Operation control method and operation control device

Abstract

A driving control device 100 controls the driving of a host vehicle 1 at a prescribed driving assistance level using a processor 10 under the condition of traveling behind a preceding vehicle 2. When the host vehicle 1 traveling in a first lane L1 at the prescribed driving assistance level switches to a second lane L2, which differs from the first lane L1, the processor 10 determines whether another vehicle 3 has been detected in the second lane L2, and if the other vehicle 3 has not been detected, the host vehicle 1 continues travel in the first lane L1 until the other vehicle 3 is detected, and after the other vehicle 3 is detected, and the processor executes lane switching control at the prescribed driving assistance level.

Description

[Technical field]

[0001] The present invention relates to an operation control method and an operation control device. [Background technology]

[0002] The driving control method described in Patent Document 1 controls driving of the host vehicle at a predetermined driving assistance level on the condition that the host vehicle follows a leading vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-104802 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the driving control method described in Patent Document 1, when a vehicle following behind a leading vehicle attempts to change lanes, if there is no leading vehicle in the lane to which the vehicle is to change lanes, the vehicle may not be able to change lanes while maintaining the driving assistance level.

[0005] The problem that the present invention aims to solve is to provide a driving control method and a driving control device that can perform lane change control while maintaining a driving assistance level when a vehicle traveling behind a leading vehicle at a predetermined driving assistance level changes lanes. [Means for solving the problem]

[0006] The present invention solves the above problem by, when a vehicle traveling in a first lane at a predetermined driving assistance level changes lanes to a second lane, if another vehicle is not detected in the second lane, maintaining the vehicle traveling in the first lane until another vehicle is detected in the second lane, and executing lane change control at the predetermined driving assistance level after the other vehicle is detected. Effect of the Invention

[0007] According to the present invention, lane change control is executed after another vehicle is detected in the second lane, thereby achieving the effect of being able to execute lane change control while maintaining the driving assistance level when the vehicle traveling behind a leading vehicle at a predetermined driving assistance level changes lanes. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a configuration of an operation control device according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing an example of the positional relationship between a host vehicle and a preceding vehicle; [Diagram 3] FIG. 2 is a diagram showing an example of the positional relationship between a host vehicle, a preceding vehicle, and another vehicle; [Figure 4] 2 is a flowchart showing the steps of an operation control method executed by the operation control device shown in FIG. [Diagram 5] FIG. 11 is a block diagram showing the configuration of an operation control device according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. First Embodiment 1 is a block diagram showing the configuration of a host vehicle 1 and a driving control device 100 that controls autonomous driving of the host vehicle 1. The host vehicle 1 includes the driving control device 100, a detection device 101, a host vehicle position acquisition unit 102, a map database 103, an in-vehicle device 104, an input device 105, and a drive control device 106.

[0010] The driving control device 100 autonomously controls the vehicle speed and steering of the host vehicle 1 by executing a program stored in the ROM with the CPU, using an autonomous driving control function. The driving control device 100 can set a driving mode according to a driving support level, and can support the driving of the host vehicle according to the set driving mode. The driving support level is a level indicating the degree of intervention when the driving control device 100 supports the driving of the vehicle using the autonomous driving control function. The higher the driving support level, the lower the contribution of the driver to the driving of the vehicle. Specifically, the driving support level can be set to levels 0 to 5 using definitions based on SAE J3016 of the Society of Automotive Engineers (SAE). At level 0, the driving operation of the host vehicle is entirely performed manually by the driver. At level 1, the driving operation of the host vehicle is mainly performed by the driver's manual driving, but the driving control device 100 appropriately supports the manual driving of the driver using any of the functions such as automatic braking, following, and lane keeping. At level 2, the driving operation of the vehicle is mainly performed by the driver's manual driving, but under certain conditions, the driving control device 100 can perform driving assistance by combining multiple functions among functions such as automatic braking, following, and lane keeping. At level 3, the driving control device 100 performs all driving tasks, but the driver must regain control and prepare to drive manually when requested by the driving control device 100. At level 4, manual driving by the driver is not required, and the driving control device 100 can perform all driving tasks and monitor the surrounding conditions of the vehicle under certain conditions. At level 5, the driving control device 100 can perform all driving tasks under all conditions. The driving control device 100 switches the above-mentioned driving assistance levels automatically or by the driver's operation.

