Vehicle control device and program

Abstract

To provide a vehicle control device and a program capable of executing speed recovery at an appropriate timing when switching from following-travel control to constant-speed travel control.SOLUTION: A vehicle control device 10 comprises a control unit 11 that executes following-travel control for making a vehicle 1 travel so as to follow another vehicle Mn traveling ahead of the vehicle that travels in a lane, and constant-speed travel control for making the vehicle travel at a constant speed in the lane. On the basis of detection values for detecting the other vehicle, the control unit executes the following-travel control to make the vehicle travel so as to follow the other vehicle, and determines that the other vehicle departs from the lane, stops the following-travel control, and executes the constant-speed travel control when recognizing a departure maneuver in which the other vehicle departs from the lane on the basis of the detection values.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device and a program for causing a vehicle to follow another preceding vehicle. [Background technology]

[0002] In recent years, a driving assistance technology called ACC (Adaptive Cruise Control) has been applied to vehicles, which maintains a set speed and following distance while driving the vehicle. ACC is used on high-standard roads such as expressways where high-speed driving is possible. ACC is also used for vehicles traveling at low speeds on high-standard roads during traffic jams. ACC is also sometimes used for vehicles traveling on ordinary roads.

[0003] When using ACC on a public road, if a vehicle traveling ahead of your vehicle in the same lane turns left or right and leaves the lane, your vehicle will no longer be able to catch up with the other vehicle and will switch to constant speed cruise control to continue traveling at a constant speed.

[0004] For example, Patent Document 1 describes a control method for timing switching to constant speed cruise control when a preceding vehicle becomes undetectable during follow-up driving. The control method described in Patent Document 1 captures the preceding vehicle in the lane in which the vehicle is traveling, executes follow-up driving control, and when a predetermined time has passed since the preceding vehicle became undetectable and predetermined conditions are met, determines that the preceding vehicle has left the lane and switches to constant speed cruise control. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-067423 Summary of the Invention [Problem to be solved by the invention]

[0006] According to the technology described in Patent Document 1, when the host vehicle switches from follow-up cruise control to constant speed cruise control and accelerates again to a set speed, the driver may feel a delay in the timing of the re-acceleration.

[0007] An object of the present invention is to provide a vehicle control device and program that can execute speed recovery at an appropriate timing when switching from follow-up cruise control to constant speed cruise control. [Means for solving the problem]

[0008] One aspect of the present invention is a vehicle control device that includes a control unit that executes follow-travel control, which causes a vehicle traveling in a lane to follow another vehicle traveling in front of the vehicle, and constant-speed travel control, which causes the vehicle to travel at a constant speed within the lane. The control unit executes the follow-travel control, which causes the vehicle to travel in a lane to follow another vehicle, based on a detection value that detects the other vehicle.If the control unit recognizes, based on the detection value, that the other vehicle is leaving the lane, the control unit determines that the other vehicle will leave the lane, stops the follow-travel control, and executes the constant-speed travel control. [Effects of the Invention]

[0009] According to the present invention, speed recovery can be performed at an appropriate timing when switching from follow-up cruise control to constant speed cruise control. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a configuration of a vehicle control device according to an embodiment; [Figure 2] FIG. 2 is a diagram illustrating follow-up cruise control. [Figure 3] FIG. 10 is a diagram illustrating an example of a leaving operation of another vehicle. [Figure 4] FIG. 10 is a diagram illustrating an example of a leaving operation of another vehicle. [Figure 5] FIG. 10 is a diagram illustrating an overlap rate between a vehicle and another vehicle. [Figure 6] 10A and 10B are diagrams illustrating a state in which a vehicle changes lanes into an adjacent lane to another vehicle; [Figure 7] 3 is a flowchart showing a flow of processing of a vehicle control method executed in a vehicle control device. DETAILED DESCRIPTION OF THE INVENTION

[0011] As shown in FIG. 1, the vehicle 1 includes a vehicle control device 10 that executes control related to driving, for example. The vehicle control device 10 controls the driving of the vehicle 1 based on the operation of the driver. The vehicle control device 10 executes driving assistance control such as ACC based on detection values ​​detected by a detection unit 2 that detects the environment around the vehicle. The vehicle control device 10 executes follow-up driving control that causes the vehicle 1 to follow another vehicle that is driving ahead in the lane. The vehicle control device 10 switches from follow-up driving control to execute constant-speed driving control that causes the vehicle 1 to drive at a constant speed.

