Travel control device, travel control method, and program

Abstract

To suppress reverse travel of an own vehicle after a road structure is changed.SOLUTION: A travel control device 14 includes: a first determination unit 3B that determines whether or not a traveling direction of an own lane in which the own vehicle 1 travels and a traveling direction of an adjacent lane adjacent to the own lane are the same; a second determination unit 3C that determines whether or not a structure of a road on which the own vehicle 1 travels has changed; and a travel control unit 3D that restricts movement of the own vehicle 1 from the own lane to the adjacent lane when the second determination unit 3C determines that the structure of the road on which the own vehicle 1 travels has changed after the first determination unit 3B determines that the traveling direction of the own lane and the traveling direction of the adjacent lane are the same.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a driving control device, a driving control method, and a program.

Background Art

[0002] Patent Document 1 describes a technique for preventing lane changes as much as possible after passing through an intersection.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the technique described in Patent Document 1, in order to reduce the driver's burden, navigation is performed to prevent lane changes as much as possible after passing through an intersection. That is, in the technique described in Patent Document 1, it is not confirmed whether the traveling direction of the own lane in which the own vehicle travels is the same as the traveling direction of the adjacent lane adjacent to the own lane. Therefore, in the technique described in Patent Document 1, there is a possibility that the own vehicle may change lanes to an adjacent lane whose traveling direction is opposite to that of the own lane and reverse travel.

[0005] In view of the above points, an object of the present disclosure is to provide a driving control device, a driving control method, and a program that can suppress reverse travel of the own vehicle after a road structure changes.

Means for Solving the Problems

[0006] (1) One aspect of the present disclosure is a travel control device including: a first determination unit that determines whether the traveling direction of the own lane on which the own vehicle travels is the same as the traveling direction of an adjacent lane adjacent to the own lane; a second determination unit that determines whether the structure of the road on which the own vehicle travels has changed; and a travel control unit that restricts the movement of the own vehicle from the own lane to the adjacent lane when the second determination unit determines that the structure of the road on which the own vehicle travels has changed after the first determination unit determines that the traveling direction of the own lane is the same as the traveling direction of the adjacent lane.

[0007] (2) In the travel control device according to (1), after the first determination unit determines that the traveling direction of the own lane is the same as the traveling direction of the adjacent lane, when the second determination unit determines that the structure of the road on which the own vehicle travels has changed, the first determination unit may clear the determination result indicating that the traveling direction of the own lane is the same as the traveling direction of the adjacent lane.

[0008] (3) In the travel control device according to (2), after the first determination unit determines that the traveling direction of the own lane is the same as the traveling direction of the adjacent lane, when the second determination unit determines that the structure of the road on which the own vehicle travels has changed, the first determination unit may re-determine whether the traveling direction of the own lane is the same as the traveling direction of the adjacent lane based on the information obtained after the second determination unit determines that the structure of the road on which the own vehicle travels has changed.

[0009] (4) In the travel control device according to (3), after the first determination unit re-determines that the traveling direction of the own lane is the same as the traveling direction of the adjacent lane, when the second determination unit determines that the structure of the road on which the own vehicle travels has not changed, the travel control unit may allow the movement of the own vehicle from the own lane to the adjacent lane.

[0010] (5) In the travel control device according to (1), the second determination unit may determine that the structure of the road on which the own vehicle travels has changed when the number of lanes included in the road on which the own vehicle travels has increased.

[0011] (6) In the traveling control device of (1), when the number of lanes included in the road on which the host vehicle travels decreases, the second determination unit may determine that the structure of the road on which the host vehicle travels has changed.

[0012] (7) In the traveling control device of (1), when there is an intersecting road that intersects the road on which the host vehicle travels, the second determination unit may determine that the structure of the road on which the host vehicle travels has changed.

[0013] (8) One aspect of the present disclosure is a traveling control method including: a first determination step of determining whether a traveling direction of a host lane on which a host vehicle travels is the same as a traveling direction of an adjacent lane adjacent to the host lane; a second determination step of determining whether a structure of a road on which the host vehicle travels has changed; and a traveling control step of restricting movement of the host vehicle from the host lane to the adjacent lane when it is determined in the second determination step that the structure of the road on which the host vehicle travels has changed after it is determined in the first determination step that the traveling direction of the host lane and the traveling direction of the adjacent lane are the same.

