Vehicle control device, vehicle control computer program, and vehicle control method

Abstract

To provide a vehicle control device allowing a vehicle to move between lanes by automatic control when a vehicle passage area includes a control transition area.SOLUTION: A vehicle control device determines whether an automatic control prohibited area where driving of a vehicle by automatic control is not permitted is included on a travel lane where the vehicle travels, in a predetermined section. When it is determined that the automatic control prohibited area is included, the vehicle control device sets a control transition area on the travel lane before the automatic control prohibited area. The vehicle control device determines whether a vehicle passage area on a travel lane through which the vehicle is scheduled to pass when the vehicle moves between lanes includes part of the control transition area. When it is determined that the vehicle passage area includes part of the control transition area, the vehicle control device newly sets the automatic control prohibited area so that the vehicle passage area is included. When the vehicle passage area includes part of the control transition area, and the control transition area satisfies a predetermined condition, the control transition area is newly set by shortening a length of the control transition area so that the control transition area is not included in the vehicle passage area.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] An automatic control system mounted on a vehicle generates a navigation route of the vehicle based on the current position of the vehicle, the destination position of the vehicle, and a navigation map. The automatic control system estimates the current position of the vehicle using map information and controls the vehicle to travel along the navigation route. Further, the automatic control system controls the operation of the vehicle including movement between lanes.

[0003] The automatic control system may exit to a branch road that branches off from the traveling road on which the vehicle is traveling. At this time, the vehicle moves between lanes from the lane of the traveling road to the lane of the branch road. (See, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When the vehicle moves from the lane of the traveling road to the lane of the branch road at the branch position, a part of the control transition area for shifting the automatic control of the vehicle operation to manual control may be included in the vehicle passage area through which the vehicle is expected to pass. This is because when there is an automatic control prohibited area where automatic control of the vehicle operation is not permitted ahead of the branch road into which the vehicle enters, the control transition area is set in front of the automatic control prohibited area.

[0006] When a part of the control transition area is included in the vehicle passage area, the automatic control system determines that the vehicle cannot be safely driven by automatic control, and sets a new automatic control prohibited area so as to include the vehicle passage area. When a new automatic control prohibited area is set so as to include the vehicle passage area, the automatic control system sets a new control transition area in front of this new automatic control prohibited area.

[0007] Therefore, there arises a problem that the driver has to start manual driving of the vehicle in the new control transition area set in front of the first control transition area.

[0008] Therefore, an object of the present disclosure is to provide a vehicle control device that enables the vehicle to move between lanes by automatic control in the vehicle passage area when the vehicle passage area includes a part of the control transition area.

Means for Solving the Problem

[0009] (1) According to one embodiment, a vehicle control device is provided. This vehicle control device determines, in a predetermined section from the current position of the vehicle in the traveling direction, whether an automatic control prohibited area where automatic control of the vehicle is not permitted is included in the Scheduled schedule traveling lane on which the vehicle travels, and when it is determined by the first determination unit that an automatic control prohibited area is included in the traveling lane, in front of the automatic control prohibited area Schedule on the traveling lane Scheduled for a predetermined range on the near side from the end on the side a first setting unit that sets a control transition area for shifting the operation of the vehicle from automatic control to manual control, and to a second determination unit that determines whether the vehicle passage area includes at least a part of the control transition area, and when it is determined by the second determination unit that the vehicle passage area includes at least a part of the control transition area, a second setting unit that newly sets an automatic control prohibited area so as to include the vehicle passage area, and has When there is a movement between the planned travel lanes of the vehicle, a planning unit that sets a vehicle passage area so as to include a predetermined range before and after including the position where the vehicle moves between lanes on the planned travel lane on which the vehicle travels before moving between lanes, and when the vehicle passage area is set by the planning unit, both passage areas include at least a part of the control transition area, and when the control transition area , vehicle meets Indicating that the length of the control transition area can be shortened so as not to be included in the vehicle passage area a predetermined condition is meets done the case, The first setting unit isShorten the length of the control transition area so that the control transition area is not included in the vehicle passage area, and newly set the control transition area and the second setting unit removes the newly set automatic control prohibited area, which is characterized by the above.

