Vehicle control device

Abstract

To provide a vehicle control device capable of inhibiting anxiety from being given to an occupant.SOLUTION: A vehicle control device includes: a first vehicle detection unit for detecting a first vehicle traveling in a first lane adjacent to a travel lane; a second vehicle detection unit for detecting a second vehicle traveling in a second lane adjacent to the travel lane; an offset unit for executing offset processing to offset a target lateral position away from the first lane when a relationship between the first vehicle and a vehicle satisfies an offset condition; and a control unit for controlling the traveling of the vehicle according to the target lateral position. When an inter-vehicle distance between the second vehicle and the vehicle is equal to or less than a prescribed distance, or when a value obtained by dividing the inter-vehicle distance between the second vehicle and the vehicle by a relative speed between the second vehicle and the vehicle is equal to or less than a prescribed time, the offset unit does not execute the offset processing even if the relationship between the first vehicle and the vehicle satisfies the prescribed offset condition.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device. [Background technology]

[0002] Patent Document 1 discloses a device for driving a vehicle along a lane. This device sets a target lateral position (position in the vehicle width direction) within the lane and drives the vehicle to reach the target lateral position. When a preceding vehicle is driving in an adjacent lane, this device offsets the target lateral position so that the vehicle moves away from the preceding vehicle in the lateral direction of the vehicle width. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-139369 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when a vehicle travels in the center lane of a road having three or more lanes, there is a possibility that there may be vehicles in the lanes on both sides. In such a scenario, if the target lateral position is offset so as to move away from a vehicle traveling in the first lane of the two lanes, the vehicle behavior will be such that the vehicle approaches a vehicle traveling in the second lane of the two lanes. This type of vehicle behavior may cause passengers (including the driver) to feel uneasy.

[0005] The present disclosure provides a vehicle control device that can suppress the feeling of anxiety given to occupants. [Means for solving the problem]

[0006] One aspect of the present disclosure is a vehicle control device that controls the running of a vehicle so that the lateral position of the vehicle becomes a target lateral position set for a lane. The device includes a first vehicle detection unit, a second vehicle detection unit, an offset unit, and a control unit. The first vehicle detection unit detects a first vehicle running in a first lane among lanes adjacent to both sides of a lane in which the vehicle runs. The second vehicle detection unit detects a second vehicle running in a second lane among lanes adjacent to both sides of a lane in which the vehicle runs. The offset unit offsets the target lateral position in the lane in which the vehicle runs so as to move away from the first lane when the relationship between the first vehicle and the vehicle satisfies a predetermined offset condition with the second vehicle detection unit. The control unit controls the running of the vehicle according to the target lateral position. When the inter-vehicle distance between the second vehicle and the vehicle is equal to or less than a predetermined distance, or when a value obtained by dividing the inter-vehicle distance between the second vehicle and the vehicle by the relative speed between the second vehicle and the vehicle is equal to or less than a predetermined time, the offset unit does not execute offset processing even if the relationship between the first vehicle and the vehicle satisfies the predetermined offset condition.

[0007] According to this device, the first vehicle detection unit and the second vehicle detection unit detect the first vehicle and the second vehicle traveling in the first lane and the second lane adjacent to both sides of the lane in which the vehicle travels. When the relationship between the first vehicle and the vehicle satisfies a predetermined offset condition, the offset unit executes an offset process to move away from the first lane. Here, when the inter-vehicle distance between the second vehicle and the vehicle is equal to or less than a predetermined distance, or when the value obtained by dividing the inter-vehicle distance between the second vehicle and the vehicle by the relative speed between the second vehicle and the vehicle is equal to or less than a predetermined time, the offset process is not executed even if the relationship between the first vehicle and the vehicle satisfies the predetermined offset condition. Therefore, the offset process accompanied by the vehicle behavior that approaches the second vehicle whose inter-vehicle distance between the vehicle and the vehicle is equal to or less than a predetermined distance is avoided, and the offset process accompanied by the vehicle behavior that approaches the second vehicle whose inter-vehicle distance between the vehicle and the vehicle is equal to or less than a predetermined time is avoided. Thus, the vehicle control device can suppress the occupants from feeling uneasy.

