Control apparatus

Abstract

To provide a control apparatus of a mobile body that can suppress long-time continuation of a situation where determination of whether execution of lane change control is possible or not is difficult even if a specific region where the detection accuracy of an object with an external sensor is relatively lower than in other regions occurs.SOLUTION: A control apparatus 100 limits execution of lane change control when it is estimated that another vehicle is present in a detection difficult region 420 where a detection accuracy of an object with an external sensor 11 is relatively lower than in other regions in a case where a lane change function is valid. The control apparatus 100 invalidates the lane change function when it is estimated that a state where another vehicle is present in the detection difficult region 420 has continued for a predetermined time after the execution of lane change control was limited.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to a control device capable of executing lane change control for a moving object. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have been gaining momentum. To achieve this, we are focusing on research and development into driver assistance and autonomous driving technologies to further improve road safety and convenience.

[0003] As an example of driving assistance technology, Patent Document 1 discloses a driving assistance device capable of executing control to assist in lane changes. The driving assistance device in Patent Document 1 is equipped with sensors such as a camera, laser radar, and millimeter-wave radar, and recognizes the external environment to provide driving assistance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 4366419 Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention aims to provide a method for detecting lane change control by a control device that detects an object in a specific area, such as a vehicle, where the accuracy of the object detection by an external sensor is relatively low compared to other areas.

[0006] The present invention provides a control device for a moving body that can prevent a state in which it is difficult to determine whether or not to execute lane change control from continuing for a long period of time, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] The present invention provides A control device having a lane change function capable of executing lane change control for changing the lane on which a moving body is traveling, the moving body includes an external sensor capable of detecting objects around the moving body, The control device a recognition unit that recognizes a surrounding situation of the moving object based on a detection result of the external sensor; a travel control unit that performs the lane change control based on the surrounding conditions recognized by the recognition unit; Equipped with The traveling control unit When the lane change function is enabled, the lane change control can be executed, and when the lane change function is disabled, the lane change control cannot be executed, When the lane change function is enabled by the driver's operation, determining whether or not the lane change control is necessary without relying on an operation by the occupant, and determining that lane change control is to be performed when it is determined that a preceding moving body traveling at a slower speed than the moving body is present ahead of the moving body; When it is determined that the lane change control cannot be performed based on the surrounding conditions recognized by the recognition unit, the lane change control is restricted even if it is determined that the lane change control should be performed; When it is determined that the lane change control can be executed based on the surrounding conditions recognized by the recognition unit before a predetermined first time period has elapsed in a state in which the lane change control is restricted, the restriction on the lane change control is released; If the first time period or more has elapsed while the lane change control is restricted, the lane change function is disabled. [Effects of the Invention]

[0008] According to the present invention, it is possible to prevent a state in which it is difficult to determine whether or not to execute lane change control from continuing for a long period of time. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram showing the overall configuration of a vehicle system 10 mounted on a vehicle 1. FIG. [Figure 2] 1 is a diagram illustrating an example of the configuration of a control device 100. FIG. [Figure 3] 3A to 3C are diagrams illustrating an example of a lane change operation of the vehicle 1 under lane change control. [Figure 4] 1 is a diagram showing a schematic diagram of a detection area 410 and a difficult-to-detect area 420 around a vehicle 1. FIG. [Figure 5] 4 is a diagram showing another vehicle M2 existing in the detection area 410 of the vehicle 1. FIG. [Figure 6] 10 is a diagram showing a state in which another vehicle M2 has entered the difficult-to-detect area 420 of the vehicle 1. FIG. [Figure 7] 10 is a diagram showing a state in which another vehicle M2 that was in the difficult-to-detect area 420 has moved into the detection area 410. FIG. [Figure 8] 10 is a diagram showing a state in which another vehicle M2 that was present in the difficult-to-detect area 420 has moved out of the difficult-to-detect area 420 without being detected by the external sensor 11. FIG. [Figure 9] 10 is a flowchart showing an example of a process performed by the control device 100 to estimate whether or not another vehicle is present in the difficult-to-detect area 420. [Figure 10] 10 is a flowchart showing an example of processing executed by the control device 100 when a flag indicating the presence of another vehicle in at least one of the right-side difficult-to-detect region 420R and the left-side difficult-to-detect region 420L is turned ON. [Figure 11] 4 is a flowchart showing an example of processing when the control device 100 executes lane change control. [Figure 12] This is a continuation of the flowchart in Figure 11. [Figure 13] 10 is a flowchart showing a modified example of the process executed by the control device 100 when the presence flag of another vehicle in the difficult-to-detect area 420 is turned ON. DETAILED DESCRIPTION OF THE INVENTION

[0010] A control device for a moving body according to one embodiment of the present invention will now be described with reference to the accompanying drawings.

[0011] <Overall vehicle system configuration> Fig. 1 is a block diagram showing the overall configuration of a vehicle system 10 mounted on a vehicle 1 (see Fig. 3). The vehicle 1 may be, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source may be an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination of these. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharged power from a secondary battery or a fuel cell.

[0012] The vehicle system 10 includes, for example, an external sensor 11, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a driver monitor camera 50, a navigation device 60, an MPU (Map Positioning Unit) 70, a driving operator 80, a control device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are connected to each other by multiplexed communication lines such as a CAN (Controller Area Network) communication line, serial communication lines, a wireless communication network, etc.

[0013] The external sensor 11 detects objects present around the vehicle 1. The external sensor 11 includes a camera 12, a radar device 13, and a LIDAR (Light Detection and Ranging) .

[0014] The camera 12 is a digital camera that uses an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), etc. The camera 12 is attached to the vehicle 1 at any position.

[0015] The radar device 13 emits radio waves such as millimeter waves around the vehicle 1 and detects radio waves reflected by an object (reflected waves) to detect at least the position (distance and direction) of the object. The radar device 13 is attached to any location on the vehicle 1.

[0016] The LIDAR 14 irradiates the area around the vehicle 1 with light (or electromagnetic waves with wavelengths similar to light) and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time between light emission and reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 may be attached to any location on the vehicle 1.

