Control device of vehicle, control method and program

Abstract

To achieve smooth lane change if lateral position of a vehicle is dislocated off a target track.SOLUTION: In a control device of a vehicle which executes lane change control automatically changing a lane of the vehicle from a lane during travel to a target lane by traveling along a target track setting the vehicle, it comprises a correction processing part which executes correction processing moving a target track frontward or rearward so that target lateral position of the target track approaches present lateral position of the vehicle if lateral position of the vehicle is dislocated off the target track by steering operation of a driver of the vehicle during execution of the lane change control.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] There is known a vehicle control device that performs lane change assist (LCA) to automatically change the vehicle from the lane in which the vehicle is traveling to an adjacent target lane. For example, Patent Document 1 discloses a technology that, when the driver performs steering intervention in the same direction as the steering direction of the LCA during execution of the LCA, continues the LCA if a stop condition is not met, and notifies the driver of the end of the LCA if the stop condition is met. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-92538 Summary of the Invention

[0004] If the driver's steering intervention causes the vehicle's lateral position to deviate from the LCA target trajectory (target lateral position) while LCA is in progress, the control device will try to return the vehicle's lateral position to the target trajectory by applying a steering torque to the vehicle in the opposite direction to the driver's steering operation. This can cause the driver to feel a sense of conflict in their steering operation (when a steering torque in the opposite direction to the steering input is transmitted to the driver), or the vehicle's behavior when changing lanes may be different from what the driver expected, causing discomfort or annoyance to the driver.

[0005] The technology disclosed herein has been made to solve the above-mentioned problem, and aims to achieve smooth lane changes even when the vehicle's lateral position deviates from the LCA target trajectory.

[0006] The device of the present disclosure comprises: A vehicle control device that performs lane change control to automatically change lanes from a lane currently being traveled to a target lane adjacent to the lane currently being traveled by causing the vehicle to travel along a set target trajectory, If the lateral position of the vehicle deviates from the target trajectory due to steering operation by the driver of the vehicle while the lane change control is being executed, a correction processing unit is provided that performs a correction process to move the target trajectory forward or backward so that the target lateral position of the target trajectory approaches the current lateral position of the vehicle.

[0007] The method of the present disclosure comprises: A vehicle control method for performing lane change control to automatically change lanes from a lane currently being traveled to a target lane adjacent to the lane currently being traveled by causing the vehicle to travel along a set target trajectory, comprising: If the lateral position of the vehicle deviates from the target trajectory due to the steering operation of the driver of the vehicle while the lane change control is being executed, a correction process is carried out to move the target trajectory forward or backward so that the target lateral position of the target trajectory approaches the current lateral position of the vehicle.

[0008] The program of the present disclosure is a computer of a vehicle control device that performs lane change control to automatically change lanes from a lane currently being traveled to a target lane adjacent to the lane currently being traveled by causing the vehicle to travel along a set target trajectory; If the lateral position of the vehicle deviates from the target trajectory due to the steering operation of the driver of the vehicle while the lane change control is being executed, a correction process is carried out to move the target trajectory forward or backward so that the target lateral position of the target trajectory approaches the current lateral position of the vehicle. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing a hardware configuration of a vehicle according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing a software configuration of the control device according to the present embodiment. [Figure 3]FIG. 2 is a schematic diagram illustrating an example of a target trajectory of an LCA. [Figure 4] 5A and 5B are schematic diagrams illustrating a correction process performed by the control device according to the embodiment. [Figure 5] 5A and 5B are schematic diagrams illustrating a correction process performed by the control device according to the embodiment. [Figure 6] 4 is a flowchart illustrating a routine of a correction process performed by the control device according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a vehicle control device, a control method, and a program according to this embodiment will be described with reference to the drawings.

[0011] [Hardware configuration] 1 is a schematic diagram showing the hardware configuration of a vehicle VH to which a control device according to this embodiment is applied. Hereinafter, the vehicle VH may also be referred to as the host vehicle when it is necessary to distinguish it from other vehicles.