[0012] The detection unit 2 is configured to detect, for example, the environment around the vehicle 1 and output a detection value. The detection unit 2 includes, for example, a camera 2A that captures an image of the environment around the vehicle 1. The detection unit 2 may include one or more cameras 2A that capture an image of a predetermined imaging range around the vehicle 1. The camera 2A generates imaging data of the environment around the vehicle 1 and outputs the image data to the vehicle control device 10.

[0013] The detection unit 2 includes a LIDAR device 2B that detects objects around the vehicle 1. The LIDAR device 2B, for example, emits laser light within a scanning range and receives light reflected from the object, thereby acquiring three-dimensional data of the object around the vehicle 1. The LIDAR device 2B acquires three-dimensional data of the environment around the vehicle 1 within the scanning range of the laser light. The detection unit 2 includes a radar device 2C that detects objects around the vehicle 1. The radar device 2C, for example, emits millimeter-wave radar waves within a scanning range and measures the reflected waves, thereby detecting objects around the vehicle 1. The radar device 2C is configured to be able to measure the distance, speed, and angle to targets such as pedestrians and vehicles.

[0014] The detection unit 2 is provided with a position sensor 2D that measures the current position of the vehicle 1. The position sensor 2D is configured by, for example, a GPS (Global Positioning System) sensor or the like. The position sensor 2D may be used in, for example, a navigation device. The position sensor 2D outputs a measurement value to the vehicle control device 10.

[0015] The vehicle 1 is equipped with a display unit 3 that outputs a display image. The display unit 3 is configured, for example, by a display device such as a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 3 displays a display image that indicates notification content when driving assistance is executed, for example. The display unit 3 may be configured to display the display content of a navigation device provided in the vehicle 1. The display unit 3 may be configured by a touch panel.

[0016] The display unit 3 may be configured as an input unit that accepts input operations input by a user. In this case, the display unit 3 may display a display image for accepting the input operations. The display unit 3 may be realized by communicating with a mobile terminal device such as a smartphone carried by the user.

[0017] The vehicle 1 is equipped with a communication unit 4 connectable to the network W. The communication unit 4 is configured, for example, by a communication device capable of wireless communication. The communication unit 4 may be configured to be able to communicate directly with other vehicles Mn (n: any natural number). Data acquired through communication with other vehicles Mn present around the vehicle 1 is included in the detection value. Data relating to other vehicles Mn present around the vehicle 1 acquired from the network W may also be included in the detection value. The vehicle 1 is equipped with a drive unit 5 that serves as a drive source for traveling. The drive unit 5 may be configured by an internal combustion engine or an electric motor.

[0018] The drive unit 5 may be configured as a hybrid device that combines an internal combustion engine and an electric motor. If the vehicle 1 is a manually driven vehicle, the drive unit 5 is controlled based on the operation by the driver, and under predetermined conditions, the vehicle control device 10 executes driving assistance control that assists the driver's operation. If the vehicle 1 is an autonomous vehicle, the drive unit 5 is controlled by the vehicle control device 10.

