Vehicle control device and program

Abstract

To enable lane-deviation suppression control including control of existence of an object to be executed.SOLUTION: A vehicle control device 10 comprises a control part 11 that executes lane-deviation suppression control of suppressing a vehicle 1 from deviating from a lane L. The control part recognizes the lane L between a first boundary L1 and a second boundary L2, on the basis of a detection value for detecting an environment around the vehicle; executes the lane-deviation suppression control so that the vehicle runs on the lane; when recognizing an object T existing on the lane, in the first boundary, sets a first virtual boundary M1 on a position of a side surface inside the lane, of the object; sets a second virtual boundary M2 on which a starting position for the lane-deviation suppression control is set on a position which is away by a predetermined distance in a direction of the inside of the lane, in accordance with a first width that is equal to a distance between the first virtual boundary and the second boundary; secures a clearance distance by which the vehicle is separated from the object, on a virtual lane M set between the first virtual boundary and the second virtual boundary; and executes the lane-deviation suppression control when the vehicle runs while avoiding the object.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device and a program for executing driving assistance for a vehicle. [Background technology]

[0002] In recent years, vehicles have been equipped with a lane departure prevention control function that prevents a vehicle traveling within a lane from deviating from the lane. Lane departure prevention control outputs a predetermined warning to the user when the vehicle approaches a lane boundary and controls the steering device to keep the vehicle within the lane. For example, Patent Document 1 describes a driving assistance device that performs lane departure prevention control based on the lane when the lane is recognizable, and sets a virtual lane and performs lane departure prevention control based on the virtual lane when the lane is not recognizable. The driving assistance device described in Patent Document 1 includes a detection unit that detects the road width and a control unit that sets a virtual lane based on the road width and performs lane departure prevention control based on the virtual lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-128748 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the driving assistance device described in Patent Document 1, when an object such as a vehicle exists in a virtual lane, the vehicle may approach the boundary of the virtual lane when avoiding the object, and lane departure prevention control is executed. Therefore, with the driving assistance device described in Patent Document 1, when avoiding an object, the lane departure prevention control may be executed frequently, which may be annoying to the user.

[0005] An object of the present invention is to provide a vehicle control device and a program that can execute lane departure suppression control that takes into account the presence of an object. [Means for solving the problem]

[0006] One aspect of the present invention is a vehicle control device that includes a control unit that performs lane departure prevention control to prevent a vehicle from deviating from a lane, wherein the control unit recognizes the lane between a first boundary and a second boundary based on detection values ​​that detect the environment around the vehicle, and performs the lane departure prevention control to keep the vehicle running within the lane.When an object present in the lane is recognized at the first boundary, the control unit sets a first virtual boundary at the position of the object's inner side in the lane, and sets a second virtual boundary at which the start position of the lane departure prevention control is set at a position a predetermined distance inward of the lane depending on a first width that is the distance between the first virtual boundary and the second boundary.The control unit ensures a clearance distance from the object within the virtual lane set between the first virtual boundary and the second virtual boundary, and performs the lane departure prevention control when running to avoid the object. [Effects of the Invention]

[0007] According to the present invention, lane departure suppression control can be performed taking into account the presence of an object. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a configuration of a vehicle control device according to an embodiment; [Figure 2] 10A and 10B are diagrams illustrating lane departure suppression control in a normal mode. [Figure 3] 10A and 10B are diagrams illustrating lane departure suppression control in an object avoidance mode. [Figure 4] 10A and 10B are diagrams illustrating lane departure suppression control in an object avoidance mode. [Figure 5] FIG. 10 is a diagram illustrating a method for setting a clearance distance. [Figure 6] 10 is a diagram illustrating a method for setting a predetermined distance for the start position of lane departure prevention control. FIG. [Figure 7] FIG. 10 is a diagram illustrating a method for setting an offset amount. [Figure 8] 4 is a flowchart showing a processing flow of a lane departure suppression control method. [Figure 9] 10 is a flowchart showing a flow of processing for lane departure suppression control in a normal mode. [Figure 10] 10 is a flowchart showing the flow of processing in an object avoidance mode. DETAILED DESCRIPTION OF THE INVENTION

[0009] As shown in FIG. 1, the vehicle 1 includes a vehicle control device 10 that performs driving assistance. The vehicle 1 includes a detection unit 2 that performs detection necessary for driving assistance. The detection unit 2 is configured to detect the environment around the vehicle 1 and output the detection value, for example. The detection unit 2 is configured, for example, by a camera 2A. The camera 2A captures an image in the traveling direction of the vehicle 1, and outputs the image data to the vehicle control device 10. The detection unit 2 may be configured by one or more cameras 2A to capture an image of the environment around the vehicle 1.