[0008] In one embodiment, the offset unit may set a start prohibition area in which the offset process is not performed even if the relationship between the first vehicle and the vehicle satisfies a predetermined offset condition, and a continuation prohibition area that is narrower than the start prohibition area and in which the offset process is not continued even if the relationship between the first vehicle and the vehicle satisfies the predetermined offset condition after the offset process is started, in a coordinate plane with the vehicle distance between the second vehicle and the vehicle as the first axis and the relative speed between the second vehicle and the vehicle as the second axis, and determine whether to start or continue the offset process based on the vehicle distance between the second vehicle and the vehicle, the relative speed between the second vehicle and the vehicle, the start prohibition area, the continuation prohibition area, and the execution state of the offset process. In this case, the offset prohibition area is set using two parameters, the relative speed and the vehicle distance, and the offset prohibition area is further set separately as a start prohibition area and a continuation prohibition area. Therefore, compared to a case where an offset prohibition area is simply set, the vehicle control device can avoid repeating the execution and suspension of the offset in a scene where the vehicle state is near the boundary of the offset prohibition area, and the vehicle behavior can be stabilized. Effect of the Invention

[0009] According to various aspects and embodiments of the present disclosure, it is possible to suppress a sense of anxiety felt by the occupants. [Brief description of the drawings]

[0010] [Figure 1] 1 is a functional block diagram of an example of a vehicle including a vehicle control device according to an embodiment; [Diagram 2] FIG. 1 is a diagram illustrating a driving scene of a vehicle traveling on a road including three lanes. [Diagram 3] 11 is a graph showing start prohibition areas and continuation prohibition areas. [Figure 4] 11 is a table illustrating the operation state of the offset process. [Diagram 5] 4 is a flowchart showing the operation of the vehicle control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, exemplary embodiments will be described with reference to the drawings. In the following description, the same or corresponding elements are designated by the same reference numerals, and redundant description will not be repeated.

[0012] (Configuration of vehicle and vehicle control device) Fig. 1 is a functional block diagram of an example of a vehicle including a vehicle control device according to an embodiment. As shown in Fig. 1, the vehicle control device 1 is mounted on a vehicle 2 such as a passenger car, and is a device that causes the vehicle 2 to travel along a lane. The vehicle 2 includes a front sensor 3, a rear sensor 4, a driving assistance ECU 5, and a steering control unit 6.

[0013] The front sensor 3 is a detection device that detects the situation in front of the vehicle 2. The front sensor 3 detects the position and driving information of objects in front of the road on which the vehicle 2 is driving. The driving information includes the speed, acceleration, etc. of the objects. The rear sensor 4 is a detection device that detects the situation behind the vehicle 2. The rear sensor 4 detects the position and driving information of objects in the rear of the road on which the vehicle 2 is driving. The driving information includes the speed, acceleration, etc. of the objects. The front sensor 3 and the rear sensor 4 include at least one of a camera and a radar sensor.

[0014] The camera is an imaging device that captures images of the external situation of the vehicle 2. The camera acquires imaging information related to the external situation of the vehicle 2. The cameras are provided, for example, on the rear surface of each of the front windshield and rear windshield of the vehicle 2. The camera may be a monocular camera or a stereo camera. The stereo camera has two imaging units arranged to reproduce binocular parallax. The imaging information of the stereo camera also includes information in the depth direction.

[0015] A radar sensor is a detection device that detects objects around the vehicle 2 by using radio waves (e.g., millimeter waves) or light. The radar sensor is provided, for example, at the front and rear ends of the vehicle 2. The radar sensor includes, for example, a millimeter wave radar or a LIDAR (Laser Imaging Detection and Ranging). The radar sensor detects objects by transmitting radio waves or light to the periphery of the vehicle 2 and receiving the radio waves or light reflected by the objects.