[0017] The object recognition device 16 performs sensor fusion processing on some or all of the detection results of the camera 12, the radar device 13, and the LIDAR 14 to recognize the position, type, speed, etc. of the object. The object recognition device 16 outputs the recognition results to the control device 100. The object recognition device 16 may output the detection results of the camera 12, the radar device 13, and the LIDAR 14 to the control device 100 as they are.

[0018] The communication device 20 communicates with other vehicles in the vicinity of the vehicle 1, for example, using a cellular network, a Wi-Fi (registered trademark) network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), etc., or communicates with various server devices via a wireless base station.

[0019] The HMI 30 presents various information to the occupant of the vehicle 1 and accepts input operations by the occupant. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, etc. The HMI 30 is an example of a reception unit of the present invention.

[0020] The vehicle sensor 40 includes a speed sensor that detects the traveling speed of the vehicle 1 (hereinafter also simply referred to as "speed"), an acceleration sensor that detects acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, and a direction sensor that detects the direction of the vehicle 1.

[0021] The driver monitor camera 50 is a digital camera that uses a solid-state imaging device such as a CCD or CMOS. The driver monitor camera 50 is attached to any location on the vehicle 1 in a position and orientation that allows it to capture an image of the head of a passenger (hereinafter also referred to as the "driver") seated in the driver's seat of the vehicle 1 from the front (in an orientation that captures the face).

[0022] The navigation device 60 includes, for example, a GNSS (Global Navigation Satellite System) receiver 61, a navigation HMI 62, and a route determination unit 63. The navigation device 60 stores first map information 64 in a storage device such as an HDD (Hard Disk Drive) or a flash memory.

[0023] The GNSS receiver 61 determines the position of the vehicle 1 based on signals received from GNSS satellites. The position of the vehicle 1 may be determined or supplemented by an INS (Inertial Navigation System) that uses outputs from the vehicle sensors 40.

[0024] The navigation HMI 62 includes a display device, a speaker, a touch panel, keys, etc. The navigation HMI 62 may share some or all of its components with the HMI 30 described above.

[0025] The route determination unit 63 determines a route (hereinafter also referred to as a "route on map") from, for example, the position of the vehicle 1 identified by the GNSS receiver 61 (or any input position) to a destination input by the occupant using the navigation HMI 62, by referring to the first map information 64. The first map information 64 is, for example, information that represents road shapes using links indicating roads and nodes connected by the links. The first map information 64 may also include information such as road curvature and POI (Point of Interest) information. The route on map is output to the MPU 70.

[0026] The navigation device 60 may provide route guidance based on the route on the map using the navigation HMI 62. The navigation device 60 may transmit the current position and the destination to a navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0027] The MPU 70 includes, for example, a recommended lane determination unit 71, and stores second map information 72 in a storage device such as an HDD or flash memory. The recommended lane determination unit 71 divides the route on the map provided by the navigation device 60 into a plurality of blocks (for example, by dividing it into 100 m intervals in the vehicle travel direction), and determines a recommended lane for each block by referring to the second map information 72. The recommended lane determination unit 71 determines, for example, which lane from the left the vehicle should travel in. When there is a branch point on the route on the map, the recommended lane determination unit 71 determines a recommended lane so that the vehicle 1 can travel on a reasonable route to the branch point.

[0028] The second map information 72 is map information with higher accuracy than the first map information 64. The second map information 72 includes, for example, information on the center of lanes or information on lane boundaries. The second map information 72 may also include road information, traffic regulation information, address information, facility information, telephone number information, etc. The second map information 72 may be updated as needed by the communication device 20 communicating with other devices.

[0029] The driving operators 80 include, for example, an accelerator pedal, a brake pedal, a shift lever, and other operators in addition to a turn signal lever 81 and a steering wheel 82. The driving operators 80 are fitted with sensors that detect the amount of operation or the presence or absence of operation, and the detection results are output to the control device 100 or some or all of the driving force output device 200, the braking device 210, and the steering device 220.

[0030] The winker lever 81 is an operator for turning on (including blinking) or turning off the winker 5. The control device 100 turns on or turns off the winker 5 in response to an operation on the winker lever 81.

[0031] The steering wheel 82 is an operator that accepts steering operations. The steering wheel 82 does not necessarily have to be annular, and may be in the form of an irregular steering wheel, a joystick, buttons, or the like. A steering grip sensor 84 is attached to the steering wheel 82. The steering grip sensor 84 is realized by a capacitance sensor or the like, and outputs a signal to the control device 100 that can detect whether the driver is gripping the steering wheel 82.

[0032] The control device 100 is a computer that performs overall control of the vehicle 1, and is realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device such as an HDD or flash memory of the control device 100. Details of the control device 100 will be described later.

[0033] The driving force output device 200 outputs a driving force (torque) for the vehicle to travel to the driving wheels. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, etc., and an ECU (Electronic Control Unit) that controls these. The ECU controls the above components according to information input from the control device 100 or information input from the driving operator 80.

[0034] Brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with information input from control device 100 or information input from driving operator 80, so that a brake torque corresponding to the braking operation is output to each wheel.

[0035] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor applies force to a rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor in accordance with information input from the control device 100 or information input from the driving operator 80 to change the direction of the steered wheels.

[0036] <Control device> 2 is a diagram showing an example of the configuration of the control device 100. The control device 100 includes, for example, a first control unit 110 and a second control unit 120.

[0037] The first control unit 110 includes, for example, a recognition unit 111, a behavior plan generation unit 112, and an estimation unit 115. The first control unit 110 realizes, for example, a function based on AI (Artificial Intelligence) and a function based on a pre-given model in parallel.

[0038] The recognition unit 111 recognizes the surrounding situation of the vehicle 1 based on information input from the camera 12, the radar device 13, and the LIDAR 14 via the object recognition device 16. Specifically, the recognition unit 111 recognizes the position information of objects (including other vehicles described later) around the vehicle 1, the traveling conditions of the objects such as their speed and acceleration, and the identification information of the objects.

[0039] The position of the object is recognized and used for control as a position on an absolute coordinate system with the origin being a representative point (such as the center of gravity or the center of the drive shaft) of the vehicle 1. The position of the object may be represented by a representative point such as the center of gravity or a corner of the object, or may be represented by an area.