[0010] The detection unit 2 may be provided with not only the camera 2A but also a LIDAR device 2B or a radar device 2C that detects objects around the vehicle 1. The LIDAR device 2B scans with laser light and measures reflected light to obtain three-dimensional data of objects around the vehicle 1. The radar device 2C detects objects around the vehicle 1 by emitting radar waves and measuring reflected waves. The detection unit 2 may be provided with a position sensor 2D that measures the current position of the vehicle 1. The position sensor 2D is configured with, for example, a GPS (Global Positioning System) sensor or the like. The position sensor 2D is used, for example, in a navigation device.

[0011] The camera 2A may be configured, for example, as a monocular camera or as a compound camera. The camera 2A captures images of the environment at least in the direction of travel of the vehicle 1 and generates image data including the lane on which the vehicle 1 is traveling. The image data is video data generated based on a predetermined frame rate and can be converted into still image data by dividing the frames. The camera 2A is used for driving assistance control of the vehicle 1. The camera 2A may also be used as a drive recorder. The image data is used for lane departure prevention control of the vehicle 1, as described below.

[0012] The vehicle 1 is equipped with a notification unit 3 that outputs notifications to the user. The notification unit 3 is configured, for example, by a display unit 3A that can display images, a speaker 3B that can output sound, a vibration generator 3C that generates vibrations, and the like. The notification unit 3 is controlled by a vehicle control device 10. The display unit 3A is configured, for example, by a display device such as a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 3A displays a display image that indicates the content of the notification when driving assistance is executed, for example.

[0013] The display unit 3A may be configured to display the display contents of a navigation device provided in the vehicle 1. The display unit 3A may be configured as a touch panel. The display unit 3A may be configured as an input unit that accepts input operations input by a user. In this case, the display unit 3A may display a display image for accepting the input operations. The display unit 3A may be realized by communicating with a mobile terminal device such as a smartphone carried by the user.

[0014] The speaker 3B outputs a sound indicating the content of the notification when driving assistance is executed. The vibration generator 3C is configured to generate vibrations so that the user can feel the vibrations. The vibration generator 3C outputs a notification based on the vibrations to the driver. The vibration generator 3C is provided, for example, on a steering wheel device used by the driver to perform steering operation, or in the driver's seat.

[0015] The vehicle 1 is equipped with a steering unit 4 for controlling the direction of travel. The steering unit 4 is composed of a handle device 4A that accepts steering operations from the driver, and a steering device 4B that changes the direction of the wheels of the vehicle 1 based on the steering operation of the handle device. The steering unit 4 is operated in cooperation between the driver and the vehicle control device 10. When the vehicle 1 is a manually driven vehicle, some or all of the operation of the steering unit 4 is controlled by the vehicle control device 10. When the vehicle 1 is an autonomous vehicle, the operation of the steering unit 4 is automatically controlled by the vehicle control device 10.

[0016] The steering wheel device 4A is configured to reduce steering operation by, for example, a power steering device. The steering wheel device 4A is controlled by the vehicle control device 10, and is steered in a direction that prevents the vehicle 1 from deviating from the lane when lane departure prevention control is executed. The steering wheel device 4A may be configured to be controlled by the vehicle control device 10, and to apply a reaction force in a direction that prevents the vehicle 1 from deviating from the lane when lane departure prevention control is executed.

[0017] The steering wheel device 4A may be provided with a vibration generator 3C, and vibrations may be transmitted to the driver's hands when lane departure prevention control is executed. The steering wheel device 4A is connected to the steering device 4B via a steering shaft, for example, and transmits the driver's steering operation to the steering device 4B. The steering wheel device 4A may be configured as a steer-by-wire system that electrically transmits the steering operation to the steering device 4B.

[0018] The steering device 4B is configured to change the steering angle of the steered wheels in accordance with the amount of steering operation of the handle device 4A. The steering device 4B may be configured to adjust the driving force of a plurality of wheels to change the traveling direction of the vehicle 1. The steering device 4B is controlled by the vehicle control device 10, and changes the steering angle of the steered wheels in a direction that prevents the vehicle 1 from deviating from the lane when lane departure prevention control is executed.

[0019] 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.

[0020] The memory unit 12 stores data of the detection values ​​output from the detection unit 2. The data of the detection values ​​may be stored for a predetermined period and then updated with new data of the detection values. The control unit 11 executes lane departure prevention control to prevent the vehicle 1 from deviating from its lane, based on the detection values ​​that detect the environment around the vehicle.