[0011] The driving mode corresponding to level 2 is the eyes-on mode. That is, when the driving assistance level is set to level 2, the driver needs to visually monitor the situation around the vehicle 1. When the driving assistance level is set to level 2, the direction of the driver's face and eye movements are monitored by an in-car camera or the like, and the vehicle 1 is permitted to travel if the driver is looking ahead. The driving mode corresponding to level 2 is the hands-on mode. In the hands-on mode, the driver uses the steering wheel 104a If the driver does not have a steering wheel, the autonomous steering control by the processor 10 does not operate. 104a Whether you have a steering wheel or not 104a The torque is detected by a touch sensor (not shown) provided in the EPS or a steering torque sensor (not shown) of the EPS. In addition, "the driver has the steering wheel 14a" means that the driver has the steering wheel 104a Not only when the driver is holding the steering wheel firmly, but also when the driver is 104a This also includes the state of lightly placing your hand on the

[0012] On the other hand, the driving mode corresponding to level 3 is the eyes-off mode. That is, when the driving assistance level is set to level 3, the processor 10 controls the driving of the host vehicle 1 in the eyes-off mode, which allows the host vehicle 1 to travel when the driver is not looking ahead. At this time, the system of the driving control device 100 autonomously monitors the surroundings of the host vehicle using a camera, radar, etc. Also, the driving mode corresponding to level 3 is the hands-off mode. In the hands-off mode, the driver does not use the steering wheel 104aThis is a mode in which the steering control by the processor 10 operates even if the driver takes his / her hands off the steering wheel. That is, when the driving assistance level is set to level 3, the processor 10 controls the driving of the host vehicle 1 in a hands-off mode that permits the host vehicle 1 to travel when the driver takes his / her hands off the steering wheel of the host vehicle 1. In addition, the driving control device 100 can execute a driving mode corresponding to level 3 on the condition that the host vehicle 1 is traveling behind the leading vehicle 2 as shown in FIG. 2. Here, "the host vehicle 1 travels behind the preceding vehicle 2" includes not only the host vehicle 1 traveling following the preceding vehicle 2, but also the host vehicle 1 traveling behind the preceding vehicle 2 on the travel route already traveled by the preceding vehicle 2 without following the preceding vehicle 2. This allows the driving control device 100 to confirm that there is no obstacle on the travel route already traveled by the preceding vehicle 2, i.e., in front of the host vehicle 1, and control the driving of the host vehicle 1. In addition, "the host vehicle 1 travels following the preceding vehicle 2" means that the host vehicle 1 travels in a state in which the driving control device 100 controls the driving of the host vehicle 1 so as to link with the movement of the preceding vehicle 2, and controls the vehicle speed V1 of the host vehicle 1 so as to maintain a certain distance between the host vehicle 1 and the preceding vehicle 2.

[0013] The classification of driving assistance levels is not limited to the classification according to the definition of the Society of Automotive Engineers, and the driving assistance levels may be defined based on ISO / TC204 of the International Organization for Standardization (ISO). In addition, the classification of driving assistance levels may be defined according to other standards as long as the classification is appropriate according to the degree of intervention of the driving control device 100.

[0014] The detection device 101 has either an on-board camera that captures images of the surroundings of the vehicle 1 or a radar that detects other vehicles and obstacles around the vehicle 1, or both. The detection results of the detection device 101 are output to the driving control device 100 at predetermined time intervals.

[0015] The vehicle position acquisition unit 102 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, etc. The vehicle position acquisition unit 102 detects radio waves transmitted from multiple satellite communications by the GPS unit, periodically acquires position information of the vehicle 1, and detects the current position of the vehicle 1 based on the acquired position information of the vehicle 1, angle change information acquired from the gyro sensor, and vehicle speed acquired from the vehicle speed sensor. The position information of the vehicle 1 detected by the vehicle position acquisition unit 102 is output to the driving control device 100 at predetermined time intervals.

[0016] The map database 103 is a memory configured to store three-dimensional high-precision map information including position information of various facilities and specific points and to be accessible from the driving control device 100. The map database 103 stores high-precision digital map information (high-precision maps, dynamic maps). The high-precision map information includes identification information of multiple lanes that a road has. The map information in the map database 103 includes three-dimensional position information about roads and / or lane curves and the magnitude of the curves (e.g., curvature or curvature radius), merging points, branching points, and positions where the number of lanes is reduced. The high-precision map information also includes information about facilities such as service areas / parking areas.