[0014] (9) One aspect of the present disclosure is a program for causing a processor to execute: a first determination step of determining whether a traveling direction of a host lane on which a host vehicle travels is the same as a traveling direction of an adjacent lane adjacent to the host lane; a second determination step of determining whether a structure of a road on which the host vehicle travels has changed; and a traveling control step of restricting movement of the host vehicle from the host lane to the adjacent lane when it is determined in the second determination step that the structure of the road on which the host vehicle travels has changed after it is determined in the first determination step that the traveling direction of the host lane and the traveling direction of the adjacent lane are the same.

Advantages of the Invention

[0015] According to the present disclosure, it is possible to suppress reverse traveling of the host vehicle after the road structure has changed.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

[0017] Hereinafter, embodiments of a traveling control device, a traveling control method, and a program according to the present disclosure will be described with reference to the drawings.

[0018] <First Embodiment> FIG. 1 is a diagram showing an example of a host vehicle 1 to which a traveling control device 14 according to the first embodiment is applied. In the example shown in FIG. 1, the host vehicle 1 includes a surrounding situation sensor 11, a vehicle state sensor 12, an HMI (Human Machine Interface) 13, a driving control device 14, a steering actuator 15A, a braking actuator 15B, and a driving actuator 15C. The surrounding situation sensor 11 detects objects (such as traffic signs, surrounding vehicles, structures, etc.) existing around the host vehicle 1 and transmits the detection result to the driving control device 14. The surrounding situation sensor 11 includes, for example, a camera that captures the front, side, rear, etc. of the host vehicle 1, LiDAR (Light Detection And Ranging), radar, sonar, etc. The vehicle state sensor 12 detects the state of the host vehicle 1 and transmits the detection result to the driving control device 14. The vehicle state sensor 12 includes, for example, a vehicle speed sensor, an acceleration sensor, etc. The HMI 13 has functions such as receiving various operations of the driver of the host vehicle 1 and outputting information to the driver of the host vehicle 1 by display, voice, etc., and transmits a signal indicating the operation of the driver of the host vehicle 1 to the driving control device 14. The driving control device 14 controls the driving of the host vehicle 1. Specifically, the driving control device 14 is composed of a driving support ECU (Electronic Control Unit), and controls the steering actuator 15A, the braking actuator 15B, and the driving actuator 15C based on information (data, signals) transmitted from, for example, the surrounding situation sensor 11, the vehicle state sensor 12, and the HMI 13.

[0019] The travel control device 14 is composed of a microcomputer including a communication interface (I / F) 141, a memory 142, and a processor 143. The communication interface 141 has an interface circuit for connecting the travel control device 14 to the surrounding situation sensor 11, the vehicle state sensor 12, the HMI 13, the steering actuator 15A, the braking actuator 15B, and the driving actuator 15C. The memory 142 stores programs and various data used in the processes executed by the processor 143. The processor 143 has functions as an acquisition unit 3A, a first determination unit 3B, a second determination unit 3C, and a travel control unit 3D. The acquisition unit 3A acquires the detection result of the surrounding situation sensor 11, the detection result of the vehicle state sensor 12, a signal indicating the operation of the driver of the host vehicle 1 received by the HMI 13, and the like. Based on the detection result of the surrounding situation sensor 11 acquired by the acquisition unit 3A, the first determination unit 3B determines whether the traveling direction of the host lane L11 - L12 (see FIGS. 2 and 3) on which the host vehicle 1 travels is the same as the traveling direction of the adjacent lanes L21 - L22 (see FIGS. 2 and 3) adjacent to the host lanes L11 - L12. The first determination unit 3B uses, for example, a model obtained by performing learning using teacher data, which is a data set of the detection result of the surrounding situation sensor mounted on the learning vehicle and a label indicating whether the traveling direction of the host lane on which the learning vehicle travels is the same as the traveling direction of the adjacent lane adjacent to the host lane, to determine, based on the detection result of the surrounding situation sensor 11, whether the traveling direction of the host lanes L11 - L12 on which the host vehicle 1 travels is the same as the traveling direction of the adjacent lanes L21 - L22 adjacent to the host lanes L11 - L12.