[0021] As shown in FIG. 2, the vehicle 1 executes lane departure prevention control while traveling within lane L on a road. The illustrated example shows lane departure prevention control in normal mode when no objects such as obstacles exist on lane L. The camera 2A captures images of the environment outside the vehicle, including the front width of the road on which lane L is formed, within an imaging range R. The camera 2A outputs the captured image data to the vehicle control device 10. In the vehicle control device 10, the control unit 11 stores the captured image data in the memory unit 12.

[0022] The control unit 11, for example, automatically starts lane departure prevention control. The control unit 11 may also start lane departure prevention control based on an operation by a user. While executing lane departure prevention control, the control unit 11 acquires imaging data of the surroundings of the vehicle 1 at the current position of the vehicle 1 and analyzes the imaging data. The control unit 11 is configured to execute SLAM (Simultaneous Localization and Mapping) to generate an environmental map of the current position of the vehicle 1 based on the imaging data and map data stored in the storage unit 12. The environmental map is a reproduction of the surrounding environment at the current position of the vehicle 1 using three-dimensional data.

[0023] The control unit 11 executes SLAM and, based on the generated environmental map, recognizes the environment around the vehicle 1. The control unit 11 recognizes the environment around the vehicle 1, including objects present on the road, by combining the imaging data with the detection values ​​of the LIDAR device 2B and the radar device 2C.

[0024] The control unit 11 may recognize the environment around the vehicle 1 based on a determination process using AI (Artificial Intelligence). The control unit 11 may be configured to, for example, perform supervised machine learning such as deep learning in advance, perform image analysis of the captured image data, and recognize roads, objects, and structures recorded in the captured image data. The control unit 11 may also be configured to perform analysis based on other methods as long as it can recognize the environment around the vehicle 1.

[0025] The control unit 11 recognizes the lane L on which the vehicle 1 is traveling based on the image data. The control unit 11 recognizes, for example, the boundaries of the road ahead of the vehicle 1. The control unit 11 recognizes the boundaries of the road based on, for example, lane marks provided on the road. Lane marks are color-coded linear marks such as white or yellow lines, and may be represented by continuous or broken lines. If the control unit 11 cannot recognize lane marks on the road, it recognizes pavement surfaces, steps, gutters, structures such as guardrails, sidewalks, etc., and recognizes the boundaries of these as the boundaries of the road.

[0026] The control unit 11 recognizes a first boundary L1 and a second boundary L2 on the road. The control unit 11 recognizes the area between the first boundary L1 and the second boundary L2 as a lane L. In the illustrated example, for convenience, the first boundary L1 is set to the left side of the vehicle 1's traveling direction, and the second boundary L2 is set to the right side of the vehicle 1's traveling direction. The positional relationship between the first boundary L1 and the second boundary L2 may be reversed left and right. The control unit 11 sets a first virtual boundary M1, which serves as a reference for calculation processing, on the recognized first boundary L1. The control unit 11 sets a second virtual boundary M2, which serves as a reference for calculation processing, on the recognized second boundary L2. The control unit 11 executes lane departure prevention control to prevent the vehicle from deviating from the virtual lane M set between the first virtual boundary M1 and the second virtual boundary M2.

[0027] The control unit 11 determines whether the vehicle 1 is approaching either the first imaginary boundary M1 or the second imaginary boundary M2 based on a time-series analysis of the captured image data. In the illustrated example, the vehicle 1 is described as approaching the second imaginary boundary M2. For example, when the control unit 11 determines that the vehicle 1 is approaching the second imaginary boundary M2, the control unit 11 sets the second imaginary boundary M2 as the reference for the lane departure prevention control. The control unit 11 sets a start position S of the lane departure prevention control at a position spaced a predetermined distance Ds from the second imaginary boundary M2 toward the vehicle 1. The control unit 11 adjusts the predetermined distance Ds according to the lateral movement speed Vy of the vehicle 1 to set the start position (see FIG. 6). The start position S is a virtual reference line set from the second imaginary boundary M2 toward the vehicle 1 and serving as a reference for calculation processing.

[0028] The control unit 11 analyzes the captured image data and calculates the lateral movement speed Vy of the vehicle 1 in the transverse direction (Y-axis direction in FIG. 2) perpendicular to the lane direction (X-axis direction in FIG. 2) of the lane L based on changes over time in the positional relationship between the vehicle 1 and the second virtual boundary M2. The control unit 11 adjusts the predetermined distance Ds in proportion to the absolute value of the lateral movement speed Vy, and sets the start position S. The control unit 11 determines whether or not the turn signal is being operated. If the turn signal is being operated, the control unit 11 determines that the vehicle 1 is changing lanes, and does not execute lane departure prevention control even if the vehicle 1 reaches the start position S.