[0016] The steering control unit 6 is an electronic control unit that controls an electric power steering system [EPS: Electric Power Steering] of the vehicle 2. The steering control unit 6 controls the steering torque of the vehicle 2 by driving a steering actuator that controls the steering torque of the vehicle 2 in the electric power steering system. The steering control unit 6 controls the steering torque in response to a control signal from the driving assistance ECU 5.

[0017] The driving assistance ECU 5 performs control related to steering. The driving assistance ECU 5 is an electronic control unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a CAN (Controller Area Network) communication circuit, and the like. The driving assistance ECU 5 is connected to a network that communicates using, for example, a CAN communication circuit, and is communicatively connected to the above-mentioned components of the vehicle 2. The driving assistance ECU 5 realizes control related to steering, for example, by operating the CAN communication circuit based on a signal output by the CPU, inputting and outputting data, storing the data in the RAM, and executing a program stored in the ROM. The driving assistance ECU 5 may load a program into the RAM, and execute the program loaded into the RAM to realize control related to steering. The driving assistance ECU 5 may be composed of a plurality of electronic control units.

[0018] Next, the functional configuration of the driving assistance ECU 5 will be described. The driving assistance ECU 5 sets a target driving position in the vehicle width direction in the lane in which the vehicle 2 is located (hereinafter, the driving lane), and operates the steering control unit 6 so that the driving position of the vehicle 2 becomes the target driving position. The driving assistance ECU 5 may be applied to a driving scene in which lanes exist on both sides of the driving lane. In other words, the road may include three or more lanes.

[0019] Fig. 2 is a diagram illustrating a driving scene of a vehicle traveling on a road including three lanes. As shown in Fig. 2, a road R has three lanes, and a vehicle 2 travels in the center lane (driving lane L0). A left lane L1 is adjacent to the left side of the driving lane L0, and a left vehicle 20 travels in the left lane. A right lane L2 is adjacent to the right side of the driving lane L0, and a right vehicle 21 travels in the right lane.

[0020] The driving assistance ECU 5 includes a lateral position recognition unit 11, an adjacent vehicle detection unit 12 (first vehicle detection unit, second vehicle detection unit), a lane keeping assistance unit (control unit) 13, and a target lateral position setting unit (offset unit) .

[0021] The lateral position recognition unit 11 recognizes the lateral position of the vehicle 2. For example, the lateral position recognition unit 11 recognizes the boundary line of the driving lane L0 by image analysis based on the images of the front and rear of the vehicle 2 acquired by the front sensor 3 and the rear sensor 4. The lateral position recognition unit 11 recognizes the lateral position of the vehicle 2 in the driving lane L0 based on the position of the recognized boundary line in the image.

[0022] The adjacent vehicle detection unit 12 detects vehicles (left vehicle 20 and right vehicle 21) traveling in lanes adjacent to both sides of the driving lane L0 (left lane L1 and right lane L2). The adjacent vehicle detection unit 12 detects the left vehicle 20 and the right vehicle 21 based on detection information such as laser radar acquired by the front sensor 3 and the rear sensor 4. The adjacent vehicle detection unit 12 may detect the left vehicle 20 and the right vehicle 21 based on images acquired by the front sensor 3 and the rear sensor 4.

[0023] The adjacent vehicle detection unit 12 detects the traveling state and the inter-vehicle distance of the left vehicle 20 and the right vehicle 21. The adjacent vehicle detection unit 12 recognizes the inter-vehicle distance and the relative speed between the left vehicle 20 and the vehicle 2, and the inter-vehicle distance and the relative speed between the right vehicle 21 and the vehicle 2, based on, for example, detection information of a laser radar or the like acquired by the front sensor 3 and the rear sensor 4. The inter-vehicle distance is the inter-vehicle distance in the traveling direction of the vehicle 2. The relative speed is the speed that is the difference with the speed of the vehicle 2 in the traveling direction of the vehicle 2. The adjacent vehicle detection unit 12 detects the lane width direction distance between the left vehicle 20 and the vehicle 2, and the lane width direction distance between the right vehicle 21 and the vehicle 2, based on detection information of a laser radar or the like acquired by the front sensor 3 and the rear sensor 4. The lane width direction distance is the distance in the width direction of the lane. The adjacent vehicle detection unit 12 may additionally detect the distance in the lane width direction between the left vehicle 20 and the left lane as seen from the vehicle 2, and the distance in the lane width direction between the right vehicle 21 and the right lane as seen from the vehicle 2.