[0019] The vehicle 1 is equipped with a braking unit 6 for decelerating the vehicle 1. The braking unit 6 is configured, for example, by a brake device. If the drive unit 5 is configured by an electric motor, the braking unit 6 may be configured by the drive unit 5. In this case, the drive unit 5 may be configured to decelerate the vehicle 1 by regenerating power based on the deceleration energy of the vehicle 1. The vehicle 1 is equipped with an operating unit 7 that accepts operations by the driver. The operating unit 7 is configured by operating system devices such as an accelerator pedal that adjusts the output of the drive unit 5 and a brake pedal that adjusts the braking degree of the brake unit 6. The operating unit 7 outputs a signal to the vehicle control device 10 according to the degree of operation of each operating system device, for example.

[0020] The vehicle control device 10 includes a control unit 11 that executes control related to the traveling of the vehicle 1, and a storage unit 12 that stores data and programs required for the control. The control unit 11 is configured with at least one hardware processor such as a CPU (Central Processing Unit). The storage unit 12 is configured with a non-transitory storage medium such as a hard disk drive (HDD) or a solid state disk (SSD). The storage unit 12 may also store map data used in the navigation device.

[0021] The memory unit 12 stores data of the detected values ​​output from the detection unit 2. The detected value data may be stored for a predetermined period and then updated with new detected value data. The control unit 11 performs navigation control, including ACC, to keep the vehicle 1 traveling at a set speed based on the detected values ​​that detect the environment around the vehicle 1. The control unit 11 switches from normal mode to navigation mode based on an input operation by the driver and performs navigation control. The navigation control includes following cruise control and constant speed cruise control, as described below.

[0022] The control unit 11 executes navigation control based on detection values ​​by the detection unit 2, including, for example, image data captured by the camera 2A, measurement value data by the LIDAR device 2B, and measurement value data by the radar device 2C. The control unit 11 executes navigation control based on a combination of one or more detection values ​​from any of the detection values ​​of the devices included in the detection unit 2. The combination of one or more detection values ​​is set according to the type of vehicle 1.

[0023] The control unit 11 is configured to, for example, perform machine learning such as deep learning in advance using imaging data of the environment around the vehicle 1, including the other vehicle Mn, as training data, and to recognize the behavior of the other vehicle Mn traveling in the lane L on which the vehicle 1 is traveling, based on the imaging data captured by the camera 2A. The control unit 11 may be configured to recognize the relative speed and relative distance of the other vehicle Mn traveling ahead of the vehicle 1, based on the imaging data captured by the camera 2A.

[0024] The control unit 11 is configured to be able to recognize the relative speed and relative distance of another vehicle Mn traveling ahead of the vehicle 1 based on measurement value data of the LIDAR device 2B that detects the environment around the vehicle 1, including the other vehicle Mn, and measurement value data of the radar device 2C. The control unit 11 may recognize the relative speed and relative distance of the other vehicle Mn based on a combination of one or more detection values ​​from among any of the detection values ​​including the image data captured by the camera 2A, the measurement value data of the LIDAR device 2B, and the measurement value data of the radar device 2C.

[0025] FIG. 2 shows a schematic diagram of the follow-up running control of the vehicle 1. In the follow-up running control, the control unit 11 causes the vehicle 1 to follow another vehicle Mn traveling ahead of the vehicle 1 traveling in the lane L. The control unit 11 acquires detection values ​​by the detection unit 2. The control unit 11 acquires detection values ​​by the detection unit 2, including image data captured by the camera 2A, measurement value data by the LIDAR device 2B, and measurement value data by the radar device 2C. Based on the detection values, the control unit 11 determines whether another vehicle Mn is present within a predetermined distance P ahead of the vehicle 1. The predetermined distance P is set according to the speed of the vehicle 1. The predetermined distance P is set so that the distance increases in proportion to the speed of the vehicle 1.

[0026] When the control unit 11 determines that no other vehicle Mn is present within a predetermined distance P ahead of the vehicle 1, it executes constant speed traveling control to make the vehicle 1 travel at a constant speed within the lane. In the constant speed traveling control, the control unit 11 controls the drive unit 5 and the brake unit 6 to make the vehicle 1 travel at a constant speed set value. The constant speed set value is set in response to an input operation by the user.