[0012] The vehicle VH has an ECU (Electronic Control Unit) 10. The ECU 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, and an interface device 14. The CPU 11 is a processor that executes various programs stored in the ROM 12. The ROM 12 is a non-volatile memory that stores data and the like required for the CPU 11 to execute the various programs. The RAM 13 is a volatile memory that provides a working area into which the various programs are expanded when the CPU 11 executes them. The interface device 14 is a communication device for communicating with external devices.

[0013] The ECU 10 is a central device that performs driving assistance control such as LCA, adaptive cruise control (hereinafter referred to as ACC), and lane trace assist (hereinafter referred to as LTA). Driving assistance control is a concept that includes autonomous driving control. The ECU 10 is communicatively connected to a drive unit 20, a steering unit 21, a braking unit 22, an internal sensor unit 30, an external sensor unit 40, an ACC operation unit 50, an LTA activation switch 55, a turn signal switch 61, turn signals 68L, 68R, and the like.

[0014] The drive device 20 generates a drive force to be transmitted to the drive wheels of the vehicle VH. Examples of the drive device 20 include an electric motor and an engine. In this embodiment, the vehicle VH may be a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), an electric vehicle (BEV), or an engine vehicle. The steering device 21 applies a steering force to the wheels of the vehicle VH. The braking device 22 applies a braking force to the wheels of the vehicle VH.

[0015] The internal sensor device 30 is a group of sensors that detect the state of the vehicle VH. Specifically, the internal sensor device 30 includes a vehicle speed sensor 31, an accelerator sensor 32, a brake sensor 33, a steering angle sensor 34, a steering torque sensor 35, a yaw rate sensor 36, and the like.

[0016] The vehicle speed sensor 31 detects the traveling speed of the vehicle VH (hereinafter referred to as vehicle speed v). The accelerator sensor 32 detects the amount of operation of an accelerator pedal (not shown) by the driver. The brake sensor 33 detects the amount of operation of a brake pedal (not shown) by the driver. The steering angle sensor 34 detects the rotation angle of a steering wheel or steering shaft (not shown) of the vehicle VH, i.e., the steering angle. The steering torque sensor 35 detects the rotation torque of the steering wheel or steering shaft, i.e., the steering torque. The yaw rate sensor 36 detects the yaw rate of the vehicle VH. The internal sensor device 30 transmits the state of the vehicle VH detected by each of the sensors 31 to 36 to the ECU 10 at a predetermined interval.

[0017] The external sensor device 40 is a type of sensor that recognizes target information related to targets around the vehicle VH. Specifically, the external sensor device 40 includes a radar sensor 41, a camera sensor 42, etc. Examples of target information include nearby vehicles, pedestrians, traffic lights, white lines on the road, signs, fallen objects, etc.

[0018] The radar sensor 41 detects targets present around the vehicle VH. The radar sensor 41 includes a millimeter-wave radar and / or a lidar. The millimeter-wave radar emits millimeter-wave radio waves (millimeter waves) and receives millimeter waves (reflected waves) reflected by targets present within the emission range. The millimeter-wave radar acquires the relative distance and relative speed between the vehicle VH and the target based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, and the time from transmitting the millimeter waves to receiving the reflected waves. The lidar sequentially scans a pulsed laser beam with a wavelength shorter than that of millimeter waves in multiple directions and receives the reflected light reflected by the target to acquire the shape of the target detected ahead of the vehicle VH, the relative distance and relative speed between the vehicle VH and the target, etc.

[0019] The camera sensor 42 captures images of the surroundings of the vehicle VH and processes the captured image data to acquire target information about the surroundings of the vehicle VH. The camera sensor 42 may be, for example, a digital camera having an imaging element such as a CMOS or CCD. The target information represents the type of target detected around the vehicle VH, the relative distance between the vehicle VH and the target, the relative speed between the vehicle VH and the target, etc. The type of target may be recognized, for example, by machine learning such as pattern matching.