[0024] The lane keeping assist unit 13 performs lane keeping assist for the vehicle 2. The lane keeping assist unit 13 starts lane keeping assist based on, for example, a switch operation by the occupant. The lane keeping assist unit 13 controls the traveling of the vehicle 2 by applying a steering torque to the vehicle 2 so that the lateral position of the vehicle 2 recognized by the lateral position recognition unit 11 becomes the target lateral position set by the target lateral position setting unit 14. The lane keeping assist unit 13 applies a steering torque to the vehicle 2 by transmitting a control signal to the steering control unit 6.

[0025] The target lateral position setting unit 14 sets a target lateral position used by the lane keeping assist unit 13 when controlling the lateral position of the vehicle 2. The target lateral position setting unit 14 first sets an initial target lateral position that is set in advance for the driving lane L0 as the target lateral position used by the lane keeping assist unit 13. The initial target lateral position is the center position P1 of the driving lane L0 in the lane width direction. The initial target lateral position is not limited to the center position, and may be a position closer to any of the boundary lines.

[0026] Furthermore, the target lateral position setting unit 14 performs an offset process to offset the target lateral position used by the lane keeping assist unit 13 from the center position P1 in the driving lane L0 so as to move away from the left lane L1 or the right lane L2. Such a process is performed, for example, when the vehicle 2 overtakes the left vehicle 20. In the following, the offset process will be described using an example in which it is performed for the presence of the left vehicle 20, but the present invention is not limited to this, and the same process can be performed for the presence of the right vehicle 21. In the following, the vehicle that causes the offset process is also referred to as the first vehicle. As an offset process for the left vehicle 20 (an example of the first vehicle), the target lateral position setting unit 14 changes the target lateral position (center position P1) used by the lane keeping assist unit 13 to a position (position P2) shifted by a predetermined distance in the lane width direction. The offset amount ΔW by which the target lateral position is offset, i.e., the distance in the lane width direction between the center position P1 and the changed target lateral position, may be a preset value.

[0027] The offset process for offsetting away from the left vehicle 20 is determined to be executable when the relationship between the left vehicle 20 and the vehicle 2 satisfies a predetermined offset condition (offset start condition). The offset condition is a condition for determining whether or not to perform the offset process, and is, for example, a case in which the distance in the driving direction between the left vehicle 20 and the vehicle 2 detected by the adjacent vehicle detection unit 12 is equal to or less than a driving direction threshold, and the distance in the lane width direction between the left vehicle 20 and the lane boundary line is equal to or less than a lane width threshold. The driving direction threshold and the lane width threshold may be preset values. The target lateral position setting unit 14 may execute the determination of the offset condition multiple times and determine that the offset condition is satisfied when the offset condition is satisfied a predetermined number of times in succession.

[0028] When the offset continuation condition is no longer satisfied, the target lateral position setting unit 14 ends the offset process. The offset continuation condition may be that the offset start condition is no longer satisfied, or the driving direction threshold or the lane width direction threshold may be changed. In this case, the target lateral position setting unit 14 returns the target lateral position (position P2) used by the lane keeping assist unit 13 to the initial target lateral position (center position P1).