[0027] When the control unit 11 determines, based on the detection value of the other vehicle Mn, that another vehicle Mn is present within a predetermined distance P ahead of the vehicle 1, it executes follow-up travel control to make the vehicle 1 travel following the other vehicle Mn. The control unit 11 controls the drive unit 5 and the brake unit 6 so that the inter-vehicle distance between the vehicle 1 and the other vehicle Mn becomes a set inter-vehicle distance value, thereby adjusting the inter-vehicle distance between the vehicle 1 and the other vehicle Mn. The set inter-vehicle distance value is set to, for example, a plurality of stepwise distance values. The set inter-vehicle distance value increases or decreases stepwise in response to a selection operation by the user. The set inter-vehicle distance value may be set to any distance value. The set inter-vehicle distance value may also be automatically adjusted by the control unit 11 in accordance with the speed of the vehicle 1.

[0028] When the speed of the other preceding vehicle Mn decreases, the control unit 11 decelerates the vehicle 1 and maintains the inter-vehicle distance between the vehicle 1 and the other vehicle Mn at a set value. When the speed of the other preceding vehicle Mn increases, the control unit 11 accelerates the vehicle 1 and maintains the inter-vehicle distance between the vehicle 1 and the other vehicle Mn at a set value. When the speed of the other preceding vehicle Mn decreases, the control unit 11 decelerates the vehicle 1 and maintains the inter-vehicle distance between the vehicle 1 and the other vehicle Mn at a set value. When the speed of the other preceding vehicle Mn increases to or above a reference value, the control unit 11 accelerates the vehicle 1 to an upper speed limit and executes constant speed traveling control to cause the vehicle 1 to travel at a constant speed within the lane L.

[0029] The control unit 11 determines whether the other vehicle is leaving the lane while the follow-up cruise control is being executed. When the control unit 11 recognizes, based on a detection value detecting the other vehicle Mn, that the other vehicle Mn is leaving the lane L while the follow-up cruise control is being executed, the control unit 11 determines that the other vehicle Mn is leaving the lane L. The leaving operation includes a state in which the other vehicle Mn is estimated to be starting to leave the lane L and a state in which the other vehicle Mn is estimated to be in the process of leaving the lane L. The control unit 11 determines, based on the detection value, whether the other vehicle Mn is performing a leaving operation to leave the lane L.

[0030] When the control unit 11 recognizes one or more of the following leaving actions, it determines that the other vehicle Mn is leaving the lane. The control unit 11 determines that the other vehicle Mn is leaving the lane based on a combination of the one or more recognized leaving actions. When the control unit 11 determines that the other vehicle Mn is leaving the lane L, it stops the following cruise control and executes constant speed cruise control.

[0031] 3 shows a state in which another vehicle Mn changes lanes from lane L to adjacent lane L1. In the illustrated example, the adjacent lane L1 is shown adjacent to the right side of lane L. The adjacent lane L1 may also be adjacent to the left side of lane L. When determining whether another vehicle Mn is leaving a lane, the control unit 11 determines whether the direction indicators provided on the vehicle 1 are in an unlit state.

[0032] If the turn signal provided on the vehicle 1 is on, the control unit 11 continues follow-up driving control because there is a possibility that the vehicle 1 itself will leave the lane L. If the turn signal provided on the vehicle 1 is not on and the lateral movement speed Vx of the other vehicle Mn relative to the vehicle 1 is equal to or greater than a threshold, the control unit 11 determines that the other vehicle Mn is performing a leaving action to leave the lane L.

[0033] The lateral movement speed Vx is a speed component of the vehicle 1 along a direction (X-axis direction in the drawing) perpendicular to the traveling direction of the lane L (Y-axis direction in the drawing). A threshold value for the lateral movement speed Vx is set to a predetermined value in advance. In this case, when the lateral movement speed Vx of the other vehicle Mn relative to the vehicle 1 is equal to or greater than the threshold value and when the control unit 11 recognizes that the direction indicator of the other vehicle Mn is on, the control unit 11 may determine that the other vehicle Mn is performing a leaving operation to leave the lane L. This is because the on state of the direction indicator of the other vehicle Mn increases the possibility that the other vehicle Mn will leave the lane L.