[0040] The "state" of an object may include the acceleration or jerk of the object, or its "behavioral state" (e.g., whether it is changing lanes or about to do so).

[0041] The recognition unit 111 recognizes, for example, the driving environment in which the vehicle 1 is traveling. For example, the recognition unit 111 recognizes the driving lane of the vehicle 1 by comparing the pattern of road dividing lines (e.g., an arrangement of solid lines and dashed lines) obtained from the second map information 72 with the pattern of road dividing lines around the vehicle 1 recognized from an image captured by the camera 12. Note that the recognition unit 111 may recognize the driving lane by recognizing road boundaries (road boundaries) including not only road dividing lines but also road dividing lines, shoulders, curbs, medians, guardrails, etc. In this recognition, the position of the vehicle 1 obtained from the navigation device 60 and the processing results by the INS may be taken into consideration. The recognition unit 111 may also recognize stop lines, obstacles, red lights, toll booths, and other road phenomena.

[0042] When recognizing the travel lane, the recognition unit 111 recognizes the position and attitude of the vehicle 1 relative to the travel lane. For example, the recognition unit 111 may recognize the deviation of the reference point of the vehicle 1 from the center of the lane and the angle it forms with a line connecting the centers of the lanes in the traveling direction of the vehicle 1 as the relative position and attitude of the vehicle 1 relative to the travel lane. Alternatively, the recognition unit 111 may recognize the position of the reference point of the vehicle 1 relative to either side edge of the travel lane (a road dividing line or a road boundary) as the relative position of the vehicle 1 relative to the travel lane.

[0043] The recognition unit 111 recognizes the identification information of an object. Here, the identification information of an object is information that identifies each object recognized by the recognition unit 111, and includes, for example, information indicating the external characteristics of each object, such as the shape and color of the object. Furthermore, if the object recognized by the recognition unit 111 is a vehicle equipped with a so-called license plate, the identification information of the object may include information indicating the number printed on the license plate. For example, when the identification information of the object recognized previously matches the identification information of the object recognized this time, the recognition unit 111 determines that the object recognized this time is the same as the object recognized last time.

[0044] The behavior plan generation unit 112 generates a target trajectory along which the vehicle 1 will automatically (i.e., without the driver's operation) travel in the future so that the vehicle 1 will travel along the recommended lane determined by the recommended lane determination unit 71 and be able to respond to the surrounding conditions of the vehicle 1.

[0045] The target trajectory includes, for example, a speed element. For example, the target trajectory is expressed as an ordered list of points (trajectory points) that the vehicle 1 should reach. The trajectory points are points that the vehicle 1 should reach at every predetermined travel distance (for example, about several meters) along a road, and separately, the target speed and target acceleration for every predetermined sampling time (for example, about a few tenths of a second) are generated as part of the target trajectory. Furthermore, the trajectory points may be positions that the vehicle 1 should reach at each predetermined sampling time. In this case, the information on the target speed and target acceleration is expressed as the intervals between the trajectory points.

[0046] The behavior plan generation unit 112 may set an autonomous driving event when generating the target trajectory. The autonomous driving events include a constant speed driving event, a low speed following driving event, a lane change event, a branching event, a merging event, a takeover event, etc. The behavior plan generation unit 112 generates a target trajectory according to the activated event.

[0047] For example, the behavior plan generating unit 112 includes a lane change determining unit 113 as a function for setting a lane change event.

[0048] The lane change determination unit 113 determines whether or not control to change the lane in which the vehicle 1 is traveling (hereinafter also referred to as lane change control) can be performed, based on the traveling environment of the vehicle 1 recognized by the recognition unit 111. The lane change determination unit 113 determines whether or not lane change control can be performed, based on the traveling environment of the vehicle 1, regardless of, for example, the driver's operation (for example, operation of the turn signal lever 81).

[0049] The lane change determination unit 113 determines to perform lane change control, for example, when the distance between the vehicle 1 and another vehicle (also referred to as a leading vehicle) traveling ahead in the traveling lane of the vehicle 1 becomes equal to or less than a predetermined threshold. Furthermore, when another vehicle traveling in an adjacent lane adjacent to the traveling lane of the vehicle 1 is detected, the lane change determination unit 113 determines whether or not to perform lane change control, for example, based on the relative speed and the distance between the vehicle 1 and the detected other vehicle.

[0050] When the lane change determination unit 113 determines that lane change control can be executed, the action plan generation unit 112 sets a lane change event and generates a target trajectory corresponding to the lane change event.

[0051] The estimation unit 115 estimates whether or not an object exists in a difficult-to-detect area, which will be described later, based on the surrounding situation recognized by the recognition unit 111. The estimation unit 115 will be described later.

[0052] The second control unit 120 controls the vehicle 1 so that it passes through the target trajectory generated by the behavior plan generation unit 112 at the scheduled time. The second control unit 120 includes, for example, an acquisition unit 121, a speed control unit 122, a steering control unit 123, and a notification control unit 124.

[0053] The acquisition unit 121 acquires information on the target trajectory (trajectory points) generated by the behavior plan generation unit 112, and stores it in a memory (not shown).

[0054] The speed control unit 122 controls the traveling driving force output device 200 or the brake device 210 based on the speed element associated with the target trajectory stored in the memory.

[0055] The steering control unit 123 controls the steering device 220 according to the degree of curvature of the target trajectory stored in the memory.

[0056] The processing of the speed control unit 122 and the steering control unit 123 is realized, for example, by a combination of feedforward control and feedback control.

[0057] The notification control unit 124 controls the HMI 30, the navigation HMI 62, etc. to execute various notifications (present various information) to the occupants (e.g., the driver) of the vehicle 1. For example, the notification control unit 124 notifies the occupants of the start of lane change control, or notifies the occupants if the lane change control is to be discontinued midway. The notification of the start of lane change control or the notification of the discontinuation of lane change control is given, for example, by displaying it on a display device such as the HMI 30 or the navigation HMI 62, or by playing a sound from a speaker.