[0010] (2) In the vehicle control device according to (1), the control transition area has a variable part whose length change is allowed and a fixed part whose length change is not allowed, and the predetermined condition is preferably that the control transition area can be prevented from being included in the vehicle passage area by shortening the length of the variable part.

[0011] (3) In the vehicle control device according to (1), the control transition area has a control transition notification area for notifying the driver of the transition of the vehicle operation from automatic control to manual control, and a control transition execution area for executing the transition of the vehicle operation from automatic control to manual control, and the predetermined condition is preferably that the control transition area can be prevented from being included in the vehicle passage area by shortening the length of the control transition notification area.

[0012] (4) In the vehicle control device according to (1), the first setting unit determines the length of the control transition area based on the vehicle speed, and the predetermined condition is preferably that the vehicle speed can be changed until the vehicle reaches the control transition area at the target vehicle speed determined based on the length of the control transition area required so that the control transition area is not included in the vehicle passage area.

[0013] (5) According to another embodiment, a vehicle control computer program is provided. This vehicle control computer program determines whether an automatic control prohibited area where automatic control of the vehicle operation is not permitted is included in a predetermined section from the current position of the vehicle in the traveling direction on the traveling lane on which the vehicle travels Scheduled schedule If it is determined that the automatic control prohibited area is included on the traveling lane, set a control transition area for shifting the vehicle operation from automatic control to manual control on the traveling lane in front of the automatic control prohibited area The first step to do and Schedule when it is determined that the automatic control prohibited area is included on the traveling lane, in front of the automatic control prohibited area Scheduled for a predetermined range on the near side from the end on the side set a control transition area for shifting the vehicle operation from automatic control to manual control on the traveling lane The second step to do and When there is a movement between the planned travel lanes of the vehicle, a third step of setting a vehicle passage area so as to include a predetermined range before and after including the position where the vehicle moves between lanes on the planned travel lane on which the vehicle travels before moving between lanes, and when the vehicle passage area is set,Determine whether the vehicle passage area includes at least a part of the control transition area The fourth step to do If it is determined that the vehicle passage area includes at least a part of the control transition area, newly set an automatic control prohibited area so as to include the vehicle passage area The fifth step , including Cause the processor to execute the process, the vehicle passage area includes at least a part of the control transition area, and the control transition area Indicating that the length of the control transition area can be shortened so as not to be included in the vehicle passage area predetermined condition is is satisfied done In this case, shorten the length of the control transition area so that the control transition area is not included in the vehicle passage area is shorten done and a new control transition area is set are, and the newly set automatic control prohibited area is removed, which is characterized in that

[0014] (6) Also, according to another embodiment, a vehicle control method is provided. In a predetermined section from the current position of the vehicle in the traveling direction, the vehicle travels Scheduled schedule Determine whether the travel lane includes an automatic control prohibited area where automatic control of the vehicle is not permitted The first step to do , Schedule If it is determined that the travel lane includes an automatic control prohibited area, set a control transition area on the travel lane in front of the automatic control prohibited area for shifting the vehicle operation from automatic control to manual control Scheduled for a predetermined range on the near side from the end on the side Set a control transition area for shifting the operation of the vehicle from automatic control to manual control on the travel lane in front of the automatic control prohibited area The second step to do , When there is a movement between the planned travel lanes of the vehicle, a third step of setting a vehicle passage area so as to include a predetermined range before and after including the position where the vehicle moves between lanes on the planned travel lane on which the vehicle travels before moving between lanes, and when the vehicle passage area is set, Determine whether the vehicle passage area includes at least a part of the control transition area The fourth step to do If it is determined that the vehicle passage area includes at least a part of the control transition area, newly set an automatic control prohibited area so as to include the vehicle passage area The fifth step , for the vehicle The control device executes, the vehicle passage area includes at least a part of the control transition area, and the control transition area Indicating that the length of the control transition area can be shortened so as not to be included in the vehicle passage area predetermined condition is is satisfied done In this case, shorten the length of the control transition area so that the control transition area is not included in the vehicle passage area is shorten done and a new control transition area is set are, and the newly set automatic control prohibited area is removed, which is characterized in that