[0034] When the control unit 11 determines that the other vehicle Mn is performing a leaving operation to leave the lane L, it determines that the other vehicle is leaving the lane. In this case, the control unit 11 does not need to recognize that the other vehicle Mn has completely left the lane L and moved into the adjacent lane L1, but only needs to recognize the process of leaving the lane L. Thereafter, when the control unit 11 recognizes based on the detection values ​​that the other vehicle Mn has left the lane, it stops the follow-up cruise control and executes constant speed cruise control. When the control unit 11 recognizes based on the detection values ​​that the other vehicle Mn has returned to the lane, it continues the follow-up cruise control.

[0035] At this time, if the vehicle 1 is traveling at a speed equal to or lower than the set speed, the control unit 11 accelerates the vehicle 1 again to the set speed and maintains the set speed while the vehicle 1 travels. As a result, when switching from follow-up cruise control to constant-speed cruise control, the control unit 11 can accelerate the vehicle 1 again to the set speed without making the driver feel any delay in the timing of re-acceleration.

[0036] FIG. 4 shows a state in which another vehicle Mn makes a left turn from lane L to an intersecting lane Lx. When another vehicle Mn makes a left turn from lane L, the yaw angle θ of the other vehicle Mn relative to vehicle 1 increases. The control unit 11 calculates the yaw angle θ of the other vehicle Mn relative to vehicle 1 based on an image of the other vehicle Mn captured in the imaging data. When the yaw angle θ of the other vehicle Mn relative to vehicle 1 tends to increase, the control unit 11 recognizes that the other vehicle Mn is performing a leaving operation to leave lane L.

[0037] At this time, if the control unit 11 recognizes that the yaw angle θ of the other vehicle Mn relative to the vehicle 1 is increasing and that the direction indicator of the other vehicle Mn is on, the control unit 11 may determine that the other vehicle Mn is performing a leaving operation to leave the lane L. The control unit 11 compares the yaw angle θ of the other vehicle Mn relative to the vehicle 1 with a preset threshold value for the yaw angle θ when the direction indicator of the other vehicle Mn relative to the vehicle 1 is not on and is equal to or greater than the threshold value, and determines that the other vehicle Mn is leaving the lane L.

[0038] Thereafter, when the control unit 11 determines based on the detection values ​​that the other vehicle Mn has turned left and left the lane L, it stops the follow-up cruise control and executes constant speed cruise control. When the control unit 11 determines based on the detection values ​​that the other vehicle Mn has returned to its lane, it continues the follow-up cruise control. The above processing illustrates a state in which the other vehicle Mn is turning left, but it may also be applied to a state in which the other vehicle Mn is turning right. When the control unit 11 determines based on the detection value of the yaw angle θ of the other vehicle Mn relative to the vehicle 1 that the other vehicle Mn has turned right and left the lane L, it stops the follow-up cruise control and executes constant speed cruise control.

[0039] The control unit 11 may recognize the other vehicle Mn's leaving the lane L based not only on the relative yaw angle of the other vehicle Mn with respect to the vehicle 1 but also on the lateral acceleration of the other vehicle Mn relative to the vehicle 1. After the other vehicle Mn turns left or right from the lane L into the intersecting lane Lx, the other vehicle Mn is estimated to be in an accelerating state within a predetermined distance from the connecting point of the lanes Lx.