[0029] When the vehicle 1 reaches the start position S without any turn signal operation, the control unit 11 causes the display unit 3A to display an image warning the driver not to depart from the lane. At the same time, the control unit 11 outputs a warning sound from the speaker 3B and activates the vibration generating device 3C to transmit vibrations to the steering wheel device 4A and the driver's seat.

[0030] When the vehicle 1 crosses the start position S and approaches the second imaginary boundary M2, the control unit 11 controls the handle device 4A and the steering device 4B to adjust the angle of the steering wheel so that the vehicle 1 moves away from the second imaginary boundary M2. At this time, when the driver steers the handle device 4A so that the vehicle 1 moves toward the second imaginary boundary M2, the control unit 11 controls the steering device 4B to increase the reaction force of the handle device 4A as the handle angle in the direction toward the second imaginary boundary M2 increases. When the vehicle 1 moves away from the start position S, the control unit 11 stops controlling the notification unit 3 and the steering unit 4.

[0031] FIG. 3 shows a state in which an object is present in lane L. In the illustrated example, a case will be described in which the protrusion amount Da of object T is small and the second boundary L2 coincides with the second virtual boundary M2 on the side of object T. When object T such as a parked vehicle is present in lane L, control unit 11 executes lane departure suppression control based on an object avoidance mode to avoid object T. In the illustrated example, object T is present on the first boundary L1 side. While vehicle 1 is avoiding object T, control unit 11 executes lane departure suppression control to prevent vehicle 1 from deviating from second boundary L2.

[0032] The control unit 11 recognizes a first boundary L1 and a second boundary L2 in the area on the near side (vehicle 1 side) of the object T on the road. The control unit 11 recognizes the area between the first boundary L1 and the second boundary L2 as a lane L. The control unit 11 sets a first virtual boundary M1 that serves as a reference for calculation processing on the recognized first boundary L1. The control unit 11 sets a second virtual boundary M2 that serves as a reference for calculation processing on the recognized second boundary L2. The control unit 11 executes lane departure suppression control in normal mode in the area on the near side of the object T.

[0033] The control unit 11 recognizes an object T that exists on the first boundary L1 and protrudes into the lane L. When the control unit 11 recognizes the object T, it initiates an object avoidance mode that is different from the normal mode. The object avoidance mode is lane departure suppression control for avoiding the object T. The control unit 11 measures the protrusion amount Da of the object T that protrudes from the first boundary L1 into the lane L. The control unit 11 sets a clearance distance Dc in the transverse direction from the side of the object T that protrudes into the lane L, depending on the speed of the vehicle 1. The clearance distance Dc is a distance set to prevent contact between the object T and the vehicle 1.

[0034] When the vehicle 1 starts to avoid the object T, the control unit 11 adjusts the clearance distance Dc according to the speed V (km / h) of the vehicle 1. The control unit 11 sets the clearance distance Dc to be larger as the speed V of the vehicle 1 increases (see FIG. 5). The control unit 11 analyzes the imaging data over time and calculates the speed of the vehicle 1. When the control unit 11 is able to acquire detected values ​​of acceleration occurring in the vehicle 1, it may calculate the speed of the vehicle 1 based on the components of the acceleration in the three axial directions.

[0035] The control unit 11 may analyze the captured image data over time and set the clearance distance Dc based on the current distance between the vehicle 1 and the second boundary L2. The control unit 11 moves the first imaginary boundary M1 to a position on the side of the object T, the position being moved from the first boundary L1 into the lane L by a distance of the protrusion amount Da. The control unit 11 sets the imaginary lane M on the side of the object T between the first imaginary boundary M1 and the second imaginary boundary M2 after the movement.

[0036] The control unit 11 measures a first width Dy, which is the distance from the side of the object T to the second boundary L2. The control unit 11 determines whether the vehicle 1 will cross the start position S when avoiding the object T while maintaining the clearance distance Dc, for example, based on the following discriminant (1): The control unit 11 compares the first width Dy with a second width (Dc+Dw+Ds), which is the sum of the clearance distance Dc, the vehicle width Dw, ​​and the predetermined distance Ds. Dy―(Dc+Dw+Ds) (1) Based on the discriminant (1), if the difference value obtained by subtracting the second width from the first width is greater than 0, the control unit 11 determines that the vehicle 1 will not cross the start position S when avoiding the object T while maintaining the clearance distance Dc.

[0037] The control unit 11 sets the second imaginary boundary M2, which is set on the second boundary L2 on the side of the object T, as a reference for the lane departure prevention control without moving the second imaginary boundary M2. The control unit 11 sets the start position S of the lane departure prevention control within the lane L using the second imaginary boundary M2 set on the second boundary L2 as a reference.