[0058] In the control device 100, for example, the action plan generation unit 112 of the first control unit 110 and the acquisition unit 121, speed control unit 122, and steering control unit 123 of the second control unit 120 combine to form the driving control unit 130. For example, when the lane change determination unit 113 determines that lane change control can be performed, the driving control unit 130 performs lane change control.

[0059] <Lane change control> The lane change control by the control device 100 will be described in detail.

[0060] The vehicle 1 is configured to be able to travel in a plurality of driving modes. The plurality of driving modes include, for example, an automatic driving mode in which the vehicle M travels autonomously without the driver's operation of the driving controls 80, and a driving assistance mode in which some driving operations are performed by the driver, and the control device 100 executes driving control according to each mode. The lane change function capable of executing the lane change control described above is one of the various functions included in the automatic driving mode and the driving assistance mode.

[0061] The lane change function is switched ON / OFF, i.e., enabled / disabled, in response to, for example, an instruction from the driver (for example, pressing a switch on the HMI 30). When the lane change function is enabled, lane change control can be executed. Specifically, when the lane change function is enabled, the lane change determination unit 113 determines whether lane change control can be executed while the vehicle 1 is traveling, and if it determines that lane change control can be executed, the driving control unit 130 executes lane change control. On the other hand, when the lane change function is disabled, lane change control cannot be executed. Specifically, when the lane change function is disabled, the lane change determination unit 113 does not determine whether lane change control can be executed while the vehicle 1 is traveling, and the driving control unit 130 does not execute lane change control.

[0062] 3 shows an example of lane change operation of the vehicle 1 using lane change control. Here, an example is described in which the lane change function is enabled and the vehicle 1 is autonomously traveling according to control by the control device 100, without any operation by the driver. In this case, the control device 100 can appropriately perform lane change control to change the lane in which the vehicle 1 is traveling, depending on the surrounding conditions of the vehicle 1 recognized by the recognition unit 111, etc.

[0063] The road 300 has a left lane 310, a right lane 320, and a dividing line 330 that serves as a road dividing line and is located at the boundary between the left lane 310 and the right lane 320. The direction of travel in the left lane 310 and the right lane 320 is from bottom to top in FIG. 3. Hereinafter, the lane in which the vehicle 1 is traveling will also be referred to as the "current lane L1." In addition, the lane adjacent to the current lane L1 will also be referred to as the "adjacent lane L2."

[0064] While the vehicle 1 is traveling in the left lane 310 of the road 300, the control device 100 executes lane change control to overtake the preceding vehicle M1 traveling in the own lane L1 at a speed slower than the vehicle 1.

[0065] Specifically, the control device 100 determines whether or not to execute lane change control based on the surrounding situation recognized by the recognition unit 111.

[0066] When it is determined that lane change control can be executed, the control device 100 notifies the driver of the vehicle 1 that lane change control will be started via the HMI 30. The notification of the start of lane change control (hereinafter also referred to as lane change control start notification) is, for example, a display on a display device attached to the vehicle 1 or a voice notification from a speaker.

[0067] In addition to the notification of the start of lane change control, the control device 100 also notifies the driver to check the surroundings of the vehicle 1. This prompts the driver to check the surroundings of the vehicle 1 in the direction of the lane change (to the right). Specifically, the driver checks the right side mirror or directly checks the side (right) of the vehicle 1.

[0068] After a predetermined time has elapsed since the notification of the start of lane change control was initiated, the control device 100 starts turning on the right blinker 5. This notifies the outside of the vehicle 1 that the vehicle 1 is changing lanes.

[0069] After a predetermined time has elapsed since the turn signal 5 started to light up, the control device 100 starts lane change control to the right. As a result, the control device 100 starts steering the vehicle 1, and the vehicle 1 starts to move laterally. When the vehicle 1 moves laterally to the adjacent lane L2, the lane change control is completed.

[0070] <Detection area, difficult-to-detect area> Incidentally, in order to perform an appropriate lane change while ensuring the safety of the vehicle 1, the lane change must be performed in a situation where there are no objects (e.g., other moving objects) around the vehicle 1 that may collide with the vehicle 1. On the other hand, due to the number, arrangement, performance, etc. of the external sensors 11 mounted on the vehicle 1, there may be areas around the vehicle 1 where the accuracy of object detection by the external sensors 11 is relatively lower than in other areas (hereinafter also referred to as difficult-to-detect areas), and this may make it difficult for the control device 100 to accurately recognize the entire surrounding situation of the vehicle 1.

[0071] In a vehicle 1 in which a difficult-to-detect area may occur, when the lane change function is enabled and it is estimated that an object has entered the difficult-to-detect area, for example, based on information previously obtained by the external sensor 11, it is conceivable that the execution of lane change control may be restricted. Specifically, the control device 100 may restrict the execution of lane change control while the lane change function is enabled. In this way, it is possible to prevent the execution of lane change control in a situation in which an object that may collide with the vehicle 1 is present in the difficult-to-detect area, and also, by canceling the restriction on lane change control when the object leaves the difficult-to-detect area, it becomes possible to execute lane change control again.

[0072] However, if the state in which it is estimated that an object has entered the difficult-to-detect area continues, it may become difficult for the control device 100 to determine whether or not to execute lane change control. Specifically, when the external sensor 11 cannot detect that an object has left the difficult-to-detect area, the state in which it is estimated that the object has entered the difficult-to-detect area continues, even though the object has actually left the difficult-to-detect area. In this case, the control device 100 continues to restrict lane change control even though lane change control is executable, that is, it becomes difficult to correctly determine whether or not to execute lane change control.

[0073] Therefore, in this embodiment, the control device 100 performs the process described below to prevent a state in which it is difficult to determine whether or not to execute lane change control from continuing for a long period of time.

[0074] First, an example of a difficult-to-detect area and a detection area where the external sensor 11 has higher object detection accuracy than the difficult-to-detect area will be described. Fig. 4 is a diagram showing a detection area 410 and a difficult-to-detect area 420 (shaded area) around the vehicle 1. Note that the detection area 410 and the difficult-to-detect area 420 shown in Fig. 4 are merely shown schematically, and the positions and sizes of these areas do not necessarily coincide with the actual areas.

[0075] The detection area 410 is an area in which the external sensor 11 can detect an object (for example, another vehicle) with high accuracy, and is present in a wide area around the vehicle 1.