[0040] When the lateral movement acceleration of the other vehicle Mn relative to the vehicle 1 is equal to or greater than a threshold within a predetermined distance range in the lateral direction based on the vehicle 1, the control unit 11 recognizes that the other vehicle Mn is making a left or right turn and is performing a leaving operation to leave the lane L. When the control unit 11 recognizes that the other vehicle Mn has turned right and left the lane L based on the detected value of the lateral movement acceleration of the other vehicle Mn relative to the vehicle 1, it stops the follow-up cruise control and executes constant speed cruise control.

[0041] FIG. 5 shows the relative lateral positional relationship between the other vehicle Mn and the vehicle 1. The control unit 11 may recognize the departure operation of the other vehicle Mn based on the relative lateral positional relationship between the other vehicle Mn and the vehicle 1. The control unit 11, for example, calculates an overlap ratio indicating the relative lateral positional relationship between the other vehicle Mn and the vehicle 1. For example, when there is an overlap distance Rx where the body width Px of the vehicle 1 and the body width Qx of the other vehicle Mn overlap in the lateral positional relationship in the lane L, the overlap ratio is calculated as a value (Rx / Px) obtained by dividing the overlap distance Rx by the body width Px of the vehicle 1. When there is no overlap distance Rx, the overlap ratio is set to 0.

[0042] The control unit 11 compares the calculated overlap rate with a threshold value, and if the overlap rate is equal to or less than the threshold value, determines that the other vehicle Mn is performing a leaving action to leave the lane L. If the overlap rate decreases and becomes 0, the control unit 11 determines that the other vehicle Mn has left the lane L, stops the following cruise control, and executes constant speed cruise control.

[0043] When the other vehicle Mn stops on the shoulder of the road without leaving the lane L, the control unit 11 may determine that the other vehicle Mn has left the lane L, and may stop the follow-up cruise control and execute the constant speed cruise control. When the control unit 11 recognizes that the other vehicle Mn has lights on to indicate deceleration and that the other vehicle Mn has stopped, the control unit 11 stops the follow-up cruise control and executes the constant speed cruise control. The lights on to indicate deceleration include lights on brake lamps and flashing hazard lamps.

[0044] When the control unit 11 recognizes, based on the detection values, a stopping factor that will cause the other vehicle Mn to stop in the lane L, it continues the follow-up cruise control and follows the other vehicle, decelerating and stopping the vehicle. The stopping factor includes conditions that are estimated to cause the other vehicle Mn to stop, such as the presence of a light indication for deceleration, a decrease in the speed of the other vehicle Mn, the presence of a traffic signal indication related to stopping, the presence of a sign related to stopping, and the presence of a vehicle stopped at the end of a queue of vehicles in a traffic jam.

[0045] 6 shows a state in which another vehicle Mn and vehicle 1 change lanes into a lane L1 adjacent to lane L. For example, even if the other vehicle changes course and a departure movement is recognized, if vehicle 1 also travels along the same route as other vehicle Mn and continues to travel behind other vehicle Mn, follow-up cruise control may be continued. When the control unit 11 recognizes the departure movement of other vehicle Mn from lane L, if the turn signal lamp display of vehicle 1 is on and it is determined that vehicle 1 will follow other vehicle Mn along the course, the control unit 11 continues follow-up cruise control.

[0046] 7 shows the flow of processing of a vehicle control method executed by the vehicle control device 10. The vehicle control method includes following control, which causes the vehicle 1 to follow another vehicle Mn traveling ahead of the vehicle 1 traveling in the lane L, and constant speed traveling control, which causes the vehicle 1 to travel at a constant speed in the lane L. The vehicle control method is executed by a computer program installed in a computer mounted on the vehicle control device 10. The computer program causes the vehicle control device 10 to perform the following processes.

[0047] The control unit 11 executes follow-up running control to cause the vehicle 1 to follow the other vehicle Mn based on a detection value for detecting the other vehicle Mn (step S100). The control unit 11 determines whether or not the direction indicator of the other vehicle Mn is on based on the detection value (step S102). If the direction indicator of the other vehicle Mn is not on, the control unit 11 proceeds to step S106. If the direction indicator of the other vehicle Mn is on, the control unit 11 determines whether or not the direction indicator of the vehicle 1 is on (step S104).