[0038] The control unit 11 starts the object avoidance mode, for example, when the vehicle 1 reaches a position a predetermined distance from the rear end of the object T and the lateral movement speed in the direction toward the second boundary L2 is increasing. In the object avoidance mode, the control unit 11 sets a virtual lane M between the first virtual boundary M1 and the second virtual boundary M2 after the movement. The control unit 11 executes lane departure suppression control while avoiding the object T, within the virtual lane M set between the first virtual boundary M1 and the second virtual boundary M2 after the movement, to the side of the object T.

[0039] When the vehicle 1 reaches the start position S without any turn signal operation, the control unit 11 outputs a predetermined notification from the notification unit 3 and controls the steering unit 4 so that the vehicle 1 does not cross the second imaginary boundary M2. For example, when the front end of the vehicle 1 is located further forward than the front end of the object T and the lateral movement speed in the direction away from the second boundary L2 is increasing, the control unit 11 cancels the object avoidance mode. After canceling the object avoidance mode, the control unit 11 executes lane departure suppression control in the normal mode.

[0040] The object T may not only be stationary, but also be moving. When the object T is moving, the control unit 11 may update the positional relationship between the object T and the first boundary L1 and the second boundary L2 as needed, and execute lane departure suppression control based on the object avoidance mode. The moving object T may be a pedestrian, a light vehicle, a motorcycle, etc. When the object T is moving, the control unit 11 sets parameters for the object avoidance mode based on the relative distance, relative speed, and relative lateral movement speed with respect to the object T.

[0041] FIG. 4 shows a state in which an object is present in lane L. In the illustrated example, a case will be described in which the protrusion amount Da of the object T is large and the second imaginary boundary M2 is set to be offset from the second boundary L2. In the example of FIG. 4, if the second imaginary boundary M2 is set in the same manner as in the example of FIG. 3, there is a possibility that the vehicle 1 will approach the start position S while avoiding the object T, and notifications will be frequently output from the notification unit 3. Below, a case will be described in which lane departure suppression control based on the object avoidance mode is executed while suppressing notifications output from the notification unit 3.

[0042] When an object T, such as a parked vehicle, is present in the lane L, the control unit 11 executes lane departure suppression control based on an object avoidance mode to avoid the object T. In the example shown, the object T is present on the first boundary L1 side. For example, the control unit 11 starts the object avoidance mode when the vehicle 1 reaches a position a predetermined distance from the rear end of the object T and the lateral movement speed toward the second boundary L2 is increasing.

[0043] When the vehicle 1 is in object avoidance mode and is avoiding an object T, the control unit 11 executes lane departure suppression control to prevent the vehicle 1 from deviating from the second boundary L2. The control unit 11 recognizes a first boundary L1 and a second boundary L2 in the area in front of the object T. The control unit 11 recognizes the area between the first boundary L1 and the second boundary L2 as the lane L. The control unit 11 sets a first virtual boundary M1, which serves as the basis for calculation processing, on the recognized first boundary L1. The control unit 11 sets a second virtual boundary M2, which serves as the basis for calculation processing, on the recognized second boundary L2.

[0044] The control unit 11 recognizes an object T that exists on the first boundary L1 and protrudes into the lane L. The control unit 11 measures the protrusion amount Da of the object T. The control unit 11 sets a clearance distance Dc, which is a distance from the side of the object T in the transverse direction, according to the vehicle speed. When the vehicle 1 starts to avoid the object T, the control unit 11 adjusts the clearance distance Dc according to the speed V of the vehicle 1 (see FIG. 5). The control unit 11 moves the first imaginary boundary M1 to a position on the side of the object T, moved from the first boundary L1 into the lane L by the distance of the protrusion amount Da. That is, the control unit 11 sets the first imaginary boundary M1 at a position on the side of the object T on the inside of the lane L. The control unit 11 sets a virtual lane M on the side of the object T between the moved first imaginary boundary M1 and the second imaginary boundary M2.

[0045] The control unit 11 measures a first width Dy from the side surface of the object T to the second boundary L2. The control unit 11 determines, for example, based on discriminant (1), whether the vehicle 1 will cross the start position S when avoiding the object T while ensuring the clearance distance Dc. The control unit 11 calculates a difference value by subtracting a second width, which is the sum of the clearance distance Dc, the vehicle width Dw, ​​and the predetermined distance Ds, from the first width Dy.