[0020] The external sensor device 40 repeatedly transmits the acquired target information to the ECU 10 every time a predetermined time period has elapsed. The ECU 10 determines the relative relationship between the vehicle VH and the target by combining the relative relationship between the vehicle VH and the target obtained by the radar sensor 41 and the relative relationship between the vehicle VH and the target obtained by the camera sensor 42. Note that the external sensor device 40 does not necessarily have to include both the radar sensor 41 and the camera sensor 42, and may include, for example, only the radar sensor 41 or only the camera sensor 42.

[0021] The ACC operation unit 50 includes, for example, a start switch that allows the driver to select whether to start or end the ACC, a setting switch that sets the target vehicle speed and target inter-vehicle distance for the ACC, a cancel switch that temporarily cancels the ACC, a resume switch that restarts the ACC, etc. The LTA start switch 55 is an ON / OFF switch that allows the driver to select whether to start or end the LTA.

[0022] The turn signal lever 60 is an operating device that allows the driver to flash the left and right turn signal indicators 68L, 68R. The turn signal indicator switch 61 detects the direction in which the driver operates the turn signal indicator lever 60. When the driver operates the turn signal indicator lever 60 a predetermined amount (for example, deeply), the turn signal indicator switch 61 transmits a flashing instruction signal to the ECU 10 according to the operating direction. Upon receiving the flashing instruction signal, the ECU 10 causes the turn signal indicators 68L, 68R to flash according to the operating direction of the turn signal indicator lever 60.

[0023] The turn signal lever 60 also serves as an operating device for the driver to request a lane change by LCA. Specifically, when the driver operates and holds the turn signal lever 60 a predetermined amount (for example, lightly), the turn signal switch 61 transmits to the ECU 10 an LCA request signal indicating that the driver is requesting a lane change to an adjacent lane (target lane) in the direction of operation of the turn signal lever 60, together with a flashing instruction signal according to the operation direction.

[0024] [Software configuration] 2 is a schematic diagram showing the software configuration of the ECU 10 according to this embodiment. As shown in FIG. 2, the ECU 10 includes, as functional elements, a lane recognition unit 100, a lateral position recognition unit 110, an ACC control unit 120, an LTA control unit 130, an LCA control unit 140, a correction processing unit 150, and the like. These functional elements 100 to 150 are realized by the CPU 11 of the ECU 10 reading out a program stored in the ROM 12 into the RAM 13 and executing the program. Note that all or part of the functional elements 100 to 150 may be provided in another ECU separate from the ECU 10, or in an information processing device in a facility (such as a management center) that can communicate with the vehicle VH.

[0025] The lane recognition unit 100 recognizes the lane in which the vehicle VH is traveling (hereinafter referred to as the driving lane). The lane recognition unit 100 recognizes the boundary lines of the driving lane based on, for example, an image of the surroundings of the vehicle VH acquired by the external sensor device 40. Here, the boundary lines include not only white and yellow lines painted on the road surface but also curbs, guardrails, etc. The lane recognition unit 100 recognizes the driving lane based on the recognized boundary lines.

[0026] The lateral position recognition unit 110 recognizes the lateral position of the vehicle VH based on the detection results of the external sensor device 40. Here, the lateral position of the vehicle VH refers to the position of the host vehicle VH in the lane width direction within the driving lane. The lateral position recognition unit 110 recognizes the lateral position of the vehicle VH within the driving lane based on the position of the vehicle VH relative to the boundary line of the driving lane recognized by the lane recognition unit 100.

[0027] The ACC control unit 120 executes ACC based on a target vehicle speed or a target inter-vehicle distance. ACC itself is well known, so it will be briefly explained below. ACC includes two types of control: constant speed cruise control and follow-up cruise control. Constant speed cruise control is control that causes the vehicle VH to cruise at a constant speed in accordance with a target vehicle speed. Follow-up cruise control is control that causes the host vehicle VH to follow a preceding vehicle traveling in the driving lane so that the actual inter-vehicle distance between the host vehicle VH and the preceding vehicle becomes the target inter-vehicle distance.