[0076] The control device 100 recognizes the position information, running state, and identification information of the object in the detection area 410 detected by the external sensor 11 as the surrounding situation.

[0077] The difficult-to-detect region 420 is a region where the detection accuracy of the external sensor 11 is relatively lower than that of the detection region 410. The difficult-to-detect region 420 occurs due to, for example, the number, arrangement, performance, etc. of the external sensors 11 mounted on the vehicle 1. The difficult-to-detect region 420 also includes a region that was originally the detection region 410 but where the detection accuracy of the external sensor 11 has decreased due to the presence of an obstruction such as a signboard or a guardrail.

[0078] In this embodiment, an example will be described in which the difficult-to-detect area 420 exists mainly on the right and left sides of the vehicle 1 in the vicinity of the vehicle 1. The area on the right side of the difficult-to-detect area 420 is referred to as a right-side difficult-to-detect area 420R, and the area on the left side is referred to as a left-side difficult-to-detect area 420L.

[0079] 5, while vehicle 1 is traveling in its own lane L1, if another vehicle M2 traveling in an adjacent lane L2 enters the detection area 410 of vehicle 1, the external sensor 11 of vehicle 1 detects the other vehicle M2. At this time, the control device 100 recognizes the position information, traveling state information, and identification information of the other vehicle M2 within the detection area 410 at predetermined time intervals, and stores these in association with each other in the storage device of the control device 100.

[0080] 6, when the vehicle 1 and / or the other vehicle M2 accelerates or decelerates, the other vehicle M2 approaches relatively close to the vicinity of the vehicle 1, and the other vehicle M2 enters the difficult-to-detect area 420 (here, the right-side difficult-to-detect area 420R). At this time, the detection accuracy of the other vehicle M2 by the external sensor 11 decreases or the other vehicle M2 cannot be detected, making it difficult to detect the other vehicle M2.

[0081] The estimation unit 115 of the control device 100 estimates that the other vehicle M2 is present in the difficult-to-detect area 420 based on the surrounding conditions of the other vehicle M2 stored in advance. Specifically, the estimation unit 115 estimates that the other vehicle M2 is present in the difficult-to-detect area 420 when the detection accuracy of the external sensor 11 for the other vehicle M2 has decreased or when the other vehicle M2 is no longer detected. As a result, even if the other vehicle M2 enters the difficult-to-detect area 420 and is no longer detected by the external sensor 11, the control device 100 can recognize the surrounding conditions of the vehicle 1, including the difficult-to-detect area 420, by estimation.

[0082] When the vehicle 1 is traveling with the lane change function enabled and it is estimated that another vehicle M2 is in the difficult-to-detect area 420, the control device 100 limits the execution of lane change control while keeping the lane change function enabled. This makes it possible to prevent the lane change control from being executed in a situation where the vehicle 1 and the other vehicle M2 may collide.

[0083] As shown in Figure 7, when another vehicle M2 that was estimated to be present in the difficult-to-detect area 420 is detected again in the detection area 410, the control device 100 determines that the other vehicle M2 has left the difficult-to-detect area 420 and is no longer present in the difficult-to-detect area 420, and releases the restriction on lane change control.

[0084] More specifically, when the identification information of the other vehicle M2 estimated to be present in the difficult-to-detect area 420 matches the identification information of the object detected in the detection area 410 after the other vehicle M2 was estimated to be present in the difficult-to-detect area 420, the control device 100 recognizes that the object detected in the detection area 410 is the other vehicle M2. In other words, the control device 100 determines that the other vehicle M2 has left the difficult-to-detect area 420, i.e., that the other vehicle M2 is no longer present in the difficult-to-detect area 420. The control device 100 then releases the restriction on lane change control. At this time, the lane change function remains enabled, so the control device 100 can perform lane change control based on the surrounding conditions.

[0085] 8, there is a case where another vehicle M2 that was present in the difficult-to-detect area 420 moves from the difficult-to-detect area 420 to another difficult-to-detect area, for example, by changing lanes, without being detected by the external sensor 11. The other difficult-to-detect area is an area outside the detection area 410 and the difficult-to-detect area 420 that is not detected by the external sensor 11 and does not hinder the lane change of the vehicle 1. In this case, the estimation unit 115 of the control device 100 continues to estimate that another vehicle M2 is present in the difficult-to-detect area 420, even though the other vehicle M2 is not present in the difficult-to-detect area 420.

[0086] In this state, the restriction on lane change control continues even though lane change control by the control device 100 is executable. That is, as described above, it becomes difficult for the control device 100 to correctly determine whether or not lane change control can be executed. In addition, this state is a state in which lane change control is not executed even though the lane change function is enabled, which may cause discomfort to the driver.

[0087] Therefore, when a state in which it is estimated that another vehicle M2 is present in the difficult-to-detect area 420 continues for a predetermined time, the control device 100 disables the lane change function. This makes it possible to prevent a state in which it is difficult for the control device 100 to determine whether or not to execute lane change control from continuing for a long period of time. Furthermore, because the control device 100 disables the lane change function, it is possible to avoid executing lane change control when the other vehicle M2 has actually been present in the difficult-to-detect area 420 for the predetermined time.

[0088] After disabling the lane change function, when the HMI 30 or the like receives an instruction from the driver to enable the lane change function, the control device 100 enables the lane change function and makes lane change control executable. As described above, since the state in which lane change control is not executed even though the lane change function is enabled is quickly resolved, enabling the lane change function in response to an instruction from the driver can prevent a decrease in opportunities to execute lane change control.

[0089] <Control flow of estimation process> Next, an example of processing by the control device 100 to estimate whether or not another vehicle is present in the difficult-to-detect area 420 will be described with reference to the flowchart shown in Fig. 9. When the vehicle 1 is autonomously traveling under the control of the control device 100, the control device 100 repeatedly executes the flowchart in Fig. 9 at a predetermined interval, for example.

[0090] First, the control device 100 recognizes the surrounding situation including the position information, running state, and identification information of other vehicles detected in the detection area 410, and stores the information in the storage device (step S100).