[0046] If the difference value is smaller than 0, the control unit 11 determines that the vehicle 1 will cross the start position S when avoiding the object T while ensuring the clearance distance Dc. If the vehicle 1 crosses the start position S when avoiding the object T while ensuring the clearance distance Dc, the control unit 11 calculates an offset amount Do for offsetting the second virtual boundary M2 outside the lane L based on the following equation (2). Do = (Dc + Dw + Ds) - Dy (2)

[0047] When the vehicle 1 crosses the start position S, the control unit 11 moves the second imaginary boundary M2 from the second boundary L2 to the side of the object T toward the outside of the lane L.

[0048] The control unit 11 sets a second imaginary boundary M2 at a position moved from the second boundary L2 to the outside of the lane L by the distance of the offset amount Do. The control unit 11 sets a start distance S that is a predetermined distance Ds away from the second imaginary boundary M2 toward the inside of the lane L. That is, the control unit 11 sets the second imaginary boundary M2 at which the start position S of the lane departure prevention control is set toward the inside of the lane L, according to the first width Dy, which is the distance between the first imaginary boundary M1 and the second boundary L2. The control unit 11 sets the moved second imaginary boundary M2 as the reference for the lane departure prevention control.

[0049] The control unit 11 sets a virtual lane M between a first imaginary boundary M1 after movement and a second imaginary boundary M2 after movement on the side of the object T. When avoiding the object T while ensuring a clearance distance Dc within the virtual lane M set between the first imaginary boundary M1 after movement and the second imaginary boundary M2 after movement on the side of the object T, the control unit 11 executes lane departure suppression control while avoiding the object T. When the vehicle 1 reaches a start position S without operation of the turn signal, the control unit 11 outputs a predetermined notification from the notification unit 3 and controls the steering unit 4 so that the vehicle 1 does not cross the second imaginary boundary M2.

[0050] When the vehicle 1 crosses the start position S on the virtual lane M to the side of the object T, the control unit 11 causes the notification unit 3 to output a predetermined notification. When the vehicle 1 crosses the start position S on the virtual lane M, the control unit 11 controls the steering unit 4 to prevent the vehicle 1 from deviating from the virtual lane M. The control unit 11 does not output a predetermined notification from the notification unit 3 even when the vehicle 1 approaches the second boundary L2 to the side of the object T within a predetermined distance Ds based on the start position S before the movement. When the start position S is moved to the side of the object T, the control unit 11 does not execute lane departure suppression control based on the start position S before the movement, but executes lane departure suppression control based on the start position S after the movement. According to the above control, by moving the start position S to the side of the object T, it is possible to reduce the frequency of outputting a predetermined notification from the notification unit 3 compared to when the start position S is not moved.

[0051] The object T may not only be stationary, but also moving. For example, when the front end of the vehicle 1 is located further forward than the front end of the object T and the lateral movement speed away from the second boundary L2 is increasing, the control unit 11 cancels the object avoidance mode. After canceling the object avoidance mode, the control unit 11 executes normal lane departure suppression control for the lane L.

[0052] 5 shows a method for setting the clearance distance Dc. When the speed V of the vehicle 1 is less than a predetermined speed V1, the control unit 11 sets the clearance distance Dc to a constant value Dc1. When the speed V of the vehicle 1 is equal to or greater than the predetermined speed V1, the control unit 11 increases the clearance distance Dc in proportion to the speed V of the vehicle 1. The predetermined speed V1 may be zero.

[0053] 6 shows a method for setting the predetermined distance Ds for setting the start position S of the lane departure prevention control. The control unit 11 increases the value of the predetermined distance Ds in proportion to the lateral movement speed Vy of the vehicle 1. Based on the value of the predetermined distance Ds calculated based on the lateral movement speed Vy of the vehicle 1, the control unit 11 sets the start position S of the lane departure prevention control to a position that is spaced the predetermined distance Ds from the second imaginary boundary M2 toward the vehicle 1.

[0054] 7 shows a method for calculating the offset amount Do of the second imaginary boundary M2. When the control unit 11 determines based on the discriminant (1) that the imaginary lane M does not fit within the lane L, it calculates the offset amount of the second imaginary boundary M2. Based on the equation (2), the control unit 11 calculates the offset amount Do by subtracting the first width Dy from the second width (Dc+Dw+Ds). The control unit 11 sets the offset amount Do to increase as the first width Dy, which is the distance from the side surface of the object T to the second boundary L2, decreases.

[0055] The control unit 11 sets the offset amount Do to be larger as the speed V or lateral movement speed Vy of the vehicle 1 increases for the same first width Dy. The control unit 11 sets an upper limit value Dom for the offset amount Do so that the start position S does not deviate from the lane L. If the control unit 11 determines that the vehicle 1 will not cross the start position S, it sets the offset amount Do to zero.