[0020] In an example where the surrounding situation sensor 11 includes a camera that captures the front of the host vehicle 1 and the acquisition unit 3A acquires a camera image as a detection result of the surrounding situation sensor 11, when the traffic sign for the host lane faces the host vehicle 1 and the traffic sign for the adjacent lane is visible from the host vehicle 1 in the reverse direction, the first determination unit 3B determines that the traveling direction of the host lane and the traveling direction of the adjacent lane are not the same. When the traffic sign for the host lane faces the host vehicle 1 and the traffic sign for the adjacent lane faces the host vehicle 1, the first determination unit 3B determines that the traveling direction of the host lane and the traveling direction of the adjacent lane are the same.

[0021] In another example (for example, in an example where the acquisition unit 3A acquires detection results such as LiDAR, radar, sonar, etc. as detection results of the surrounding situation sensor 11), the first determination unit 3B may determine whether the traveling direction of the host lanes L11 to L12 and the traveling direction of the adjacent lanes L21 to L22 are the same based on the relative speed between the preceding vehicle traveling in the host lanes L11 to L12 and the host vehicle 1 and the relative speed between the surrounding vehicles traveling in the adjacent lanes L21 to L22 and the host vehicle 1. In this example, when the relative speed (absolute value) between the surrounding vehicles traveling in the adjacent lanes L21 to L22 and the host vehicle 1 is considerably larger compared to the relative speed (absolute value) between the preceding vehicle traveling in the host lanes L11 to L12 and the host vehicle 1 (for example, when it is about twice the speed limit of the host lanes L11 to L12), the first determination unit 3B determines that the traveling direction of the host lanes L11 to L12 and the traveling direction of the adjacent lanes L21 to L22 are not the same.

[0022] FIG. 2 is a diagram showing an example in which the first determination unit 3B determines that the traveling direction of the host lane L11 on which the host vehicle 1 travels and the traveling direction of the adjacent lane L21 adjacent to the host lane L11 are not the same. In the example shown in FIG. 2, the host lane L11 and the adjacent lane L21 (opposite lane) whose traveling direction is opposite to that of the host lane L11 are included in the road RD1 on which the host vehicle 1 travels. FIG. 3 is a diagram showing an example in which the first determination unit 3B determines that the traveling direction of the vehicle lane L12 on which the host vehicle 1 travels and the traveling direction of the adjacent lane L22 adjacent to the vehicle lane L12 are the same. In the example shown in FIG. 3, the vehicle lane L12, the adjacent lane L22 having the same traveling direction as the vehicle lane L12, and the oncoming lanes L32 and L42 having the traveling direction opposite to that of the vehicle lane L12 are included in the road RD2 on which the host vehicle 1 travels.

[0023] In the example shown in FIG. 1, the second determination unit 3C determines whether or not the structure of the roads RD3 to RD5 (see FIGS. 4 to 6) on which the host vehicle 1 travels has changed based on the detection result of the surrounding situation sensor 11 acquired by the acquisition unit 3A. The second determination unit 3C uses, for example, a model obtained by performing learning using teacher data that is a dataset of the detection result of the surrounding situation sensor mounted on the learning vehicle and a label indicating whether or not the structure of the road on which the learning vehicle travels has changed, and based on the detection result of the surrounding situation sensor 11, determines whether or not the structure of the roads RD3 to RD5 on which the host vehicle 1 travels has changed. For example, when the number of lanes included in the road RD3 (see FIG. 4) on which the host vehicle 1 travels increases, the second determination unit 3C determines that the structure of the road RD3 on which the host vehicle 1 travels has changed.