[0017] The in-vehicle devices 104 are various devices mounted on a vehicle, and are operated by the driver. The in-vehicle devices 104 include a steering wheel 104a. Other in-vehicle devices 104 include an accelerator pedal, a brake pedal, a navigation device, a turn signal, wipers, lights, a horn, and other specific switches. When the in-vehicle devices 104 are operated by the driver, the information is output to the driving control device 100.

[0018] The drive control device 106 controls the driving of the host vehicle 1 based on the control command of the driving control device 100. For example, the drive control device 106 controls the operation of the drive mechanism for adjusting the acceleration / deceleration and vehicle speed (including the operation of the internal combustion engine in an engine vehicle, the operation of the driving motor in an electric vehicle, and the torque distribution between the internal combustion engine and the driving motor in a hybrid vehicle) and the brake operation by using an autonomous speed control function. In addition, the drive control device 106 executes steering control of the host vehicle by controlling the operation of the steering actuator by using an autonomous steering control function. For example, the drive control device 106 detects lane markers of the lane in which the host vehicle is traveling, and controls the traveling position (lateral position) of the host vehicle in the width direction so that the host vehicle travels in the center of the lane in which the host vehicle is traveling. In addition, the drive control device 106 controls the host vehicle to overtake a preceding vehicle, change the traveling direction, and the like. In addition, the drive control device 106 performs driving control to turn right or left at an intersection, etc. In addition, other known methods can be used as a driving control method by the drive control device 106.

[0019] Next, the configuration of the operation control device 100 will be described in detail with reference to FIGS. In the following description, the "predetermined driving assistance level" is Level 3, but is not limited to this. The driving control device 100 can set driving modes according to other driving assistance levels other than Level 3.

[0020] As shown in FIG. 1, the driving control device 100 includes a processor 10. The processor 10 includes a ROM (Read Only Memory) that stores a program for controlling the driving of the vehicle, a CPU (Central Processing Unit) that executes the program stored in the ROM, and a RAM (Random Access Memory) that functions as an accessible storage device. As the operating circuit, a MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. can be used instead of or in addition to the CPU (Central Processing Unit). The processor 10 includes a driving state acquisition unit 13, an adjacent other vehicle determination unit 14, and a vehicle control unit 15. The driving state acquisition unit 13, the adjacent other vehicle determination unit 14, and the vehicle control unit 15 execute programs for implementing the respective functions of the processor 10. In FIG. 1, the driving control device 100 is mounted on the vehicle 1, but is not limited to this. The driving control device 100 may be a device that remotely operates the vehicle 1.

[0021] The driving condition acquisition unit 13 acquires driving conditions such as the vehicle speed V1, acceleration / deceleration, and driving assistance level of the vehicle 1. acquisition In addition, the traveling state acquisition unit 13 determines whether the host vehicle 1 is traveling behind the preceding vehicle 2 at a predetermined driving assistance level (for example, level 3) as shown in Fig. 2. In the example shown in Fig. 2, the vehicle speed V1 of the host vehicle 1 and the vehicle speed V2 of the preceding vehicle 2 are the same speed.

[0022] 3, the adjacent vehicle determination unit 14 determines whether or not the other vehicle 3 has been detected in the second lane L2 adjacent to the first lane L1 in which the host vehicle 1 is traveling. When the adjacent vehicle determination unit 14 determines that the other vehicle 3 has been detected, it acquires the vehicle speed V3 of the other vehicle 3. Furthermore, the adjacent vehicle determination unit 14 may determine that the other vehicle 3 has been detected in the second lane L2 when the vehicle speed V3 of the other vehicle 3 is higher than the vehicle speed V1 of the host vehicle 1. In other words, when the vehicle speed V3 of the other vehicle 3 is equal to or lower than the vehicle speed V1 of the host vehicle 1, the adjacent vehicle determination unit 14 may not perform the process of determining that the other vehicle 3 has been detected in the second lane L2. Even if the host vehicle 1 is not directly detected by the detection device 101, when it is confirmed by vehicle-to-vehicle communication, road-to-vehicle communication, or other infrastructure information communication means that the other vehicle 3 is present in front of the host vehicle 1 in the second lane L2, the adjacent vehicle determination unit 14 may determine that the other vehicle 3 has been detected. Note that the second lane L2 is not limited to a lane adjacent to the first lane L1, and may be any lane different from the first lane L1.