[0029] In addition, when the inter-vehicle distance between the right vehicle 21 and the vehicle 2 is equal to or shorter than a predetermined distance, or when the TTC (time to collision) between the right vehicle 21 and the vehicle 2 is equal to or shorter than a predetermined time, the target lateral position setting unit 14 does not execute the offset processing even if the relationship between the left vehicle 20 and the vehicle 2 satisfies a predetermined offset condition. In other words, the target lateral position setting unit 14 determines the execution of the final offset processing based on the relationship with the right vehicle 21 (an example of a second vehicle) that will approach due to the offset processing for the left vehicle 20. The predetermined distance is a distance threshold value that is predetermined for determining the inter-vehicle distance between the right vehicle 21 and the vehicle 2. The TTC is a value obtained by dividing the inter-vehicle distance between the right vehicle 21 and the vehicle 2 by the relative speed between the right vehicle 21 and the vehicle 2. The predetermined time is a time threshold value that is predetermined for determining the TTC between the right vehicle 21 and the vehicle 2. The offset processing for the left vehicle 20 causes the vehicle 2 to approach the right vehicle 21. At this time, if the vehicle distance to the right vehicle 21 is short or the TTC is short, the occupant may feel pressured or uneasy from the right vehicle 21. The target lateral position setting unit 14 solves the above-mentioned problem by setting an offset prohibition condition and not executing the offset process even when the relationship between the left vehicle 20 and the vehicle 2 satisfies a predetermined offset condition.

[0030] The target lateral position setting unit 14 may classify the offset prohibition conditions into an offset start prohibition condition and an offset continuation prohibition condition, and may select and determine either the offset start prohibition condition or the offset continuation prohibition condition according to the current offset operation status of the vehicle 2. The offset start prohibition area is a condition that prohibits the start of offset processing, and the offset continuation prohibition area is a condition that prohibits the continuation of offset processing.

[0031] FIG. 3 is a graph showing the start prohibition area and the continuation prohibition area. In the graph shown in FIG. 3, the horizontal axis is the inter-vehicle distance, and the vertical axis is the relative speed. As shown in FIG. 3, the start prohibition area and the continuation prohibition area are set on a coordinate plane with the inter-vehicle distance between the right vehicle 21 and the vehicle 2 as the first axis and the relative speed between the right vehicle 21 and the vehicle 2 as the second axis. In the start prohibition area, when there is a certain inter-vehicle distance, the lower limit value of the allowable relative speed is set to be larger as the inter-vehicle distance becomes longer. Since the TTC becomes longer as the inter-vehicle distance becomes longer, the lower limit value of the allowable relative speed also becomes larger. On the other hand, when the inter-vehicle distance is relatively short, it is considered that the vehicles are running side by side, so that the continuation prohibition area is prohibited regardless of the relative speed. The continuation prohibition area is an area narrower than the start prohibition area and is set within the start prohibition area. When the running state of the right vehicle 21 and the vehicle 2 is included in the start prohibition area, the target lateral position setting unit 14 does not start the offset process. Furthermore, when the traveling state of the right vehicle 21 and the vehicle 2 is included in a continuation prohibition area after the offset process is started, the target lateral position setting unit 14 does not continue the offset process.

[0032] FIG. 4 is a table for explaining the operation state of the offset processing. FIG. 4 summarizes the operation state of the offset processing by the target lateral position setting unit 14 described above. As shown in FIG. 4, when the operation state before the transition is inactive (i.e., the offset processing is not executed), the three conditions from the top are judged. The first condition is that the offset processing start condition is satisfied a predetermined number of times in succession in relation to the left vehicle 20, and the vehicle does not fall within the start prohibition area in relation to the right vehicle 21. In this case, the offset processing is started (transition from the inactive state to the active state). The second condition is that the offset processing start condition is satisfied a predetermined number of times in succession in relation to the left vehicle 20, and the vehicle falls within the start prohibition area in relation to the right vehicle 21. In this case, the offset processing is not started (the inactive state is maintained). The third condition is that the offset processing start condition is not satisfied a predetermined number of times in succession in relation to the left vehicle 20. In this case, the offset processing is not started (the inactive state is maintained).

[0033] When the operating state before the transition is operating (i.e., offset processing is being performed), the three conditions from the bottom are judged. The first condition is that the offset processing continuation condition is satisfied a predetermined number of times in succession in relation to the left vehicle 20, and the vehicle does not fall within a continuation prohibited area in relation to the right vehicle 21. In this case, the offset processing is continued (maintaining the operating state). The second condition is that the offset processing continuation condition is satisfied a predetermined number of times in succession in relation to the left vehicle 20, and the vehicle falls within a continuation prohibited area in relation to the right vehicle 21. In this case, the offset processing is not continued (transition from the operating state to the non-operating state). The third condition is that the offset processing continuation condition is not satisfied a predetermined number of times in succession in relation to the left vehicle 20. In this case, the offset processing is not continued (transition from the operating state to the non-operating state).