[0028] When the activation switch of the ACC operation unit 50 is turned ON, the ACC control unit 120 detects a vehicle to be followed (a preceding vehicle) in the driving lane recognized by the lane recognition unit 100 based on the detection results of the external sensor device 40. If there is no vehicle to be followed, the ACC control unit 120 executes constant speed cruise control. In this case, the ACC control unit 120 controls the operation of the drive unit 20 and the brake device 22 based on a target acceleration calculated from the deviation between the vehicle speed v detected by the vehicle speed sensor 31 and the target vehicle speed. On the other hand, if there is a vehicle to be followed in the driving lane, the ACC control unit 120 executes follow-up cruise control. In this case, the ACC control unit 120 controls the operation of the drive unit 20 and the brake device 22 based on the target acceleration calculated from the deviation between the actual inter-vehicle distance and the target inter-vehicle distance. The actual inter-vehicle distance between the host vehicle VH and the vehicle to be followed can be recognized based on the detection results of the external sensor device 40.

[0029] The LTA control unit 130 executes LTA control, which automatically changes the steering angle (the steering angle of the steered wheels) so that the lateral position of the vehicle VH is maintained at a target lateral position within the driving lane while the ACC is operating. Since LTA itself is well known, it will be briefly described below. When the LTA activation switch 55 is turned on while the ACC control unit 120 is performing ACC, the LTA control unit 130 sets a target lateral position of the vehicle VH based on the boundary lines of the driving lane recognized by the lane recognition unit 100. The target lateral position is set, for example, near the center of the lane width direction of the driving lane. The LTA control unit 130 changes the steering angle of the host vehicle VH by controlling the operation of the steering device 21 so that the lateral position of the vehicle VH recognized by the lateral position recognition unit 110 is maintained near the target lateral position within the driving lane.

[0030] The LCA control unit 140 controls the operation of the drive unit 20, the steering unit 21, and the braking unit 22 so that the vehicle VH moves from the current driving lane to a lane adjacent to the driving lane (target lane), thereby executing LCA to assist the driver's steering operation. Since LCA itself is well known, it will be briefly explained below. Like LTA, LCA controls the lateral position of the vehicle VH, and is executed in place of LTA when an assistance request is received from the driver while LTA and ACC are being executed. The LCA control unit 140 executes LCA, for example, when the following execution permission conditions are met: (1) An LCA request signal is received from the turn signal switch 61. (2) The ACC start switch and LTA start switch 55 are turned ON. (3) The white line that marks the boundary between the driving lane and the target lane is broken. (4) The external sensor device 40 does not detect any obstacles, such as other vehicles, in the target lane that may hinder lane changes. (5) The vehicle speed v of the vehicle VH is within a predetermined permitted speed range. The execution permission conditions (1) to (5) are merely examples, and some of the conditions may not be included, or other conditions (for example, the type of road, such as a highway for exclusive use by motor vehicles) may be included.

[0031] When at least the execution permission condition (1) is satisfied, that is, when an LCA request signal is received, the LCA control unit 140 starts flashing the direction indicators 68L, 68R on the target lane side. Furthermore, when a predetermined waiting time Tv has elapsed since the execution permission conditions (1) to (5) were satisfied, the LCA control unit 140 determines that the conditions for starting a lane change (lateral movement) have been satisfied.

[0032] The LCA control unit 140 calculates a target trajectory function that determines a target trajectory of the vehicle VH. The target trajectory Tt has a shape, for example, as shown in FIG. 3, and is a trajectory that moves the host vehicle VH from the driving lane L1 to the widthwise center position CL2 of the target lane L2 (hereinafter referred to as the final target lateral position) over the target lane-change time TL. Note that times t1 to t2 in FIG. 3 indicate the period from the satisfaction of the execution permission conditions (1) to (5) until the elapse of the waiting time Tv. The target trajectory function is a function that uses the lane center line CL1 of the driving lane L1 as a reference and calculates the target lateral position y, target lateral velocity vy, and target lateral acceleration ay of the vehicle VH corresponding to the elapsed time from the start of the lane change (i.e., time t2, when the lane-change start condition is satisfied). The target lane-change time LT is set based on the target lateral distance required to move the vehicle VH laterally from the lane-change start position to the final target lateral position CL2.