[0091] The control device 100 estimates whether or not another vehicle is present in the difficult-to-detect area 420 based on the surrounding situation recognized by the recognition unit 111 (step S102).

[0092] If it is estimated that another vehicle is present in the difficult-to-detect area 420 (step S104: YES), the control device 100 sets a presence flag indicating whether or not another vehicle is present in the difficult-to-detect area 420 to ON (step S106), and ends this flowchart. When the presence flag is ON, it is estimated that another vehicle is present in the difficult-to-detect area 420, so even if the lane change function is enabled, the execution of lane change control is restricted.

[0093] More specifically, when it is estimated that another vehicle is present in the right-side difficult-to-detect region 420R, the control device 100 turns on the other vehicle presence flag in the right-side difficult-to-detect region 420R. This restricts the execution of lane change control to the adjacent lane on the right. Furthermore, when it is estimated that another vehicle is present in the left-side difficult-to-detect region 420L, the control device 100 turns on the other vehicle presence flag in the left-side difficult-to-detect region 420L. This restricts the execution of lane change control to the adjacent lane on the left.

[0094] On the other hand, if it is determined that no other vehicle is present in the difficult-to-detect area 420 (step S104: NO), the control device 100 sets the presence flag to OFF (step S108) and ends this flowchart. When the presence flag is OFF, lane change control can be executed. Furthermore, when the presence flag is switched from ON to OFF, the control device 100 releases the restriction on lane change control and enables execution of lane change control.

[0095] <Lane change function switching control flow> Next, an example of processing executed by the control device 100 when the presence flag of another vehicle in at least one of the right-side difficult-to-detect area 420R and the left-side difficult-to-detect area 420L is turned ON in step S106 will be described with reference to the flowchart shown in Fig. 10. The control device 100, for example, repeatedly executes the flowchart in Fig. 10 at a predetermined interval.

[0096] The control device 100 first determines whether the presence flag is ON (step S200). Specifically, when the presence flag is ON in the above-described step S106, the control device 100 determines that the presence flag is ON in step S200. On the other hand, when the control device 100 determines that the presence flag is OFF (step S200: NO), the control device 100 ends this flowchart.

[0097] When it is determined that the presence flag is ON (step S200: YES), the control device 100 determines whether a predetermined time has elapsed since the presence flag was ON (step S201).

[0098] When it is determined that the state in which the existence flag is ON has not elapsed for a predetermined time (step S201: NO), the control device 100 ends the current control flow.

[0099] 9 repeatedly before a predetermined time has elapsed during which the presence flag is ON, and if another vehicle M2 that was estimated to be present in the right-side difficult-to-detect region 420R as shown in FIG. 7 is detected again in the detection region 410, the control device 100 determines in step S104 that another vehicle M2 is not present in the right-side difficult-to-detect region 420R (step S104: NO). At this time, the presence flag for another vehicle in the right-side difficult-to-detect region 420R is turned OFF (step S108), and the control device 100 determines in step S200 of FIG. 10 that the presence flag is OFF, and ends this flowchart.

[0100] 10, when it is determined that the state in which the presence flag is ON has lasted for a predetermined time (step S201: YES), the control device 100 disables the lane change function (step S202). By disabling the lane change function, the state in which the lane change function is enabled and the execution of lane change control is restricted is resolved. In other words, the state in which it is difficult for the control device 100 to determine whether or not to execute lane change control can be resolved.

[0101] Furthermore, the control device 100 switches the presence flag to OFF in response to the lane change function being disabled (step S204).

[0102] More specifically, if it is estimated that another vehicle is present in the right-side difficult-to-detect region 420R, the control device 100 switches the other vehicle presence flag in the right-side difficult-to-detect region 420R from ON to OFF. If it is estimated that another vehicle is present in the left-side difficult-to-detect region 420L, the control device 100 switches the other vehicle presence flag in the left-side difficult-to-detect region 420L from ON to OFF.

[0103] Next, the control device 100 determines whether or not the driver has input to enable the lane change function (step S206). For example, when the driver inputs an instruction to enable the lane change function via the HMI 30 or the like, the control device 100 determines that the driver has input to enable the lane change function.

[0104] For example, after step S202 and step S204, the control device 100 may display on a display device such as the HMI 30 that the lane change function has been disabled, or may notify the driver via a speaker. This allows the driver to understand that the lane change function has been disabled in response to the notification, and to quickly input an instruction to enable the lane change function via the HMI 30 or the like.

[0105] When it is determined that an input to enable the lane change function has been received (step S206: YES), the control device 100 enables the lane change function (step S208). Note that the control device 100 may execute step S204, in which the presence flag is switched OFF, after step S206, instead of before step S206, for example, simultaneously with step S208.

[0106] When it is determined that there is no input to enable the lane change function (step S206: NO), the control device 100 keeps the lane change function disabled (step S210).

[0107] <Lane change control flow> Next, an example of processing when the control device 100 executes lane change control will be described with reference to the flowcharts shown in Figures 11 and 12. When the vehicle 1 is autonomously traveling under the control of the control device 100, the control device 100 repeatedly executes the flowcharts of Figures 11 and 12 at predetermined intervals, for example.

[0108] The control device 100 first determines whether a lane change flag indicating that lane change control is being executed is ON (step S300). If it is determined that the lane change flag is ON (step S300: YES), the control device 100 proceeds to the processing of step S314, which will be described later.

[0109] If it is determined that the lane change flag is OFF (step S300: NO), the control device 100 determines whether the lane change function is enabled and whether the flag indicating the presence of another vehicle at the lane change destination is OFF (step S302).

[0110] More specifically, if the lane change destination is to the right, the control device 100 determines whether the lane change function is enabled and whether the presence flag in the right-side difficult-to-detect region 420R is OFF. Also, if the lane change destination is to the left, the control device 100 determines whether the lane change function is enabled and whether the presence flag in the left-side difficult-to-detect region 420L is OFF.

[0111] Here, if the lane change destination is to the right, the other vehicle presence flag in left difficult-to-detect area 420L may be ON, and if the lane change destination is to the left, the other vehicle presence flag in right difficult-to-detect area 420R may be ON. With this configuration, even if it is estimated that another vehicle is present in difficult-to-detect area 420 on the other side of the left or right direction, an opportunity to change lanes to one side can be ensured.