[0023] As shown in FIG. 2, when another vehicle 3 is not detected in the second lane L2, the vehicle control unit 15 maintains the running of the host vehicle 1 in the first lane L1 until the other vehicle 3 is detected in the second lane L2, and after the other vehicle 3 is detected, executes lane change control of the host vehicle 1 at the driving assistance level of level 3 as shown in FIG. 3. Note that the vehicle control unit 15 may execute lane change control at the driving assistance level of level 3 when the vehicle speed V3 of the other vehicle 3 is higher than the vehicle speed V1 of the host vehicle 1 (when it is determined that the other vehicle 3 has been detected). Also, the vehicle control unit 15 may control the driving of the host vehicle 1 so as not to execute lane change control at the driving assistance level of level 3 when the vehicle speed V3 of the other vehicle 3 is equal to or lower than the vehicle speed V1 of the host vehicle 1 (when it is determined that the other vehicle 3 has not been detected). Also, after starting execution of lane change control at the driving assistance level of level 3, the vehicle control unit 15 maintains level 3 until a predetermined time has elapsed.

[0024] The predetermined time is the time from when the host vehicle 1 starts changing lanes until the distance between the host vehicle 1 and the other vehicle 3 becomes equal to or less than the predetermined distance. Specifically, the predetermined time for maintaining the driving assistance level at level 3 is the time until the distance between the host vehicle 1 and the other vehicle 3 becomes equal to or less than the predetermined distance when the host vehicle 1 accelerates at a predetermined acceleration after changing lanes. In addition, when the driving assistance level is level 3 and the host vehicle 1 travels following the preceding vehicle 2, the predetermined distance may be, for example, the upper limit value of the distance the host vehicle 1 can travel following the other vehicle 3. In addition, the predetermined time may be the time until the vehicle speed V1 of the host vehicle 1 accelerated at a predetermined acceleration after changing lanes reaches a predetermined speed limit. In addition, the speed limit is the upper limit value of the vehicle speed determined for each road. In addition, the predetermined time may be the time until it is confirmed that at least two or more other vehicles 3 have passed the planned travel route of the host vehicle 1 in the second lane L2 by vehicle-to-vehicle communication, road-to-vehicle communication, or other infrastructure information communication means. In this case, the predetermined time may be set to be longer as the number of other vehicles 3 that have passed along the planned driving route of the host vehicle 1 in the second lane L2 increases.

[0025] Note that, when the vehicle speed V3 of the other vehicle 3 is higher than the vehicle speed V1 of the host vehicle 1 and the vehicle speed V3 of the other vehicle 3 is higher than a predetermined value, the vehicle control unit 15 does not start execution of the lane change control at level 3. In other words, when the vehicle speed V3 of the other vehicle 3 is higher than the vehicle speed V1 of the host vehicle 1 and the vehicle speed V3 of the other vehicle 3 is higher than a predetermined value, the vehicle control unit 15 lowers the driving assistance level to level 2 before executing the lane change control.

[0026] Next, the procedure up to the start of execution of lane change control of the host vehicle 1 among the driving control method executed by the driving control device 100 will be described with reference to the flowchart shown in Fig. 4. Note that the control shown in steps S1 to S8 in Fig. 4 is executed, for example, when congestion occurs in the first lane L1 and the host vehicle 1 changes lanes to the second lane L2 to overtake, but is not limited thereto.

[0027] 4, in step S1, the processor 10 determines whether or not the host vehicle 1 will change lanes from the first lane L1 to the second lane L2 based on the planned travel route of the host vehicle 1, the map information in the map database 103, the presence or absence of an obstacle detected by the detection device 101, etc. If the host vehicle 1 will not change lanes from the first lane L1 to the second lane L2, the control ends.

[0028] On the other hand, when the host vehicle 1 changes lanes from the first lane L1 to the second lane L2, in step S2, the processor 10 determines whether the host vehicle 1 is traveling behind the preceding vehicle 2 at a predetermined driving assistance level (level 3). If the host vehicle 1 is not traveling behind the preceding vehicle 2 at level 3, in step S6, the processor 10 performs lane change control of the host vehicle 1 at a driving assistance level (for example, level 2) lower than the predetermined driving assistance level.