[0024] FIG. 4 is a diagram showing an example in which the second determination unit 3C determines that the structure of the road RD3 on which the host vehicle 1 travels has changed. In the example shown in FIG. 4, in area AR1, the own lane L13, the adjacent lane L23 having the same traveling direction as the own lane L13, and the oncoming lanes L43, L53 having the traveling direction opposite to that of the own lane L13 are included in the road RD3 on which the own vehicle 1 travels. Therefore, while the own vehicle 1 is traveling in area AR1, the first determination unit 3B determines that the traveling direction of the own lane L13 on which the own vehicle 1 travels is the same as the traveling direction of the adjacent lane L23 adjacent to the own lane L13. In area AR2, the own lane L13, the adjacent lanes L23, L33 having the same traveling direction as the own lane L13, and the oncoming lanes L43, L53, L63 having the traveling direction opposite to that of the own lane L13 are included in the road RD3 on which the own vehicle 1 travels. That is, in area AR2, the number of lanes included in the road RD3 on which the own vehicle 1 travels increases compared to area AR1. Therefore, while the own vehicle 1 is traveling in area AR2, the second determination unit 3C determines that the structure of the road RD3 on which the own vehicle 1 travels has changed.

[0025] In the example shown in FIG. 1, the second determination unit 3C determines that the structure of the road RD4 (see FIG. 5) on which the own vehicle 1 travels has changed even when the number of lanes included in the road RD4 on which the own vehicle 1 travels decreases, for example.

[0026] FIG. 5 is a diagram showing another example in which the second determination unit 3C determines that the structure of the road RD4 on which the own vehicle 1 travels has changed. In the example shown in FIG. 5, in area AR3, the host lane L14, the adjacent lanes L24 and L34 having the same traveling direction as the host lane L14, and the oncoming lanes L44, L54, and L64 having a traveling direction opposite to that of the host lane L14 are included in the road RD4 on which the host vehicle 1 travels. Therefore, while the host vehicle 1 is traveling in area AR3, the first determination unit 3B determines that the traveling direction of the host lane L14 on which the host vehicle 1 travels is the same as the traveling directions of the adjacent lanes L24 and L34 adjacent to the host lane L14. In area AR4, the host lane L14, the adjacent lane L24 having the same traveling direction as the host lane L14, and the oncoming lanes L44 and L54 having a traveling direction opposite to that of the host lane L14 are included in the road RD4 on which the host vehicle 1 travels. That is, in area AR4, the number of lanes included in the road RD4 on which the host vehicle 1 travels is reduced compared to area AR3. Therefore, while the host vehicle 1 is traveling in area AR4, the second determination unit 3C determines that the structure of the road RD4 on which the host vehicle 1 travels has changed.

[0027] In the example shown in FIG. 1, even when there is an intersecting road RD5A (see FIG. 6) that intersects the road RD5 (see FIG. 6) on which the host vehicle 1 travels, the second determination unit 3C determines that the structure of the road RD5 on which the host vehicle 1 travels has changed.

[0028] FIG. 6 is a diagram showing still another example in which the second determination unit 3C determines that the structure of the road RD5 on which the host vehicle 1 travels has changed. In the example shown in FIG. 6, in area AR5, the host lane L15, the adjacent lane L25 having the same traveling direction as the host lane L15, and the oncoming lanes L35 and L45 having a traveling direction opposite to that of the host lane L15 are included in the road RD5 on which the host vehicle 1 travels. Therefore, while the host vehicle 1 is traveling in area AR5, the first determination unit 3B determines that the traveling direction of the host lane L15 on which the host vehicle 1 travels is the same as the traveling direction of the adjacent lane L25 adjacent to the host lane L15. In area AR6, there is an intersecting road RD5A that intersects the road RD5 on which the host vehicle 1 travels. Therefore, while the host vehicle 1 is traveling in area AR6, the second determination unit 3C determines that the structure of the road RD5 on which the host vehicle 1 travels has changed compared to area AR5.