[0048] If the direction indicator of vehicle 1 is on, control unit 11 returns the process to step S100. If the direction indicator of vehicle 1 is not on, control unit 11 determines whether other vehicle Mn is leaving lane L (step S106). If control unit 11 recognizes the other vehicle's lane leaving behavior, control unit 11 determines that the other vehicle is leaving the lane and stops follow-up cruise control (step S108). Control unit 11 executes constant speed cruise control to cause vehicle 1 to cruise at a constant speed in lane L (step S110).

[0049] As described above, the vehicle control device 10 can execute speed recovery at an appropriate timing when switching from follow-up cruise control to constant speed cruise control. By recognizing the departure behavior of the other vehicle Mn, the vehicle control device 10 can switch from follow-up cruise control to constant speed cruise control, thereby preventing the driver from feeling a delay in re-acceleration. By recognizing the cause of the stop of the other vehicle Mn, the vehicle control device 10 can continue follow-up cruise control.

[0050] In the above-described embodiment, the computer program executed in the configuration of the vehicle control device 10 may be provided in a form recorded on a computer-readable, portable, non-transitory recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of symbols]

[0051] 1 vehicle, 2 detection unit, 2A camera, 2B lidar device, 2C radar device, 2D position sensor, 3 display unit, 4 communication unit, 5 drive unit, 6 braking unit, 7 operation unit, 10 vehicle control device, 11 control unit, 12 memory unit, Mn other vehicle, P predetermined distance, Px vehicle body width, Qx vehicle body width, Rx overlap distance, W network, θ yaw angle

Claims

1. a control unit that executes a following running control for causing a vehicle traveling in a lane to follow another vehicle traveling ahead of the vehicle, and a constant speed running control for causing the vehicle to travel at a constant speed in the lane, The control unit Executing the following running control to cause the vehicle to run following the other vehicle based on a detection value of the other vehicle; When a leaving operation of the other vehicle leaving the lane is recognized based on the detection value, it is determined that the other vehicle is leaving the lane; stopping the follow-up cruise control and executing the constant speed cruise control; Vehicle control device.

2. The control unit When a turn signal provided on the vehicle is not lit, A state in which the direction indicator of the other vehicle is on; a state in which a relative lateral movement speed of the other vehicle with respect to the vehicle is equal to or greater than a threshold; a state in which the relative lateral movement acceleration of the other vehicle with respect to the vehicle is equal to or greater than a threshold; a state in which the relative yaw angle of the other vehicle with respect to the vehicle is equal to or greater than a threshold; a state in which a relative lateral overlap rate between the other vehicle and the vehicle is equal to or less than a threshold value, when any one or more of the leaving actions is recognized among the plurality of leaving actions, the state in which the other vehicle and the vehicle are judged to be leaving the lane; The vehicle control device according to claim 1 .

3. The control unit When a stopping cause of the other vehicle in the lane is recognized based on the detection value, The following cruise control is continued, and the vehicle is decelerated and stopped while following the other vehicle. The vehicle control device according to claim 1 .

4. The control unit When the other vehicle changes course and the leaving operation is recognized, When it is determined that the turn signal lamp display of the vehicle is turned on and the vehicle will follow the other vehicle along the course, the following travel control is continued. The vehicle control device according to claim 1 .

5. A program installed in a vehicle control device that executes a following running control for making a vehicle running in a lane follow another vehicle running ahead of the vehicle, and a constant speed running control for making the vehicle run at a constant speed in the lane, Executing the following running control to cause the vehicle to run following the other vehicle based on a detection value of the other vehicle; When a leaving operation of the other vehicle leaving the lane is recognized based on the detection value, it is determined that the other vehicle is leaving the lane; causing a computer to execute a process of stopping the following cruise control and executing the constant speed cruise control; program.

Images