[0034] (Operation of vehicle control device) Fig. 5 is a flowchart showing the operation of the vehicle control device. The flowchart shown in Fig. 5 is started when, for example, an occupant performs an operation to start the lane keeping function.

[0035] 5, in information acquisition processing (step S10), the vehicle control device 1 acquires information about the vehicle 2 and information about the surroundings of the vehicle 2. Specifically, the lateral position recognition unit 11 recognizes the lateral position of the vehicle 2. In addition, the adjacent vehicle detection unit 12 acquires the distance and relative speed of the left vehicle 20 and the distance and relative speed of the right vehicle 21.

[0036] Next, as a transition state determination process (step S12), the target lateral position setting unit 14 determines the current operation status of the offset of the vehicle 2. As a non-operation determination process (step S14), the target lateral position setting unit 14 determines whether the offset of the vehicle 2 is inoperative.

[0037] If it is determined that the offset of vehicle 2 is not in operation (step S14: YES), the target lateral position setting unit 14 performs an offset start determination process (step S16) by determining the traveling state of the left vehicle 20 and vehicle 2 based on the information acquired in step S10, and determining whether or not the offset start condition is satisfied. For example, the target lateral position setting unit 14 determines that the offset start condition is satisfied when the traveling direction distance between the left vehicle 20 and vehicle 2 is equal to or less than the traveling direction threshold and the lane width direction distance between the left vehicle 20 and the lane boundary line is equal to or less than the lane width direction threshold.

[0038] If it is determined that the offset start condition is satisfied (step S16: YES), the target lateral position setter 14 determines whether or not the traveling state of the right vehicle 21 and the vehicle 2 is included in the start prohibition area shown in FIG. 3, as a start prohibition determination (step S18).

[0039] If it is determined that the vehicle 2 is not included in the start-prohibited area (step S18: NO), the target lateral position setting unit 14 performs offset operation (step S20) to change the target lateral position (center position P1) used by the lane keeping assist unit 13 to a position (position P2) shifted a predetermined distance in the lane width direction. The lane keeping assist unit 13 controls the vehicle 2 to be positioned at position P2.

[0040] On the other hand, if it is determined that the offset of vehicle 2 is in operation (step S14: NO), the target lateral position setter 14 performs an offset continuation determination process (step S22) by determining the traveling state of the left vehicle 20 and vehicle 2 based on the information acquired in step S10, and determines whether the offset continuation condition is satisfied. For example, the target lateral position setter 14 determines that the offset continuation condition is satisfied when the traveling direction distance between the left vehicle 20 and vehicle 2 is equal to or less than the traveling direction threshold and the lane width direction distance between the left vehicle 20 and the lane boundary line is equal to or less than the lane width direction threshold.

[0041] If it is determined that the offset continuation condition is satisfied (step S22: YES), the target lateral position setter 14 determines whether the traveling state of the right vehicle 21 and the vehicle 2 is included in the continuation prohibition area shown in FIG. 3 as a continuation prohibition determination (step S24).

[0042] If it is determined that the vehicle 2 is not included in the continuation prohibited area (step S24: NO), the target lateral position setting unit 14 continues the offset (step S26) and continues the target lateral position (position P2) used by the lane keeping assist unit 13. The lane keeping assist unit 13 controls the vehicle 2 to be located at position P2.

[0043] If it is determined that the offset continuation condition is not satisfied (step S22: NO), or if it is determined that the vehicle is included in a continuation prohibited area (step S24: YES), the target lateral position setting unit 14 ends the offset continuation (step S28) and returns the target lateral position (position P2) used by the lane keeping assistance unit 13 to the central position P1.