[0029] On the other hand, when the host vehicle 1 is traveling behind the leading vehicle 2 at level 3, in step S3, the adjacent vehicle determination unit 14 determines whether or not the other vehicle 3 has been detected in the second lane L2. When the other vehicle 3 has been detected in the second lane L2, in step S7, the processor 10 determines whether or not the vehicle speed V3 of the other vehicle 3 is equal to or lower than a predetermined value (for example, a vehicle speed limit). Note that this predetermined value is higher than the vehicle speed V1 of the host vehicle 1, so when the vehicle speed V3 of the other vehicle 3 is higher than the predetermined value, the vehicle speed V3 of the other vehicle 3 is higher than the vehicle speed V1 of the host vehicle 1. When the vehicle speed V3 of the other vehicle 3 is higher than the vehicle speed V1 of the host vehicle 1 and the vehicle speed V3 of the other vehicle 3 is higher than the predetermined value, in step S6, the processor 10 performs lane change control of the host vehicle 1 at a level (for example, level 2) lower than a predetermined driving assistance level (level 3). On the other hand, when the vehicle speed V3 of the other vehicle 3 is equal to or lower than the predetermined value, in step S8, the processor 10 performs lane change control of the host vehicle 1 at level 3. That is, when the vehicle speed V3 of the other vehicle 3 is higher than the predetermined value, the processor 10 does not execute lane change control of the host vehicle 1 at the predetermined driving assistance level.

[0030] On the other hand, if the adjacent vehicle determination unit 14 determines in step S3 that the vehicle 3 has not been detected in the second lane L2, the vehicle control unit 15 maintains the host vehicle 1 traveling in the first lane L1 in step S4. Then, in step S5, it is determined whether a predetermined detection time has elapsed, and if the predetermined detection time has not elapsed, the process returns to step S3. That is, if the vehicle 3 has not been detected in the second lane L2, the processor 10 maintains the host vehicle 1 traveling in the first lane L1 until the vehicle 3 is detected in the second lane L2 until the predetermined detection time has elapsed.

[0031] On the other hand, if it is determined in step S5 that the predetermined detection time has elapsed without the other vehicle 3 being detected in the second lane L2, the processor 10 S In 6, lane change control of the host vehicle 1 is executed at a level (eg, level 2) lower than a predetermined driving assistance level (level 3).

[0032] 4, the processor 10 may skip the process of step S7. That is, when the other vehicle 3 is detected in the second lane L2 in step S3, the processor 10 executes the process of step S8 regardless of the vehicle speed V3 of the other vehicle 3. Level 3 The lane change control may be performed.

[0033] As described above, the processor 10 of the driving control device 100 in this embodiment determines whether or not another vehicle 3 is detected in the second lane L2 when the host vehicle 1 traveling behind the preceding vehicle 2 in the first lane changes lanes to the second lane at a predetermined driving assistance level. Then, when the other vehicle 3 is not detected, the processor 10 maintains the host vehicle 1 traveling in the first lane L1 until the other vehicle 3 is detected, and executes lane change control at the predetermined driving assistance level after the other vehicle 3 is detected. As a result, when the host vehicle 1 traveling behind the preceding vehicle 2 changes lanes at a predetermined driving assistance level, the driving control device 100 can execute lane change control while maintaining the driving assistance level. That is, when the host vehicle 1 changes lanes, the driving control device 100 can execute lane change control without lowering the driving assistance level. In addition, by detecting another vehicle traveling in the second lane L2, the host vehicle 1 can change lanes toward the second lane L2 where there is a low possibility of an obstacle being present in a driving mode corresponding to the predetermined driving assistance level.

[0034] Moreover, the processor 10 of the driving control device 100 executes lane change control at a predetermined driving assistance level when the vehicle speed V3 of the other vehicle 3 is higher than the vehicle speed V1 of the host vehicle 1. On the other hand, the processor 10 does not execute lane change control at the predetermined driving assistance level when the vehicle speed V3 of the other vehicle 3 is equal to or lower than the vehicle speed V1 of the host vehicle 1. That is, when the vehicle speed V3 of the other vehicle 3 is higher than the vehicle speed V1 of the host vehicle 1, the driving control device 100 determines that the other vehicle 3 has been detected in the second lane L2 and executes lane change control at the predetermined driving assistance level, and when the vehicle speed V3 of the other vehicle 3 is equal to or lower than the vehicle speed V1 of the host vehicle 1, it determines that the other vehicle 3 has not been detected in the second lane L2 and does not execute lane change control at the predetermined driving assistance level. As a result, the host vehicle 1 approaches the other vehicle 3 by changing lanes to the second lane L2 and accelerating, and can travel behind the other vehicle 3 in the second lane L2 in a driving mode corresponding to the predetermined driving assistance level.