[0056] 8 shows the flow of processing of the lane departure prevention control method executed in the vehicle control device 10. The lane departure prevention control method is executed by a computer program installed in a computer mounted on the vehicle control device 10. The program causes the computer to execute the following processes.

[0057] The control unit 11 acquires detection values ​​obtained by detecting the environment around the vehicle 1 from the detection unit 2 (step S100). The control unit 11 recognizes the lane L between the first boundary L1 and the second boundary L2 based on the detection values ​​including the image data of the camera 2A, the measurement value data of the LIDAR device 2B, and the measurement value data of the radar device 2C (step S102). The control unit 11 executes lane departure suppression control in the normal mode so that the vehicle 1 travels within the lane L (step S104).

[0058] The control unit 11 determines whether an object T is present in the lane L (step S106). If the control unit 11 determines that the object T is present in the lane L, it starts lane departure prevention control in the object T avoidance mode (step S108). If the control unit 11 recognizes the object T present in the lane L at the first boundary L1, it sets a first imaginary boundary M1 at a position within the lane L that is moved from the first boundary L1 by a distance of the protrusion amount Da (step S110). That is, the control unit 11 sets the first imaginary boundary M1 at a position on the side of the object T on the inside of the lane L. The control unit 11 sets a second imaginary boundary M2 at a position moved from the second boundary L2 by a distance of the offset amount Do outside the lane L (step S112). That is, the control unit 11 sets the second imaginary boundary M2, at which the lane departure prevention control start position S is set toward the inside of the lane L, according to a first width Dy, which is the distance between the first imaginary boundary M1 and the second boundary L2.

[0059] The control unit 11 executes lane departure prevention control while avoiding the object T within the virtual lane M set between the first virtual boundary M1 and the second virtual boundary M2 (step S114). The control unit 11 determines whether or not the vehicle 1 has finished avoiding the object T (step S116). If the control unit 11 determines that the vehicle 1 has finished avoiding the object T, the process returns to step S104 and the lane departure prevention control continues.

[0060] 9 shows the flow of processing for lane departure prevention control in normal mode, which is executed in step S104. The control unit 11 sets a first imaginary boundary M1 on the first boundary L1, sets a second imaginary boundary M2 on the second boundary L2, and sets a virtual lane M between the first imaginary boundary M1 and the second imaginary boundary M2 (step S200). The control unit 11 determines whether the vehicle 1 is approaching either the first imaginary boundary M1 or the second imaginary boundary M2 based on the lateral movement speed Vy of the vehicle 1 (step S202). If the control unit 11 determines that the vehicle 1 is approaching a virtual boundary, it sets a start position S for lane departure prevention control to a position spaced a predetermined distance Ds inward from the approaching virtual boundary on the virtual lane M (step S204).

[0061] The control unit 11 determines whether the vehicle 1 has crossed the start position S (step S206). When the vehicle 1 has crossed the start position S, the control unit 11 outputs a predetermined notification from the notification unit 3 and controls the steering unit 4 to move the vehicle 1 away from the virtual boundary (step S208). The control unit 11 determines whether an end condition for the lane departure prevention control has been met (step S210).

[0062] The termination conditions include cases where the lane departure prevention control is no longer necessary, such as a user's operation to cancel the lane departure prevention control, an inability to set the virtual lane M, or the end of driving the vehicle 1. If the termination conditions are met, the control unit 11 stops the lane departure prevention control, and if the termination conditions are not met, the control unit 11 returns the process to step S202 and continues the lane departure prevention control.

[0063] 10 shows the processing flow of the method for setting the second virtual boundary M2 in the object avoidance mode, which is executed in step S112. The control unit 11 measures the first width Dy on the side of the object T (step S300). The control unit 11 calculates the second width on the side of the object T, and determines whether the vehicle 1 will cross the start position S when avoiding the object T while ensuring the clearance distance Dc, based on the difference value obtained by subtracting the second width from the first width (step S302).

[0064] If the control unit 11 determines that the vehicle 1 will not cross the start position S to the side of the object T, the control unit 11 proceeds to the process at step S308. If the control unit 11 determines that the vehicle 1 will cross the start position S to the side of the object T, the control unit 11 sets the absolute value of the difference value as an offset amount, moves the second imaginary boundary M2 to a position offset by the distance of the offset amount outside the lane L from the second boundary L2, and also moves the start position S according to the second imaginary boundary M2 after the movement (step S306).