[0029] In the example shown in FIG. 1, after the first determination unit 3B determines that the traveling direction of the own lane and the traveling direction of the adjacent lane are the same, when the second determination unit 3C determines that the structure of the road on which the own vehicle 1 travels has changed, the traveling control unit 3D restricts the movement of the own vehicle 1 from the own lane to the adjacent lane (specifically, lane change). Further, after the first determination unit 3B determines that the traveling direction of the own lane and the traveling direction of the adjacent lane are the same, when the second determination unit 3C determines that the structure of the road on which the own vehicle 1 travels has changed, the first determination unit 3B clears the determination result indicating that the traveling direction of the own lane and the traveling direction of the adjacent lane are the same.

[0030] Specifically, in the example shown in FIG. 4, after the first determination unit 3B determines that the traveling direction of the own lane L13 and the traveling direction of the adjacent lane L23 are the same while the own vehicle 1 is traveling in the area AR1, the second determination unit 3C determines that the structure of the road RD3 on which the own vehicle 1 travels has changed while the own vehicle 1 is traveling in the area AR2. Therefore, the traveling control unit 3D restricts the movement (lane change) of the own vehicle 1 from the own lane L13 to the adjacent lanes L23 and L33 in the area AR2. Further, the first determination unit 3B clears the determination result indicating that the traveling direction of the own lane L13 and the traveling direction of the adjacent lane L23 are the same, which was made while the own vehicle 1 was traveling in the area AR1. In the example shown in FIG. 5, after the first determination unit 3B determines that the traveling direction of the own lane L14 and the traveling directions of the adjacent lanes L24 and L34 are the same while the own vehicle 1 is traveling in the area AR3, the second determination unit 3C determines that the structure of the road RD4 on which the own vehicle 1 travels has changed while the own vehicle 1 is traveling in the area AR4. Therefore, the traveling control unit 3D restricts the movement (lane change) of the own vehicle 1 from the own lane L14 to the adjacent lane L24 in the area AR4. Further, the first determination unit 3B clears the determination result indicating that the traveling direction of the own lane L14 and the traveling directions of the adjacent lanes L24 and L34 are the same, which was made while the own vehicle 1 was traveling in the area AR3. In the example shown in FIG. 6, after the first determination unit 3B determines that the traveling directions of the own lane L15 and the adjacent lane L25 are the same while the host vehicle 1 is traveling in the area AR5, the second determination unit 3C determines that the structure of the road RD5 on which the host vehicle 1 is traveling has changed while the host vehicle 1 is traveling in the area AR6. Therefore, the travel control unit 3D restricts the movement (lane change) of the host vehicle 1 from the own lane L15 to the adjacent lane L25 in the area AR6. Further, the first determination unit 3B clears the result of the determination that the traveling directions of the own lane L15 and the adjacent lane L25 are the same, which was made while the host vehicle 1 was traveling in the area AR5.

[0031] In the example shown in FIG. 1, when the second determination unit 3C determines that the structure of the road RD6 (see FIG. 7) on which the host vehicle 1 is traveling has changed after the first determination unit 3B determines that the traveling directions of the own lane L16 (see FIG. 7) and the adjacent lane L26 (see FIG. 7) are the same, the first determination unit 3B, based on the information obtained after the second determination unit 3C determines that the structure of the road RD6 on which the host vehicle 1 is traveling has changed (specifically, the detection result of the surrounding situation sensor 11), determines again whether the traveling directions of the own lane L16 and the adjacent lane L26 are the same. When the first determination unit 3B determines again that the traveling directions of the own lane L16 and the adjacent lane L26 are the same, and the second determination unit 3C determines that the structure of the road RD6 on which the host vehicle 1 is traveling has not changed, the travel control unit 3D permits the movement (lane change) of the host vehicle 1 from the own lane L16 to the adjacent lane L26.