Advantages of the Invention

[0015] When the vehicle passage area includes at least a part of the control transition area, the vehicle control device according to the present disclosure newly sets the control transition area so that the control transition area is not included in the vehicle passage area, thereby enabling the vehicle to move between lanes automatically in the vehicle passage area, reducing the driver's burden.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Mode for Carrying Out the Invention

[0017] Figures 1 to 3 are diagrams for explaining the outline of the operation of the driving lane planning device 14 according to the first embodiment. Hereinafter, with reference to Figures 1 to 3, the outline of the operation regarding the vehicle control process of the driving lane planning device 14 disclosed in this specification will be described.

[0018] The vehicle 10 has an automatic driving mode (for example, a driving mode of levels 3 to 5) in which the vehicle 10 is driven by automatic control and a manual driving mode (for example, a driving mode of levels 0 to 2) in which the vehicle 10 is driven by manual control.

[0019] In the automatic driving mode, the vehicle 10 is traveling on the lane 52 of the road 50 having lanes 51 and 52. The lane 51 and the lane 52 are partitioned by a lane dividing line 53. The navigation route N representing the traveling route of the vehicle 10 indicates that the vehicle 10 exits from the road 50 to the road 60 at the branch position 54.

[0020] Based on the current position of the vehicle, the map information, and the navigation route N, the driving lane planning device 14 generates a driving lane plan representing the driving lane on which the vehicle 10 travels in the nearest driving section of the navigation route N. The nearest driving section is an example of a predetermined section in the traveling direction from the current position of the vehicle 10.

[0021] The driving lane plan includes the vehicle 10 traveling on the lane 52 of the road 50, the vehicle 10 moving from the lane 52 of the road 50 to the lane 61 of the road 60 at the branch position 54, and the vehicle 10 traveling on the lane 61 of the road 60 in the nearest driving section.

[0022] When the vehicle 10 moves between lanes, the driving lane planning device 14 sets a vehicle passage area P on the lane 52 through which the vehicle 10 is scheduled to pass. In the example shown in Figure 1, the vehicle passage area P is set in a predetermined range before and after including the branch position 54 on the lane 52.

[0023] In the most recent driving section, since the lane 61 of the road 60 on which the vehicle 10 travels includes an automatic control prohibited area R1 where automatic control of the vehicle is not permitted, the driving lane planning device 14 sets a control transition area TD1 for shifting the operation of the vehicle 10 from automatic control to manual control on the lane 61 in front of the automatic control prohibited area R1. The control transition area TD1 may be set with a fixed length or based on the speed of the vehicle 10.

[0024] In the control transition area TD1, the operation of the vehicle 10 is shifted from automatic control to manual control. In the automatic control prohibited area R1, the driver drives the vehicle 10 manually.

[0025] In the example shown in FIG. 1, since the position of the automatic control prohibited area R1 was close to the branch position 54, a part of the control transition area TD1 overlaps with the vehicle passage area P of the road 50.

[0026] In the part where the vehicle passage area P where the vehicle 10 moves between lanes overlaps with the control transition area TD1 where the operation of the vehicle 10 is shifted from automatic control to manual control, the operation of the vehicle 10 by automatic control is not permitted from the viewpoint of ensuring the safety of the vehicle 10.

[0027] Since the vehicle passage area P includes a part of the control transition area TD1, as shown in FIG. 2, the driving lane planning device 14 newly sets an automatic control prohibited area R2 on the lane 52 so as to include the part of the control transition area TD1 that overlaps with the vehicle passage area P.