[0065] The control unit 11 determines whether the vehicle 1 has crossed the post-movement start position S (step S308). If the vehicle 1 has crossed the post-movement start position S, the control unit 11 outputs a predetermined notification from the notification unit 3 and controls the steering unit 4 to move the vehicle 1 away from the second virtual boundary M2 (step S310). The control unit 11 determines whether the vehicle 1 has reached the end position of the object avoidance mode (step S312). If the vehicle 1 has reached the end position of the object avoidance mode, the control unit 11 proceeds with the process to step S116. If the vehicle 1 has not reached the end position of the object avoidance mode, the control unit 11 returns the process to step S308.

[0066] As described above, the vehicle control device 10 can execute lane departure prevention control that takes into account the presence of an object on the road. The vehicle control device 10 can execute lane departure prevention control based on the object avoidance mode when the vehicle 1 avoids the object T. In the object avoidance mode, when it is determined that the vehicle 1, which is performing an avoidance operation while ensuring a clearance distance to the side of the object T, will cross the start position S of the lane departure prevention control, the vehicle control device 10 can suppress output of a predetermined notification from the notification unit 3 by moving the start position S so as to approach the second boundary L2.

[0067] According to the vehicle control device 10, when the start position S is moved closer to the second boundary L2 in the object avoidance mode, the output of a predetermined notification from the notification unit 3 is suppressed, thereby preventing the user from feeling annoyed.

[0068] In the above-described embodiment, the computer program executed in each component of the vehicle control device 10 may be provided in a form recorded on a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of symbols]

[0069] 1 vehicle, 2 detection unit, 2A camera, 2B lidar device, 2C radar device, 2D position sensor, 3 notification unit, 3A display unit, 3B speaker, 3C vibration generator, 4 steering unit, 4A handle device, 4B steering device, 10 vehicle control device, 11 control unit, 12 memory unit, L lane, L1 first boundary, L2 second boundary, M virtual lane, M1 first virtual boundary, M2 second virtual boundary, R imaging range, S start position, T object, V speed, V1 predetermined speed, Vx lateral movement speed

Claims

1. a control unit that executes lane departure prevention control to prevent the vehicle from departing from the lane; The control unit Recognizing the lane between a first boundary and a second boundary based on a detection value of an environment around the vehicle; Execute the lane departure suppression control so that the vehicle travels within the lane; When an object present in the lane is recognized at the first boundary, a first virtual boundary is set at a position of a side surface of the object on an inner side of the lane; a second virtual boundary is set at a position spaced a predetermined distance inward from the lane, the second virtual boundary being a distance between the first virtual boundary and the second boundary, and the second virtual boundary is set at a position spaced a predetermined distance inward from the lane, the second virtual boundary being a start position of the lane departure prevention control; a clearance distance from the object is secured within a virtual lane set between the first virtual boundary and the second virtual boundary, and the lane departure suppression control is executed when traveling while avoiding the object. Vehicle control device.

2. The control unit setting a distance between the start position and the second virtual boundary in accordance with a lateral movement speed in a lane crossing direction perpendicular to the lane direction of the lane; The vehicle control device according to claim 1 .

3. The control unit When it is determined that the vehicle will cross the start position when the clearance distance is secured and the object is avoided, a difference value obtained by subtracting the first width from a second width obtained by adding the clearance distance, the vehicle width of the vehicle, and the distance between the start position and the second virtual boundary is set as an offset amount; The second virtual boundary is moved to a position offset from the second boundary to the outside of the lane by a distance of the offset amount, moving the start position based on the second virtual boundary after the movement; The vehicle control device according to claim 1 .

4. The control unit setting the clearance distance according to the speed of the vehicle; The vehicle control device according to claim 1 .

5. The control unit When the vehicle crosses the start position on the virtual lane, a notification unit outputs a predetermined notification. The vehicle control device according to claim 1 .

6. The control unit When the vehicle crosses over the start position on the virtual lane, a steering unit is controlled to prevent the vehicle from deviating from the virtual lane. The vehicle control device according to claim 1 .

7. A program installed in a vehicle control device that executes lane departure prevention control to prevent a vehicle from departing from a lane in which the vehicle is traveling, Recognizing the lane between a first boundary and a second boundary based on a detection value of an environment around the vehicle; Execute the lane departure suppression control so that the vehicle travels within the lane; When an object present in the lane is recognized at the first boundary, a first virtual boundary is set at a position of a side surface of the object on an inner side of the lane; a second virtual boundary is set, the second virtual boundary being a position at which the lane departure prevention control start position is set, the second virtual boundary being spaced a predetermined distance inward from the lane, in accordance with a first width that is a distance between the first virtual boundary and the second boundary; causing a computer to execute a process of ensuring a clearance distance from the object within a virtual lane set between the first virtual boundary and the second virtual boundary, and executing the lane departure suppression control when traveling while avoiding the object; program.

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