changed so that the implementation of the driving assistance for entering the neutral zone is suppressed. The vehicle control device according to any one of claims 1 to 5.

7. When the road markings do not include a marking indicating the neutral zone, a lane marking of the vehicle is set as the departure judgment line. The vehicle control device according to any one of claims 2 to 5.

8. The driving assistance system is configured to change an operating condition of the driving assistance so that the driving assistance is at least suppressed when entering the neutral zone across a boundary line that extends obliquely toward the traveling direction of the driving lane, among the boundary lines of the neutral zone that divide the neutral zone. The vehicle control device according to claim 1 .

9. A method for controlling a vehicle, comprising: Detecting road markings on a road based on external environmental data relating to an environment around the vehicle; Based on the detection result of the road marking, a driving assistance is provided to warn or avoid the deviation of the vehicle from a driving lane; When the road markings include a marking indicating a neutral zone in which driving of the vehicle is not recommended, an operating condition of the driving assistance is changed so that the implementation of the driving assistance for the vehicle entering the neutral zone is suppressed. How to control a vehicle.

10. A computer program for a vehicle control device, comprising: The control device includes: Detecting road markings on a road based on external environment data relating to an environment around the vehicle; Implementing driving assistance to warn of or avoid deviation from a driving lane of the vehicle based on a result of the detection of the road markings; When the road markings include a marking indicating a neutral zone in which driving of the vehicle is not recommended, an operating condition of the driving assistance is changed so that the implementation of the driving assistance for the vehicle entering the neutral zone is suppressed. A computer program to make something happen.

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