[0028] Also, as shown in FIG. 2, in the most recent driving section, since the lane 52 of the road 50 on which the vehicle 10 travels includes the automatic control prohibited area R2, the driving lane planning device 14 newly sets a control transition area TD2 on the lane 52 in front of the automatic control prohibited area R2.

[0029] As it is, the driver has to start manual control of the vehicle 10 in the newly set control transition area TD2 that is in front of the first control transition area TD1.

[0030] Therefore, since the vehicle traffic area P includes a part of the control transition area TD1, the driving lane planning device 14 shortens the length of the control transition area TD1 so that the control transition area TD1 is not included in the vehicle traffic area P, and newly sets the control transition area TD1 (see FIG. 3).

[0031] As described above, when the vehicle traffic area P includes at least a part of the control transition area TD1, the driving lane planning device 14 of the present embodiment newly sets the control transition area TD1 so that the control transition area TD1 is not included in the vehicle traffic area. As a result, the newly set automatic control prohibited area R2 and control transition area TD2 are removed. Since the driving lane planning device 14 enables the vehicle 10 to move between lanes automatically in the vehicle traffic area P, the burden on the driver can be reduced.

[0032] FIG. 4 is a schematic configuration diagram of a vehicle 10 in which a vehicle control system 1 including a driving lane planning device 14 is implemented. The vehicle 10 includes a camera 2, a positioning information receiver 3, a navigation device 4, a user interface (UI) 5, a map information storage device 11, a position estimation device 12, an object detection device 13, a driving lane planning device 14, a driving plan device 15, a vehicle control device 16, and the like. Further, the vehicle 10 may have a ranging sensor (not shown) for measuring the distance to an object around the vehicle 10, such as a LiDAR sensor. The vehicle control system 1 includes at least the driving lane planning device 14.

[0033] The camera 2, the positioning information receiver 3, the navigation device 4, the UI 5, the map information storage device 11, the position estimation device 12, the object detection device 13, the driving lane planning device 14, the driving plan device 15, and the vehicle control device 16 are communicably connected via an in-vehicle network 17 compliant with a standard such as a controller area network.

[0034] The camera 2 is an example of an imaging unit provided in the vehicle 10. The camera 2 is attached to the vehicle 10 so as to face the front of the vehicle 10. The camera 2 captures a camera image representing the environment of a predetermined area in front of the vehicle 10, for example, at a predetermined cycle. The camera image may represent a road included in a predetermined area in front of the vehicle 10 and road features such as lane dividing lines on the road surface. The camera 2 includes a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or a C-MOS, and an imaging optical system that forms an image of the area to be photographed on the two-dimensional detector.

[0035] Each time the camera 2 captures a camera image, the camera image and the camera image capture time at which the camera image was captured are output to the position estimation device 12, the object detection device 13, etc. via the in-vehicle network 17. The camera image is used in the position estimation device 12 for processing to estimate the position of the vehicle 10. Also, the camera image is used in the object detection device 13 for processing to detect other objects around the vehicle 10.

[0036] The positioning information receiver 3 outputs positioning information representing the current position of the vehicle 10. For example, the positioning information receiver 3 can be a GNSS receiver. Each time the positioning information receiver 3 acquires positioning information at a predetermined reception cycle, the positioning information and the positioning information acquisition time at which the positioning information was acquired are output to the navigation device 4, the map information storage device 11, etc.

[0037] Based on the navigation map information, the destination position of the vehicle 10 input from the UI 5, and the positioning information representing the current position of the vehicle 10 input from the positioning information receiver 3, the navigation device 4 generates a navigation route N from the current position of the vehicle 10 to the destination position. The navigation route N includes information regarding positions such as right turns, left turns, merges, and bifurcations. When the destination position is newly set, or when the current position of the vehicle 10 deviates from the navigation route N, etc., the navigation device 4 newly generates the navigation route N of the vehicle 10. Each time the navigation device 4 generates the navigation route N, the navigation route N is output to the position estimation device 12, the driving lane planning device 14, etc. via the in-vehicle network 17.