[0033] When the lane change start condition is met at time t2 due to the lapse of the waiting time Tv, the LCA control unit 140 calculates the current target lateral position y, target lateral velocity vy, and target lateral acceleration ay based on the target trajectory function and the elapsed time. The LCA control unit 140 also calculates the current target yaw angle θy, target yaw rate γ, and target curvature Cu based on the current vehicle speed v, target lateral velocity vy, and target lateral acceleration ay, and calculates the target steering angle θ based on the target lateral position y, target yaw angle θy, target yaw rate γ, and target curvature Cu. The LCA control unit 140 then controls the operation of the drive unit 20, steering unit 21, and braking unit 22 based on the target lateral velocity vy, target lateral acceleration ay, and target steering angle θ, thereby moving the vehicle VH laterally toward the final target lateral position CL2. As shown at time t3 in FIG. 3 , the LCA control unit 140 terminates the LCA when the vehicle VH reaches the final target lateral position CL2 in the target lane L2.

[0034] The LCA control unit 140 stops the LCA being executed when the following stop conditions (1) to (5) are met during the execution of the LCA. (1) A steering torque input (steering intervention) exceeding a predetermined threshold due to the driver's steering operation is detected (override). (2) The driver's braking operation was detected. (3) When the driver turns off the LCA by operating the turn signal lever 60. (4) The white line that separates the driving lane from the target lane is no longer a broken line. (5) Another vehicle traveling in the target lane approaches the vehicle VH, making it impossible to maintain a safe distance between the vehicles. When at least one of the stop conditions (1) to (5) is satisfied, the LCA control unit 140 stops the currently running LCA. The input of steering torque (steering intervention) may be acquired based on the detection result of the steering torque sensor 35, and the driver's braking operation may be acquired based on the detection result of the brake sensor 33.

[0035] However, if the driver performs a steering operation during the execution of LCA, the lateral position of the vehicle VH may deviate from the target trajectory Tt of the LCA even if the steering torque input by the steering operation is less than a predetermined threshold (i.e., if the cancellation condition (1) is not satisfied). When such a deviation occurs, an attempt to return the lateral position of the vehicle VH to the target trajectory Tt may cause the driver's steering operation to feel conflicted, or the vehicle VH's behavior during a lane change may be different from what the driver expects, resulting in a loss of continuity of control. In other words, the loss of continuity of control may cause the driver to feel annoyed or uncomfortable. If a deviation occurs between the lateral position of the vehicle VH and the target trajectory Tt due to the driver's steering intervention during the execution of LCA, the correction processing unit 150 executes a correction process to maintain the continuity of control by changing the current time of the vehicle VH (the elapsed time since the start of control) relative to the target lane change time LT. Below, the correction process executed by the correction processing unit 150 according to this embodiment will be described in detail with reference to FIGS. 4 and 5.

[0036] [Correction processing] 4 is a schematic diagram illustrating a correction process when the lateral position of the vehicle VH relative to the target trajectory Tt deviates toward the target lane L2 due to the driver's steering operation toward the target lane L2. When the correction processing unit 150 detects the driver's steering intervention based on the detection result of the steering torque sensor 35, it determines whether the lateral position of the vehicle VH deviates from the target trajectory Tt based on the recognition result of the lateral position recognition unit 110. As shown in FIG. 4B, when the lateral position of the vehicle VH deviates toward the target lane L2 relative to the target trajectory Tt, the correction processing unit 150 advances the current time of the vehicle VH relative to the target lane change time LT, thereby sliding the target trajectory Tt backward toward the vehicle VH.

[0037] As a result, as shown in FIG. 4C, the current lateral position of the vehicle VH coincides with the target trajectory Tt (target lateral position y) at the current time. After the lateral position of the vehicle VH coincides with the target lateral position y, the LCA control unit 140 continues the LCA by moving the vehicle VH laterally again along the target trajectory Tt, as shown in FIG. 4D. That is, the continuity of the LCA control can be maintained by simply sliding the target trajectory Tt backward (advancing the time) without changing the shape of the target trajectory Tt. As a result, even if the lateral position of the vehicle VH deviates toward the target lane L2 with respect to the target trajectory Tt, a smooth LCA can be achieved without giving the driver a sense of discomfort in the steering operation or the behavior of the vehicle VH when changing lanes.