[0035] In addition, after starting execution of lane change control at a predetermined driving assistance level, the processor 10 of the driving control device 100 maintains the predetermined driving assistance level until a predetermined time has elapsed. This allows the host vehicle 1 to continue driving at the predetermined driving assistance level regardless of whether the driving environment of the host vehicle 1 satisfies the conditions for the host vehicle 1 to drive at the predetermined driving assistance level. figure Therefore, the driving control device 100 can control the driving of the host vehicle 1 without lowering the driving assistance level until the predetermined time has elapsed.

[0036] In addition, the above-mentioned predetermined time is the time when the processor 10 detects a lane change control This is the time from when the execution of the control process starts until the distance between the vehicle 1 and the other vehicle 3 becomes equal to or less than the predetermined distance. This allows the driving control device 100 to maintain a predetermined driving assistance level until the vehicle 1, which has changed lanes, can travel behind the other vehicle 3 at a predetermined distance.

[0037] The above-mentioned predetermined distance may be an upper limit value of the distance over which the host vehicle 1 can travel while following the other vehicle 3. This allows the driving control device 100 to maintain a predetermined driving assistance level until the host vehicle 1 that has changed lanes can travel while following the other vehicle 3.

[0038] The above-mentioned predetermined time may be the time from when the processor 10 starts executing the lane change control until the vehicle speed V1 of the host vehicle 1 reaches a predetermined speed limit. This allows the driving control device 100 to maintain a predetermined driving assistance level until the host vehicle 1 can travel behind the other vehicle 3 traveling at or below the speed limit, with a predetermined distance between the other vehicle 3 and the host vehicle 1.

[0039] Furthermore, when the vehicle speed V3 of the other vehicle 3 is higher than the vehicle speed V1 of the host vehicle 1 and the vehicle speed V3 of the other vehicle 3 is higher than a predetermined value, the processor 10 of the driving control device 100 does not execute lane change control at a predetermined driving assistance level. As a result, when it is unlikely that the host vehicle 1 can travel behind the other vehicle 3 at the predetermined driving assistance level after changing lanes, the driving control device 100 executes lane change control with a lowered driving assistance level.

[0040] The processor 10 of the driving control device 100 controls the driving of the host vehicle 1. Prescribed When the driving control device 100 is controlling the driving of the host vehicle 1 at a driving assistance level of 1, the driving control device 100 controls the driving of the host vehicle 1 in a hands-off mode that autonomously executes steering control that allows the host vehicle 1 to travel with the driver's hands off the steering wheel of the host vehicle 1. As a result, when the driving control device 100 is controlling the driving of the host vehicle 1 at a predetermined driving assistance level (for example, level 3), the driving control device 100 can control the driving of the host vehicle 1 in the hands-off mode, thereby reducing the driving burden on the driver.

[0041] The processor 10 of the driving control device 100 controls the driving of the host vehicle 1. Prescribed When the driving control device 100 is controlling the driving of the vehicle 1 at a driving assistance level of 1, the driving control device 100 controls the driving of the vehicle 1 in an eyes-off mode that permits the vehicle 1 to travel when the driver is not viewing the road ahead. As a result, when the driving control device 100 is controlling the driving of the vehicle 1 at a predetermined driving assistance level (e.g., level 3), the driving control device 100 can control the driving of the vehicle 1 in the eyes-off mode, thereby reducing the driving burden on the driver.

[0042] Second Embodiment Fig. 5 is a block diagram showing the configuration of an operation control device 200 according to the second embodiment. In the following description, the same reference numerals as those shown in Fig. 1 denote similar configurations, and therefore detailed description thereof will be omitted. As shown in FIG. 5, the processor 20 of the driving control device 200 includes a driving state acquisition unit 13, an adjacent vehicle determination unit 14, and a vehicle control unit 15, as well as an evaluation value calculation unit 21, an evaluation threshold setting unit 22, and an evaluation value determination unit 23.