[0038] UI5 is an example of a notification unit. UI5 is controlled by the navigation device 4, the vehicle control device 16, etc., and notifies the driver of the driving information of the vehicle 10, or a control transfer request, etc. The control transfer request is a request to transfer the driving of the vehicle 10 from automatic control to manual control. The driving information of the vehicle 10 includes information regarding the current and future routes of the vehicle 10 such as the current position of the vehicle 10 and the navigation route. UI5 has a display device 5a such as a liquid crystal display or a touch panel in order to display the driving information, etc. Further, UI5 may have an acoustic output device (not shown) for notifying the driver of the driving information, etc. Also, UI5 generates an operation signal corresponding to an operation on the vehicle 10 from the driver. UI5 has, as an input device for inputting operation information from the driver to the vehicle 10, for example, a touch panel or operation buttons. Examples of the operation information include a destination, a waypoint, a vehicle speed, approval of a control transfer request, and other control information of the vehicle 10. UI5 outputs the input operation information to the navigation device 4, the vehicle control device 16, etc. via the in-vehicle network 17.

[0039] The map information storage device 11 stores wide-area map information of a relatively wide range (for example, a range of 10 to 30 km square) including the current position of the vehicle 10. This map information has high-precision map information including three-dimensional information of the road surface, information representing road features such as lane dividing lines on the road, the type and position of structures, the legal speed of the road, and an automatic control prohibited area. The map information storage device 11 receives wide-area map information from an external server via a base station by wireless communication via a wireless communication device (not shown) mounted on the vehicle 10 according to the current position of the vehicle 10, and stores it in the storage device. Each time the map information storage device 11 inputs positioning information from the positioning information receiver 3, it refers to the stored wide-area map information and outputs map information of a relatively narrow area (for example, a range of 100 m square to 10 km square) including the current position represented by the positioning information to the position estimation device 12, the object detection device 13, the driving lane planning device 14, the driving plan device 15, the vehicle control device 16, etc. via the in-vehicle network 17.

[0040] The position estimation device 12 estimates the position of the vehicle 10 at the time of camera image capture based on the road features around the vehicle 10 represented in the camera image. For example, the position estimation device 12 compares the lane division lines identified in the camera image with the lane division lines represented in the map information input from the map information storage device 11 to obtain the estimated position and estimated azimuth angle of the vehicle 10 at the time of camera image capture. Further, the position estimation device 12 estimates the driving lane on the road where the vehicle 10 is located based on the lane division lines represented in the map information, the estimated position, and the estimated azimuth angle of the vehicle 10. Each time the position estimation device 12 obtains the estimated position, estimated azimuth angle, and driving lane of the vehicle 10 at the time of camera image capture, it outputs this information to the object detection device 13, the driving lane planning device 14, the driving plan device 15, the vehicle control device 16, and the like.

[0041] The object detection device 13 detects the objects around the vehicle 10 and their types (for example, vehicles) based on the camera image and the like. The objects include other vehicles traveling around the vehicle 10. The object detection device 13 tracks the detected objects to obtain the trajectories of the objects. The object detection device 13 specifies the driving lane on which the object is traveling based on the lane division lines represented in the map information and the object position. The object detection device 13 outputs object detection information including information indicating the type of the detected object, information indicating its position, and information indicating the driving lane to the driving lane planning device 14, the driving plan device 15, and the like.

[0042] The driving lane planning device 14 executes planning processing, determination processing, and setting processing. To that end, the driving lane planning device 14 includes a communication interface (IF) 21, a memory 22, and a processor 23. The communication IF 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication IF 21 has an interface circuit for connecting the driving lane planning device 14 to the in-vehicle network 17.

[0043] The memory 22 is an example of a storage unit and has, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores a computer program of an application and various data used in information processing executed by the processor 23.