[0038] 5 is a schematic diagram illustrating a correction process when the lateral position of the vehicle VH relative to the target trajectory Tt deviates to the opposite side of the target lane L2 due to a driver's steering intervention (e.g., a steering operation in which the steering wheel is held). When the correction processing unit 150 detects the driver's steering intervention based on the detection result of the steering torque sensor 35, it determines whether the lateral position of the vehicle VH deviates from the target trajectory Tt based on the recognition result of the lateral position recognition unit 110. As shown in FIG. 5B, when the lateral position of the vehicle VH deviates to the opposite side of the target lane L2 relative to the target trajectory Tt, the correction processing unit 150 delays the current time of the vehicle VH relative to the target lane change time LT, thereby sliding the target trajectory Tt forward toward the opposite side of the vehicle VH.

[0039] As a result, as shown in FIG. 5C, the current lateral position of the vehicle VH coincides with the target trajectory Tt (target lateral position y) at the current time. After the lateral position of the vehicle VH coincides with the target lateral position y, the LCA control unit 140 continues the LCA by moving the vehicle VH laterally again along the target trajectory Tt, as shown in FIG. 5D. That is, the continuity of the LCA control can be maintained by simply sliding the target trajectory Tt forward (delaying the time) without changing the shape of the target trajectory Tt. As a result, even if the lateral position of the vehicle VH deviates from the target lane L2 to the opposite side of the target trajectory Tt, a smooth LCA can be achieved without giving the driver a sense of discomfort in the steering operation or the behavior of the vehicle VH when changing lanes.

[0040] 4 and 5, the lateral position of the vehicle VH may be adjusted to match the target lateral position y by repeatedly advancing or delaying the current time of the vehicle VH for a predetermined period of time until the lateral position of the vehicle VH matches the target lateral position y. Alternatively, the time required for the lateral position of the vehicle VH to match the target lateral position y may be calculated from the deviation between the lateral position of the vehicle VH and the target lateral position y, and the current time may be advanced or delayed by the calculated time. The reference point for starting the time measurement may be the timing when the lane change initiation condition is met (i.e., the timing when the vehicle VH starts moving laterally), or the timing when the LCA control unit 140 receives an LCA request signal.

[0041] Next, a correction processing routine by the CPU 11 of the ECU 10 will be described with reference to Fig. 6. This routine is started, for example, when the ECU 10 receives an LCA request signal while the ACC and LTA are activated. For convenience, the following description will be given taking as an example a case where the LCA cancellation conditions (1) to (5) are not satisfied.

[0042] In step S100, the ECU 10 determines whether or not the driver's steering intervention has been detected based on the detection result of the steering torque sensor 35. If the driver's steering intervention has been detected (Yes), the ECU 10 proceeds to processing in step S110. On the other hand, if the driver's steering intervention has not been detected (No), the ECU 10 returns from this routine.

[0043] In step S110, the ECU 10 determines whether or not there is a deviation between the current lateral position of the vehicle VH and the target trajectory Tt, based on the detection result of the external sensor device 40. If there is a deviation between the lateral position of the vehicle VH and the target trajectory Tt (Yes), the ECU 10 proceeds to the processing of step S120. On the other hand, if there is no deviation between the lateral position of the vehicle VH and the target trajectory Tt (No), the ECU 10 returns from this routine.

[0044] In step S120, the ECU 10 determines whether the lateral position of the vehicle VH relative to the target trajectory Tt has deviated toward the target lane L2 based on the detection result of the external sensor device 40. If the lateral position of the vehicle VH has deviated toward the target lane L2 (Yes), the ECU 10 proceeds to processing in step S130. On the other hand, if the lateral position of the vehicle VH has not deviated toward the target lane L2 (No), that is, if the lateral position of the vehicle VH has deviated to the opposite side of the target lane L2, the ECU 10 proceeds to processing in step S150.