[0032] FIG. 7 is a diagram showing an example in which the travel control unit 3D permits the movement (lane change) of the host vehicle 1 from the own lane L16 to the adjacent lane L26. In the example shown in FIG. 7, after the first determination unit 3B determines that the traveling directions of the own lane L16 and the adjacent lane L26 are the same while the host vehicle 1 is traveling in the area AR7, the second determination unit 3C determines that the structure of the road RD6 on which the host vehicle 1 is traveling has changed while the host vehicle 1 is traveling in the area AR8. Therefore, based on the information (detection result of the surrounding situation sensor 11) obtained after the second determination unit 3C determines that the structure of the road RD6 on which the host vehicle 1 is traveling has changed (specifically, while the host vehicle 1 is traveling in the area AR9), the first determination unit 3B re-determines whether the traveling directions of the own lane L16 and the adjacent lane L26 are the same while the host vehicle 1 is traveling in the area AR9. In the example shown in FIG. 7, since the traveling directions of the own lane L16 and the adjacent lane L26 are the same also in the area AR9, the second determination unit 3C determines whether the structure of the road RD6 on which the host vehicle 1 is traveling has changed while the host vehicle 1 is traveling in the area AR10. In the example shown in FIG. 7, since the structure of the road RD6 on which the host vehicle 1 is traveling does not change in the area AR10, the travel control unit 3D allows the host vehicle 1 to move (lane change) from the own lane L16 to the adjacent lane L26 while the host vehicle 1 is traveling in the area AR11.

[0033] In the example shown in FIG. 1, when the travel control unit 3D restricts the movement (lane change) of the host vehicle 1 from the own lane L16 to the adjacent lane L26 (for example, while the host vehicle 1 is traveling in the areas AR7 to AR10), the travel control device 14 (driving support ECU) causes the HMI 13 to output an alert when the host vehicle 1 is about to move from the own lane L16 to the adjacent lane L26 or the like (when deviating from the own lane L16). Therefore, in the example shown in FIG. 1, for example, it is possible to suppress the possibility that the host vehicle 1 runs in the oncoming lanes L36 and L46 after the road structure has changed (while the host vehicle 1 is traveling in the areas AR8 to AR10) or the like. In another example, when the driving control unit 3D restricts the movement (lane change) of the host vehicle 1 from the own lane L16 to the adjacent lane L26 (for example, when the host vehicle 1 is traveling in areas AR7 to AR10), the driving control device 14 (driving support ECU) may control the steering actuator 15A to execute a steering assist that suppresses the departure of the host vehicle 1 from the own lane L16 when the host vehicle 1 is about to move from the own lane L16 to the adjacent lane L26 or the like (when departing from the own lane L16).

[0034] In the example shown in FIG. 1, when the driving control unit 3D permits the movement (lane change) of the host vehicle 1 from the own lane L16 to the adjacent lane L26 (for example, when the host vehicle 1 is traveling in area AR11), the driving control device 14 (driving support ECU) does not output an alert to the HMI 13 when the host vehicle 1 changes lanes from the own lane L16 to the adjacent lane L26.

[0035] FIG. 8 is a flowchart for explaining an example of the processing executed by the processor 143 of the driving control device 14 according to the first embodiment. In the example shown in FIG. 8, in step S10, the first determination unit 3B determines whether the traveling direction of the own lane in which the host vehicle 1 is traveling and the traveling direction of the adjacent lane adjacent to the own lane are the same based on the detection result of the surrounding situation sensor 11 obtained in a step not shown. If YES, the process proceeds to step S11; if NO, the process proceeds to step S13. In step S11, the second determination unit 3C determines whether the structure of the road on which the host vehicle 1 is traveling has changed based on the detection result of the surrounding situation sensor 11 obtained in a step not shown. If YES, the process proceeds to step S12; if NO, the process proceeds to step S14. In step S12, the first determination unit 3B clears the determination result indicating that the traveling direction of the own lane and the traveling direction of the adjacent lane are the same (the determination result of step S10). Then, the process proceeds to step S13. In step S13, the driving control unit 3D restricts the movement (lane change) of the host vehicle 1 from the own lane to the adjacent lane. Then, the process proceeds to step S15. In step S14, the travel control unit 3D permits the movement (lane change) of the host vehicle 1 from the host lane to an adjacent lane. Then, the process proceeds to step S15. In step S15, for example, the first determination unit 3B determines whether to end the process shown in FIG. 8. If YES, the process shown in FIG. 8 ends; if NO, the process returns to step S10.