[0044] All or part of the functions of the driving lane planning device 14 are, for example, functional modules realized by a computer program operating on the processor 23. The processor 23 includes a planning unit 231, a determination unit 232, and a setting unit 233. Alternatively, the functional module of the processor 23 may be a dedicated arithmetic circuit provided in the processor 23. The processor 23 includes one or more CPUs (Central Processing Unit) and its peripheral circuits. The processor 23 may further include other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphic processing unit. Details of the operation of the driving lane planning device 14 will be described later.

[0045] At the driving plan generation time set at a predetermined period, the driving plan device 15 executes a driving plan process to generate a driving plan representing the planned travel trajectory of the vehicle 10 up to a predetermined time (for example, 5 seconds) ahead based on the driving lane plan, the map information, the current position of the vehicle 10, the surrounding environment information, and the vehicle state information. The driving plan is represented as a set of the target position of the vehicle 10 and the target vehicle speed at this target position at each time from the current time to a predetermined time ahead. The driving plan device 15 preferably generates a driving plan within a range of predetermined constraints. Examples of the predetermined constraints include upper limit values of acceleration, deceleration, and angular acceleration. The period at which the driving plan is generated is preferably shorter than the period at which the driving lane plan is generated. The driving plan device 15 generates a driving plan so as to maintain an interval of a predetermined distance or more between the vehicle 10 and other vehicles. Even if the driving lane plan includes a lane change in which the vehicle 10 moves between lanes, when the driving plan device 15 cannot secure an interval of a predetermined distance or more between the vehicle 10 and other vehicles, the driving plan device 15 generates a driving plan to stop the vehicle 10. Each time the driving plan device 15 generates a driving plan, it outputs the driving plan to the vehicle control device 16.

[0046] The vehicle control device 16 has an automatic driving mode in which the vehicle 10 is driven by automatic control (for example, a driving mode of levels 3 to 5) and a manual driving mode in which the vehicle 10 is driven by manual control (for example, a driving mode of levels 0 to 2).

[0047] When the vehicle 10 is operating in the automatic driving mode, the vehicle control device 16 controls each part of the vehicle 10 based on the current position of the vehicle 10, the vehicle speed and yaw rate, and the driving plan generated by the driving plan device 15. For example, the vehicle control device 16 obtains the steering angle, acceleration, and angular acceleration of the vehicle 10 according to the driving plan, the vehicle speed, and the yaw rate of the vehicle 10, and sets the steering amount, driving force, or braking amount so as to achieve the steering angle, acceleration, and angular acceleration. Then, the vehicle control device 16 outputs an automatic control signal corresponding to the set steering amount to an actuator (not shown) that controls the steering wheels of the vehicle 10 via the in-vehicle network 17. In addition, the vehicle control device 16 generates an automatic control signal according to the set driving force and outputs the control signal to a driving device (not shown) such as the engine or motor of the vehicle 10 via the in-vehicle network 17. Alternatively, the vehicle control device 16 outputs an automatic control signal corresponding to the set braking amount to the brake (not shown) of the vehicle 10 via the in-vehicle network 17.

[0048] When the vehicle 10 is operating in the manual driving mode, the vehicle control device 16 generates a manual control signal that controls the operations of the vehicle 10 such as steering, driving, and braking based on the driver's operation, and outputs this manual control signal to an actuator that drives the steering wheels, a driving device, or a brake via the in-vehicle network 17.

[0049] In FIG. 4, the map information storage device 11, the position estimation device 12, the object detection device 13, the travel lane planning device 14, the driving plan device 15, and the vehicle control device 16 are described as separate devices (for example, ECUs), but all or part of these devices may be configured as one device.

[0050] Also, in FIG. 4, the planning unit 231, the determination unit 232, and the setting unit 233 were included in one travel lane planning device 14, but the planning unit 231, the determination unit 232, and the setting unit 233 may be included in different devices.

[0051] FIG. 5 is an example of an operation flowchart regarding the plan generation process of the driving lane planning device 14 according to the first embodiment. With reference to FIG. 5, the plan generation process of the driving lane planning device 14 will be described below. The driving lane planning device 14 executes a plan generation process according to the operation flowchart shown in FIG. 5 at a driving lane plan generation time set at a predetermined cycle.