[0112] If it is determined that the lane change function is disabled or that the flag indicating the presence of another vehicle at the lane change destination is ON (step S302: NO), the control device 100 determines not to perform lane change control (step S304) and terminates the current control flow.

[0113] If it is determined that the lane change function is enabled and the presence flag of another vehicle at the lane change destination is OFF (step S302: YES), the control device 100 determines whether or not to execute lane change control based on the surrounding conditions recognized by the recognition unit 111 (step S306).

[0114] If it is determined that the lane change control cannot be executed (step S306: NO), the control device 100 determines not to execute the lane change control (step S304), and ends the current control flow.

[0115] If it is determined that the lane change control can be executed (step S306: YES), the control device 100 turns on the lane change flag (step S308).

[0116] When the lane change flag is turned ON, the control device 100 notifies the driver that lane change control will be executed via the HMI 30 (step S310). In addition, the control device 100 notifies the driver to check the surrounding conditions.

[0117] After a predetermined time has elapsed since the notification of the start of lane change control, the control device 100 turns on the winker 5 (step S312).

[0118] Next, between the time when the turn signal 5 starts to light up and the time when lane change control starts (i.e., the time when steering control starts), the control device 100 again determines whether the lane change function is enabled and whether the presence flag of another vehicle at the lane change destination is OFF (step S314).

[0119] If it is determined that the lane change function is disabled or that the presence flag of another vehicle at the lane change destination is ON (step S314: NO), the control device 100 turns off the blinker 5 (step S326) and turns off the lane change flag, not executing lane change control (step S328).The control device 100 then ends this control flow.In this way, lane change control is not executed if it is estimated that another vehicle has entered the difficult-to-detect area 420 before steering begins, thereby improving the safety of lane changes.

[0120] If it is determined that the lane change function is enabled and the presence flag of another vehicle at the lane change destination is OFF (step S314: YES), the control device 100 again determines whether or not to perform lane change control based on the surrounding conditions recognized by the recognition unit 111 (step S316).

[0121] If it is determined that lane change control cannot be executed (step S316: NO), the control device 100 turns off the blinker 5 (step S326) and sets the lane change flag to OFF so that lane change control is not executed (step S328). Then, the control device 100 ends the current control flow. For example, if a situation occurs in which lane change control cannot be executed between the time when it is determined in step S306 that lane change control is executable and step S316 (for example, when the vehicle ahead changes lanes into an adjacent lane after the blinker 5 is turned on), the control device 100 determines that lane change control cannot be executed.

[0122] If it is determined that lane change control can be performed (step S316: YES), the control device 100 performs lane change control (step S318). As a result, the control device 100 starts steering control, and the vehicle 1 starts moving laterally from the own lane L1 to the adjacent lane L2.

[0123] After the lane change control is started, the control device 100 determines whether the lane change is completed (step S320).

[0124] When it is determined that the lane change has not been completed (step S320: NO), the control device 100 ends the current control flow.

[0125] When the lane change is complete (step S320: YES), the control device 100 turns off the winker 5 (step S322), turns off the lane change flag (step S324), and ends the current control flow.

[0126] (Variation) Next, a modified example of the processing executed by the control device 100 when the other vehicle presence flag is turned ON will be described with reference to Fig. 13. Note that steps similar to those shown in Fig. 10 are given the same reference numerals and descriptions thereof will be omitted.

[0127] In a modified example, after a predetermined time has elapsed while the presence flag is ON in step S201, the control device 100 executes a notification to prompt the driver to check the surroundings of the vehicle 1, including the difficult-to-detect area 420 (step S205a). The notification prompting the driver to check the surroundings of the vehicle 1 is given, for example, by displaying it on a display device such as the HMI 30 or by playing a sound from a speaker.

[0128] After issuing a notification prompting the driver to check the surroundings of the vehicle 1, the control device 100 may determine whether or not the driver has checked the surroundings of the vehicle 1 (step S205b). Specifically, based on the detection result by the driver monitor camera 50, it may determine whether or not the driver has checked the surroundings of the vehicle 1.

[0129] If it is determined that the driver has checked the surroundings of the vehicle 1 (step S205b: YES), the control device 100 proceeds to step S206 described above and determines whether the driver has input to enable the lane change function. That is, if the lane change function is disabled in step S202, the lane change function can be re-enabled on the condition that the driver has checked the surroundings. This allows lane change control to be executed more safely.

[0130] On the other hand, if it is not determined that the driver has checked the periphery of the vehicle 1 (step S205b: NO), the process proceeds to the above-mentioned step S210, where the control device 100 keeps the lane change function disabled.

[0131] For example, if the driver does not check the surroundings of the vehicle 1 in step S205b (step S205b: NO), the driver may have a physical problem (for example, a worsening condition or dozing off). Therefore, if the driver does not check the surroundings of the vehicle 1 within a predetermined period of time, the control device 100 may keep the lane change function disabled, and may further execute driving control to stop the vehicle 1 at a predetermined position, or may execute notification to a medical institution, fire department, police, family, etc.

[0132] Although one embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such an embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above embodiment may be combined in any manner without departing from the spirit of the invention.

[0133] This specification describes at least the following: In parentheses, components corresponding to those in the above-described embodiments are shown as examples, but the present invention is not limited to these.

[0134] (1) A control device (control device 100) having a lane change function capable of executing lane change control to change the lane in which a moving body (vehicle 1) is traveling, The moving body includes an external sensor (external sensor 11) capable of detecting objects around the moving body, The control device a recognition unit (recognition unit 111) that recognizes the surrounding situation of the moving object based on the detection result of the external sensor; an estimation unit (estimation unit 115) that estimates whether or not another moving body (another vehicle M2) is present in a specific area (a difficult-to-detect area 420) where the detection accuracy of the object by the external sensor is relatively low compared to other areas, based on the surrounding situation recognized by the recognition unit; and a driving control unit (driving control unit 130) capable of executing the lane change control based on the surrounding conditions recognized by the recognition unit and the estimation result by the estimation unit; Equipped with the lane change function can be switched between enabled and disabled in response to an instruction from an occupant of the moving body, and when enabled, the lane change control can be executed, and when disabled, the lane change control cannot be executed; When the lane change function is enabled, the driving control unit when the estimation unit estimates that the other moving body is present in the specific area, limiting the execution of the lane change control; After restricting the execution of the lane change control, when the state in which it was estimated that the other moving body is present in the specific area is resolved, the restriction on the lane change control is released; after restricting the execution of the lane change control, when a state in which it is estimated that the other moving body is present in the specific area continues for a predetermined time, the lane change function is disabled; Control device.