[0043] The evaluation value calculation unit 21 calculates an evaluation value indicating the degree of satisfaction of the conditions for the host vehicle 1 to travel at a predetermined driving assistance level. The conditions for the host vehicle 1 to travel at a predetermined driving assistance level include, for example, the host vehicle 1 traveling at a predetermined set speed or less, the inter-vehicle distance between the host vehicle 1 and the preceding vehicle 2 or another vehicle 3 being a predetermined distance or less, congestion occurring around the host vehicle 1, the host vehicle 1 traveling on a road where the use of high-precision map information is effective, the signal of the global navigation satellite system (GNSS) is effective, the driver is viewing the road ahead, there is no toll booth, motorway exit, junction, intersection, or point where the number of lanes is reduced in the vicinity of the current position (for example, within about 800 m ahead), there is no sharp curve of 100R or less in the vicinity of the current position (for example, within about 500 m ahead), etc. Evaluation Value Calculation Unit 21 calculates an evaluation value based on one or more of the above conditions. For example, 21 Alternatively, the degree of fulfillment may be calculated for each of the above-mentioned multiple conditions, and the calculated degrees of fulfillment may be added up to calculate the evaluation value.

[0044] Further, the evaluation threshold setting unit 22 sets an evaluation threshold that is a criterion for judging whether the host vehicle 1 can travel at a predetermined driving assistance level. That is, the evaluation threshold setting unit 22 sets a value corresponding to the condition for the host vehicle 1 to travel at the predetermined driving assistance level as the evaluation threshold. When the host vehicle 1 changes lanes at the predetermined driving assistance level after the other vehicle 3 is detected (when the process of step S8 in FIG. 4 is executed), the evaluation threshold setting unit 22 selects, as the evaluation threshold, a second evaluation threshold that is lower than the first evaluation threshold when the host vehicle 1 travels on the first lane L1 at the predetermined driving assistance level. That is, when the vehicle control unit 15 executes lane change control of the host vehicle 1 at the predetermined driving assistance level after it is judged that the other vehicle 3 is detected by the adjacent other vehicle determination unit 14, the evaluation threshold setting unit 22 relaxes the condition for the host vehicle 1 to travel at the predetermined driving assistance level compared to when the host vehicle 1 travels without changing lanes.

[0045] Moreover, the evaluation value determination unit 23 compares the evaluation value calculated by the evaluation value calculation unit 21 with the evaluation threshold set by the evaluation threshold setting unit 22 to determine whether the evaluation value is equal to or less than the evaluation threshold. Specifically, when the inter-vehicle distance between the host vehicle 1 and the preceding vehicle 2 or the other vehicle 3 becomes equal to or greater than a predetermined inter-vehicle distance, the evaluation value determination unit 23 determines that the evaluation value is equal to or less than the evaluation threshold. In this example, the predetermined inter-vehicle distance (e.g., a distance corresponding to a 10-second inter-vehicle time) when the host vehicle 1 changes lanes at a predetermined driving assistance level after the other vehicle 3 is detected is set to be longer than the predetermined inter-vehicle distance (e.g., a distance corresponding to a 3-second inter-vehicle time) when the host vehicle 1 is traveling on the first lane L1 at a predetermined driving assistance level.

[0046] When the evaluation value determination unit 23 determines that the evaluation value is equal to or less than the evaluation threshold, the vehicle control unit 15 changes the driving assistance level to a lower level. For example, when the evaluation value is equal to or less than the evaluation threshold, the vehicle control unit 15 changes the driving assistance level from level 3 to level 2.

[0047] As described above, the processor 20 of the driving control device 200 in this embodiment determines whether the host vehicle 1 is Prescribed The processor 20 calculates an evaluation value indicating the degree of satisfaction of the conditions for driving at the driving assistance level, and when lane change control of the host vehicle 1 is executed at the predetermined driving assistance level after another vehicle 3 is detected, selects as the evaluation threshold a second evaluation threshold lower than the first evaluation threshold when the host vehicle 1 is driving in the first lane L1 at the predetermined driving assistance level. Then, the processor 20 changes the driving assistance level to a lower level when the evaluation value becomes equal to or lower than the evaluation threshold. That is, when the host vehicle 1 changes lanes at the predetermined driving assistance level after another vehicle 3 is detected, the processor 20 relaxes the conditions for the host vehicle 1 to drive at the predetermined driving assistance level compared to when the host vehicle 1 is driving without changing lanes. As a result, when the host vehicle 1 changes lanes at the predetermined driving assistance level, the processor 20 selects as the evaluation threshold a second evaluation threshold lower than the first evaluation threshold when the host vehicle 1 is driving in the first lane L2 at the predetermined driving assistance level. To When a lane change occurs, the driving control device 200 can control the driving of the host vehicle 1 in a state in which the driving assistance level is unlikely to decrease. [Explanation of symbols]