[0045] When the process proceeds from step S120 to step S130, the ECU 10 advances the current time of the vehicle VH relative to the target lane-change time LT, thereby sliding the target trajectory Tt backward toward the vehicle VH. Next, in step S140, the ECU 10 determines whether the current lateral position of the vehicle VH matches the target lateral position y of the target trajectory Tt at the current time. If the lateral position of the vehicle VH does not match the target lateral position y (No), the ECU 10 returns to the process of step S130. On the other hand, if the lateral position of the vehicle VH matches the target lateral position y (Yes), the ECU 10 returns to this routine. That is, the process returns to LCA based on the target trajectory Tt.

[0046] When the process proceeds from step S120 to step S150, the ECU 10 delays the current time of the vehicle VH relative to the target lane change time LT, thereby sliding the target trajectory Tt forward toward the opposite side of the vehicle VH. Next, in step S160, the ECU 10 determines whether the current lateral position of the vehicle VH matches the target lateral position y of the target trajectory Tt at the current time. If the lateral position of the vehicle VH does not match the target lateral position y (No), the ECU 10 returns to the process of step S150. On the other hand, if the lateral position of the vehicle VH matches the target lateral position y (Yes), the ECU 10 returns to this routine. That is, the ECU 10 returns to LCA based on the target trajectory Tt.

[0047] The above describes the vehicle control device, control method, and program according to this embodiment, but the present disclosure is not limited to the above embodiment, and various modifications are possible as long as they do not deviate from the purpose of the present disclosure.

[0048] For example, in the above embodiment, the LCA control unit 140 is described as performing LCA based on the target lane change time LT, but it can also be configured to perform LCA based on the target vehicle speed change distance. In this case, the correction processing unit 150 can perform correction processing based on distance instead of time. Furthermore, the technology of the present disclosure can also be applied to autonomous vehicles in which some or all of the driving operations are performed automatically.

Claims

1. A vehicle control device that performs lane change control to automatically change lanes from a lane currently being traveled to a target lane adjacent to the lane currently being traveled by causing the vehicle to travel along a set target trajectory, and a correction processing unit that, when the lateral position of the vehicle deviates from the target trajectory due to a steering operation by the driver of the vehicle during execution of the lane change control, performs a correction process to move the target trajectory forward or backward so that the target lateral position of the target trajectory approaches the current lateral position of the vehicle. Vehicle control device.

2. The vehicle control device according to claim 1, When performing the correction process, the correction processing unit changes the amount of movement by which the target trajectory is moved forward or backward in accordance with the amount of deviation of the lateral position of the vehicle from the target trajectory. Vehicle control device.

3. The vehicle control device according to claim 1 or 2, When performing the correction process, if the lateral position of the vehicle deviates from the target trajectory toward the target lane, the correction processing unit moves the target trajectory backward, and if the lateral position of the vehicle deviates from the target trajectory toward the opposite side of the target lane, the correction processing unit moves the target trajectory forward. Vehicle control device.

4. A vehicle control method for performing lane change control to automatically change lanes from a lane currently being traveled to a target lane adjacent to the lane currently being traveled by causing the vehicle to travel along a set target trajectory, comprising: When the lateral position of the vehicle deviates from the target trajectory due to a steering operation by the driver of the vehicle during execution of the lane change control, a correction process is performed to move the target trajectory forward or backward so that the target lateral position of the target trajectory approaches the current lateral position of the vehicle. How to control the vehicle.

5. a computer of a vehicle control device that performs lane change control to automatically change lanes from a lane currently being traveled to a target lane adjacent to the lane currently being traveled by causing the vehicle to travel along a set target trajectory; When the lateral position of the vehicle deviates from the target trajectory due to a steering operation by the driver of the vehicle during execution of the lane change control, a correction process is performed to move the target trajectory forward or backward so that the target lateral position of the target trajectory approaches the current lateral position of the vehicle. program.

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