[0036] In the example shown in FIG. 7 described above, when the host vehicle 1 is traveling in area AR7, in step S10 shown in FIG. 8, the first determination unit 3B determines that the traveling direction of the host lane L16 and the traveling direction of the adjacent lane L26 are the same. When the host vehicle 1 is traveling in area AR8, in step S11 shown in FIG. 8, the second determination unit 3C determines that the structure of the road RD6 on which the host vehicle 1 is traveling has changed. In step S12 shown in FIG. 8, the first determination unit 3B clears the determination result indicating that the traveling direction of the host lane and the traveling direction of the adjacent lane are the same (the determination result of step S10). In step S13 shown in FIG. 8, the travel control unit 3D restricts the movement (lane change) of the host vehicle 1 from the host lane L16 to the adjacent lane L26. When the host vehicle 1 is traveling in area AR9, for example, in step S10 executed for the second time, the first determination unit 3B determines that the traveling direction of the host lane L16 and the traveling direction of the adjacent lane L26 are the same. When the host vehicle 1 is traveling in area AR10, for example, in step S11 executed for the second time, the second determination unit 3C determines that the structure of the road RD6 on which the host vehicle 1 is traveling has not changed. When the host vehicle 1 is traveling in area AR11, in step S14 shown in FIG. 8, the travel control unit 3D permits the movement (lane change) of the host vehicle 1 from the host lane L16 to the adjacent lane L26.

[0037] <Second Embodiment> The host vehicle 1 to which the travel control device 14 of the second embodiment is applied is configured in the same manner as the host vehicle 1 to which the travel control device 14 of the first embodiment described above is applied, except for the points described below.

[0038] In an example of the host vehicle 1 to which the traveling control device 14 of the first embodiment is applied as described above (the example shown in FIG. 1), the traveling control device 14 is configured by a driving support ECU. On the other hand, in an example of the host vehicle 1 to which the traveling control device 14 of the second embodiment is applied, the traveling control device 14 is configured by an automatic driving ECU. The traveling control device 14 generates a traveling plan for the host vehicle 1 based on, for example, information (data, signals) transmitted from the surrounding situation sensor 11, the vehicle state sensor 12, and the HMI 13, a GPS (Global Positioning System) signal, map information, and the like. Further, the traveling control device 14 controls the steering actuator 15A, the braking actuator 15B, and the driving actuator 15C based on the traveling plan.

[0039] In an example of the host vehicle 1 to which the traveling control device 14 of the second embodiment is applied, for example, when the host vehicle 1 is traveling in areas AR7 to AR10, the traveling control device 14 (automatic driving ECU) generates a traveling plan that restricts the movement (lane change) of the host vehicle 1 from the own lane L16 to the adjacent lane L26 (that is, a traveling plan in which the host vehicle 1 does not change lanes), and controls the steering actuator 15A, the braking actuator 15B, and the driving actuator 15C based on the traveling plan. Therefore, in an example of the host vehicle 1 to which the traveling control device 14 of the second embodiment is applied, for example, after the road structure changes (when the host vehicle 1 is traveling in areas AR8 to AR10), it is possible to suppress the possibility that the host vehicle 1 runs in the oncoming lanes L36 and L46 in reverse. For example, when the host vehicle 1 is traveling in area AR11, the traveling control device 14 generates a traveling plan that permits the movement (lane change) of the host vehicle 1 from the own lane L16 to the adjacent lane L26, and controls the steering actuator 15A, the braking actuator 15B, and the driving actuator 15C based on the traveling plan.

[0040] As described above, embodiments of the travel control device, travel control method, and program of the present disclosure have been described with reference to the drawings. However, the travel control device, travel control method, and program of the present disclosure are not limited to the above-described embodiments, and can be appropriately modified without departing from the gist of the present disclosure. The configurations of the respective examples of the above-described embodiments may be appropriately combined. In each example of the above-described embodiments, the processing performed in the travel control device 14 has been described as software processing performed by executing a program. However, the processing performed in the travel control device 14 may be processing performed by hardware. Alternatively, the processing performed in the travel control device 14 may be processing that combines both software and hardware. Further, a program (a program that realizes the functions of the processor 143 of the travel control device 14) stored in the memory 142 of the travel control device 14 may be recorded, provided, distributed, etc. on a computer-readable storage medium such as a semiconductor memory, a magnetic recording medium, an optical recording medium, etc.