[0044] If it is determined that the offset start condition is not satisfied (step S16: NO), if it is determined that the vehicle is included in the start prohibition area (step S18: YES), if the offset operation (step S20) is terminated, if the offset continuation (step S26) is terminated, or if the offset continuation termination (step S28) is terminated, the flowchart shown in FIG. 5 is terminated. After termination, the flowchart is executed from the beginning until a predetermined termination condition is satisfied. The predetermined termination condition is, for example, when the occupant performs an operation to terminate the lane keeping function.

[0045] (Summary of the embodiment) According to the vehicle control device 1, the adjacent vehicle detection unit 12 detects a left vehicle 20 (an example of a first vehicle) traveling in a left lane L1 (an example of a first lane) adjacent to both sides of the driving lane L0, and a right vehicle 21 (an example of a second vehicle) traveling in a right lane L2 (an example of a second lane). When the relationship between the left vehicle 20 and the vehicle 2 satisfies a predetermined offset condition, the target lateral position setting unit 14 executes an offset process so as to move away from the left lane L1. Here, when the inter-vehicle distance between the right vehicle 21 and the vehicle 2 is equal to or less than a predetermined distance, or when the TTC between the right vehicle 21 and the vehicle 2 is equal to or less than a predetermined time, the offset process is not executed even if the relationship between the left vehicle 20 and the vehicle 2 satisfies the predetermined offset condition. For this reason, the offset process accompanied by a vehicle behavior that approaches the right vehicle 21 whose inter-vehicle distance with the vehicle 2 is equal to or less than a predetermined distance is avoided, and the offset process accompanied by a vehicle behavior that approaches the right vehicle 21 whose TTC with the vehicle 2 is equal to or less than a predetermined time is avoided. Thus, the vehicle control device 1 can suppress the occupant from feeling uneasy.

[0046] According to the vehicle control device 1, the offset prohibited area is set using two parameters, the relative speed and the vehicle distance, and the offset prohibited area is further set separately as a start prohibited area and a continuation prohibited area. Therefore, compared to a case where an offset prohibited area is simply set, the vehicle control device 1 can avoid repeating the execution and cancellation of offset in a scene where the vehicle is in a state near the boundary of the offset prohibited area, and can stabilize the vehicle behavior.

[0047] Although various exemplary embodiments have been described above, various omissions, substitutions, and modifications may be made without being limited to the above-described exemplary embodiments.

[0048] For example, the target lateral position setting unit 14 may change the offset processing start prohibition condition and the offset processing continuation prohibition condition depending on the vehicle type. For example, when the right vehicle 21 is a truck, the target lateral position setting unit 14 may determine whether to prohibit the offset processing start using only the inter-vehicle distance. [Explanation of symbols]

[0049] 1...vehicle control device, 12...adjacent vehicle detection unit (first vehicle detection unit, second vehicle detection unit), 13...lane keeping assist unit (control unit), 14...target lateral position setting unit (offset unit).

Claims

[Claim 1] A vehicle control device that controls traveling of a vehicle so that a lateral position of the vehicle becomes a target lateral position set for a lane, a first vehicle detection unit that detects a first vehicle traveling in a first lane among lanes adjacent to both sides of the lane in which the vehicle is traveling; a second vehicle detection unit that detects a second vehicle traveling in a second lane among lanes adjacent to both sides of the lane in which the vehicle is traveling; a target lateral position setting unit that executes a change process to change the target lateral position within the lane in which the vehicle is traveling so as to move away from the first lane when a relationship between the first vehicle and the vehicle satisfies a predetermined first condition; a control unit that controls traveling of the vehicle in accordance with the target lateral position; Equipped with The target lateral position setting unit is when the inter-vehicle distance between the second vehicle and the vehicle is equal to or shorter than a predetermined distance, or when a value obtained by dividing the inter-vehicle distance between the second vehicle and the vehicle by the relative speed between the second vehicle and the vehicle is equal to or shorter than a predetermined time, the change process is not executed even if the relationship between the first vehicle and the vehicle satisfies the predetermined first condition; changing a condition for not executing the change process even when the relationship between the first vehicle and the vehicle satisfies the predetermined first condition, in accordance with a vehicle type of the second vehicle; Vehicle control device.

Images