[0135] According to (1), the lane change function is disabled when the state in which it is estimated that another moving body is present in a specific area continues for a predetermined period of time, thereby preventing a state in which it is difficult for the control device to determine whether or not to perform lane change control from continuing for a long period of time.

[0136] (2) The control device according to (1), The vehicle further includes a reception unit (HMI 30) that receives an instruction from the occupant to enable the lane change function, The traveling control unit After the lane change function is disabled, when the reception unit receives an instruction from the occupant to enable the lane change function, the lane change function is enabled and the lane change control can be executed. Control device.

[0137] According to (2), after disabling the lane change function, the lane change function can be appropriately enabled under the supervision of the occupant, thereby enabling execution of lane change control. This makes it possible to change from a state in which lane change control is not executed despite the lane change function being enabled to a state in which lane change control is executable, thereby preventing a decrease in opportunities to execute lane change control.

[0138] (3) The control device according to (1) or (2), When the lane change function is enabled, the driving control unit When the estimation unit estimates that the other moving body is not present in the specific area on one side in the left-right direction and that the other moving body is present in the specific area on the other side in the left-right direction, the lane change control can be executed to change lanes to one side. Control device.

[0139] According to (3), when it is estimated that there are no other moving bodies in a specific area on one side of the vehicle in the left-right direction, even if it is estimated that there are other moving bodies in a specific area on the other side, lane change control can be performed to one side.

[0140] (4) The control device according to any one of (1) to (3), The recognition unit recognizes the other moving object detected in a detection area (detection area 410) where the detection accuracy by the external sensor is higher than that of the specific area, the estimation unit estimates that the other moving object is present in the specific area when the detection accuracy of the other moving object detected in the detection area around the moving object decreases or when the other moving object is no longer detected. Control device.

[0141] According to (4), it is possible to appropriately estimate whether or not another moving object is present in a specific area based on the detection results of the external sensor that have been detected in advance, and to appropriately restrict lane change control.

[0142] (5) The control device according to (4), When the lane change function is enabled, the driving control unit After restricting the execution of the lane change control, when the other moving body estimated to be present in the specific area is detected again in the detection area, the restriction on the lane change control is released. Control device.

[0143] According to (5), when another moving body that is estimated to be in a specific area is detected again in the detection area, the restriction on lane change control is quickly lifted, thereby increasing the opportunities to perform lane change control.

[0144] (6) The control device according to (5), The recognition unit Recognizing identification information for identifying an object detected in the detection area; When identification information of the other moving body estimated to be present in the specific area matches identification information of an object detected in the detection area after the other moving body is estimated to be present in the specific area, the object detected in the detection area is recognized as the other moving body. Control device.

[0145] According to (6), it is possible to appropriately recognize whether another moving object that is estimated to be present in the specific area has moved into the detection area based on the identification information of the other moving object. [Explanation of symbols]

[0146] 1. Vehicle (moving object) 11 External Sensors 30 HMI (reception area) 100 control device 111 Recognition part 115 Estimation Department 130 Travel control unit 410 detection area 420 Difficult-to-detect area (specific area) M2 Other vehicles (other moving objects)

Claims

1. A control device having a lane change function capable of executing lane change control for changing the lane on which a moving body is traveling, the moving body includes an external sensor capable of detecting objects around the moving body, The control device a recognition unit that recognizes a surrounding situation of the moving object based on a detection result of the external sensor; a travel control unit that performs the lane change control based on the surrounding conditions recognized by the recognition unit; Equipped with The traveling control unit When the lane change function is enabled, the lane change control can be executed, and when the lane change function is disabled, the lane change control cannot be executed, When the lane change function is enabled by the driver's operation, determining whether or not the lane change control is necessary without relying on an operation by the occupant, and determining that lane change control is to be performed when it is determined that a preceding moving body traveling at a slower speed than the moving body is present ahead of the moving body; When it is determined that the lane change control cannot be performed based on the surrounding conditions recognized by the recognition unit, the lane change control is restricted even if it is determined that the lane change control should be performed; When it is determined that the lane change control can be executed based on the surrounding conditions recognized by the recognition unit before a predetermined first time period has elapsed in a state in which the lane change control is restricted, the restriction on the lane change control is released; When the first time period or more has elapsed while the lane change control is restricted, the lane change function is disabled. Control device.

2. The control device according to claim 1, The restriction of the lane change control is performed when the recognition unit recognizes that another moving body is present on the side of the moving body and in a position overlapping with the moving body in a lateral direction, The restriction on the lane change control is released when, in a state in which the lane change control is restricted, the recognition unit determines that the other moving body is not present on the side of the moving body and in a position overlapping with the moving body in the laterally direction before the first time period has elapsed. Control device.

3. The control device according to claim 1 or 2, The traveling control unit When the lane change function is disabled, the necessity of lane change control is not determined even if there is a preceding moving object traveling at a speed slower than that of the moving object. Control device.

4. The control device according to claim 1 or 2, a notification control unit that executes a predetermined notification to the occupant of the moving body; The notification control unit When the lane change function is enabled, it is determined that the preceding moving body traveling at a speed slower than that of the moving body is present, and it is determined whether or not the lane change control can be executed based on the surrounding conditions, and when it is determined that the lane change control can be executed, a start notification is given to the occupant to notify that the lane change control will be started. Control device.

5. The control device according to claim 4, The notification control unit together with the start notification, a notification is sent to the occupant urging them to check their surroundings. Control device.

6. The control device according to claim 4, The control device start turning on the turn signal after a predetermined second time has elapsed since the start notification was initiated; Control device.

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