Explanation of Signs

[0041] 1…Own vehicle, 11…Surrounding situation sensor, 12…Vehicle state sensor, 13…HMI, 14…Travel control device, 141…Communication interface, 142…Memory, 143…Processor, 3A…Acquisition unit, 3B…First determination unit, 3C…Second determination unit, 3D…Travel control unit, 15A…Steering actuator, 15B…Brake actuator, 15C…Drive actuator

Claims

1. A first determination unit that determines whether the traveling direction of the own lane in which the own vehicle travels is the same as the traveling direction of an adjacent lane adjacent to the own lane; A second determination unit that determines whether the structure of the road on which the own vehicle travels has changed; A travel control device including a travel control unit that restricts the movement of the own vehicle from the own lane to the adjacent lane when the second determination unit determines that the structure of the road on which the own vehicle travels has changed after the first determination unit determines that the traveling direction of the own lane is the same as the traveling direction of the adjacent lane.

2. When the second determination unit determines that the structure of the road on which the own vehicle travels has changed after the first determination unit determines that the traveling direction of the own lane is the same as the traveling direction of the adjacent lane, The first determination unit clears the determination result indicating that the traveling direction of the own lane is the same as the traveling direction of the adjacent lane. The travel control device according to claim 1.

3. When the second determination unit determines that the structure of the road on which the own vehicle travels has changed after the first determination unit determines that the traveling direction of the own lane is the same as the traveling direction of the adjacent lane, The first determination unit re-determines whether the traveling direction of the own lane is the same as the traveling direction of the adjacent lane based on the information obtained after the second determination unit determines that the structure of the road on which the own vehicle travels has changed. The travel control device according to claim 2.

4. When the second determination unit determines that the structure of the road on which the own vehicle travels has not changed after the first determination unit re-determines that the traveling direction of the own lane is the same as the traveling direction of the adjacent lane, The travel control unit permits the movement of the own vehicle from the own lane to the adjacent lane. The travel control device according to claim 3.

5. The second determination unit determines that the structure of the road on which the own vehicle travels has changed when the number of lanes included in the road on which the own vehicle travels has increased. The travel control device according to claim 1.

6. The second determination unit determines that the structure of the road on which the own vehicle travels has changed when the number of lanes included in the road on which the own vehicle travels has decreased. The travel control device according to claim 1.

7. The second determination unit determines that the structure of the road on which the own vehicle travels has changed when there is an intersection road that intersects the road on which the own vehicle travels. The travel control device according to claim 1.

8. a first determination step in which a travel control device determines whether a traveling direction of a host vehicle lane in which the host vehicle travels is the same as a traveling direction of an adjacent lane adjacent to the host vehicle lane; a second determination step in which the travel control device determines whether a structure of a road on which the host vehicle travels has changed; a travel control method including a travel control step in which, after it is determined in the first determination step that the traveling direction of the host vehicle lane is the same as the traveling direction of the adjacent lane, and when it is determined in the second determination step that the structure of the road on which the host vehicle travels has changed, the travel control device restricts movement of the host vehicle from the host vehicle lane to the adjacent lane. **Claim 9** A program for causing a processor to execute a first determination step of determining whether a traveling direction of a host vehicle lane in which the host vehicle travels is the same as a traveling direction of an adjacent lane adjacent to the host vehicle lane; execute a second determination step of determining whether a structure of a road on which the host vehicle travels has changed; execute a travel control step of restricting movement of the host vehicle from the host vehicle lane to the adjacent lane when, after it is determined in the first determination step that the traveling direction of the host vehicle lane is the same as the traveling direction of the adjacent lane, and when it is determined in the second determination step that the structure of the road on which the host vehicle travels has changed.

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