[0048] 1…Own vehicle 2… Leading vehicle 3…Other vehicles 100...Operation control device 10…Processor 14…Adjacent vehicle detection section 15...Vehicle control unit L1: First lane L2: Second lane

Claims

1. A driving control method for controlling driving of a host vehicle at a predetermined driving assistance level using a processor on a condition that the host vehicle is traveling behind a leading vehicle, comprising: The processor, When the host vehicle traveling in a first lane at the driving assistance level changes lanes to a second lane different from the first lane, determining whether or not another vehicle has been detected in the second lane; A driving control method, comprising: if the other vehicle is not detected, maintaining driving of the host vehicle in the first lane until the other vehicle is detected; and, after the other vehicle is detected, executing lane change control at the driving assistance level so that the host vehicle, after changing lanes, drives behind the other vehicle.

2. The processor, When the vehicle speed of the other vehicle is higher than the vehicle speed of the host vehicle, the vehicle executes lane change control at the driving assistance level; The driving control method according to claim 1 , wherein when a vehicle speed of the other vehicle is equal to or lower than a vehicle speed of the host vehicle, lane change control is not executed at the driving assistance level.

3. The driving control method according to claim 1 , wherein the processor maintains the driving assistance level until a predetermined time has elapsed after starting execution of lane change control at the driving assistance level.

4. After starting execution of lane change control at the driving assistance level, the processor maintains the driving assistance level until a predetermined time has elapsed, The driving control method according to claim 2 , wherein the predetermined time is a time from when the processor starts executing lane change control until when the distance between the host vehicle and the other vehicle becomes equal to or smaller than a predetermined distance.

5. The driving control method according to claim 4 , wherein the predetermined distance is an upper limit of a distance over which the host vehicle can follow the other vehicle.

6. After starting execution of lane change control at the driving assistance level, the processor maintains the driving assistance level until a predetermined time has elapsed, The driving control method according to claim 2 , wherein the predetermined time is a time from when the processor starts executing lane change control until when the vehicle speed of the host vehicle reaches a predetermined speed limit.

7. The driving control method according to any one of claims 1 to 6, wherein the processor does not execute lane change control at the driving assistance level when the vehicle speed of the other vehicle is higher than the vehicle speed of the host vehicle and the vehicle speed of the other vehicle is higher than a predetermined value.

8. The driving control method according to any one of claims 1 to 7, wherein, when the processor is controlling the driving of the vehicle at the driving assistance level, the processor controls the driving of the vehicle in a hands-off mode that allows the vehicle to travel when the driver releases his / her hands from the steering wheel of the vehicle.

9. The driving control method according to any one of claims 1 to 8, wherein, when the processor is controlling the driving of the vehicle at the driving assistance level, the processor controls the driving of the vehicle in an eyes-off mode that permits the vehicle to travel when the driver is not viewing the road ahead.

10. The processor, Calculating an evaluation value indicating a degree of satisfaction of a condition for the host vehicle to travel at the driving assistance level; When lane change control of the host vehicle is executed at the driving assistance level after the other vehicle is detected, a second evaluation threshold value that is lower than a first evaluation threshold value when the host vehicle is traveling in a first lane at the driving assistance level is selected as an evaluation threshold value; The driving control method according to claim 1 , further comprising changing the driving assistance level to a lower level when the evaluation value becomes equal to or less than the evaluation threshold value.

11. A driving control device that uses a processor to control driving of a vehicle at a predetermined driving assistance level on a condition that the vehicle is traveling behind a leading vehicle, an adjacent vehicle determination unit that determines whether or not another vehicle has been detected in the second lane when the host vehicle traveling in a first lane at the driving assistance level changes lanes to a second lane different from the first lane; a vehicle control unit that, when the other vehicle is not detected, maintains driving of the host vehicle in the first lane until the other vehicle is detected, and after the other vehicle is detected, executes lane change control at the driving assistance level so that the host vehicle, after changing lanes, drives behind the other vehicle.

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