[0052] First, the planning unit 231 generates a driving lane plan representing the planned driving lane on which the vehicle 10 will travel in the nearest driving section (for example, 10 km) selected from the navigation route N (step S101). As a specific example, the planning unit 231 selects a lane within the road on which the vehicle 10 will travel based on the map information, the navigation route N and the surrounding environment information, and the current position of the vehicle 10, and generates a driving lane plan (step S101). The planning unit 231 generates a driving lane plan so that, for example, the vehicle 10 travels in a lane other than the overtaking lane. Each time the planning unit 231 generates a driving lane plan, the driving lane plan is output to the driving plan device 15. The planning unit 231 is an example of a vehicle control device.

[0053] Further, in the latest driving section selected from the navigation route N, the planning unit 231 determines whether a lane change is necessary based on the driving lane plan, the map information, the navigation route N, and the current position of the vehicle 10, and generates a lane change plan according to the determination result. Specifically, the planning unit 231 determines whether a lane change is necessary to move to the lane leading to the destination position of the vehicle 10 based on the navigation route N and the current position of the vehicle 10. It determines whether the vehicle 10 enters from the driving road on which it is currently traveling to another road at the confluence point (confluence), and whether the vehicle 10 exits from the driving road to another road at the branching point (branching). In the case of confluence and branching, since the vehicle moves from the lane of the driving road to the lane of another road, a lane change is performed. The planning unit 231 may further use the surrounding environment information or the vehicle state information for the determination of whether a lane change is necessary. The surrounding environment information includes the position and speed of other vehicles traveling around the vehicle 10. The vehicle state information includes the current position, vehicle speed, acceleration, and traveling direction of the vehicle 10. When the planning unit 231 generates a lane change plan, it outputs the driving lane plan with this lane change plan added to the driving plan device 15.

[0054] Further, when the lane change plan is generated, the planning unit 231 sets, on the driving lane, the vehicle passing area through which the vehicle 10 is expected to pass when the vehicle 10 moves between lanes.

[0055] Next, the determination unit 232 determines whether an automatic control prohibited area where the automatic control of the vehicle 10 is not permitted is included on the driving lane on which the vehicle 10 travels in the latest driving section (step S102). For example, the planning unit 231 refers to the map information and determines whether an automatic control prohibited area is included on the driving lane on which the vehicle 10 travels. The determination unit 232 is an example of the first determination unit.

[0056] As the automatic control prohibited area, there are areas having terrains where the vehicle control device 16 cannot safely control the operation of the vehicle 10 in the automatic driving mode, areas where the high-precision map is not prepared, and areas where the vehicle 10 is temporarily prohibited from running in automatic control. Examples of areas having terrains where the vehicle control device 16 cannot safely control the operation of the vehicle include terrains having curves with large radius of curvature, terrains having large gradients, terrains including road markings such as stop lines, terrains including intersections, terrains including bus stops, terrains where the road on which the vehicle is running merges with another road and the merging section for merging into the other road is short, terrains where the road width is so narrow that the vehicle control device 16 cannot safely control the operation of the vehicle, and terrains having a width that allows a plurality of vehicles to run side by side but without lane dividing lines. Examples of areas where the high-precision map is not prepared include areas beyond toll gates on motorways, service areas or parking areas. Examples of areas where the vehicle is temporarily prohibited from running in automatic control include construction sections or areas where falling object information is notified.

[0057] When the automatic control prohibited area is included (step S102 - Yes), the setting unit 233 sets a control transition area for shifting the operation of the vehicle 10 from automatic control to manual control on the driving lane in front of the automatic control prohibited area (step S103), and ends a series of processes.

[0058] When the automatic control prohibited area is not included (step S102 - No), a series of processes are ended.

[0059] In the example shown in FIG. 1, in the latest driving section selected from the navigation route N, the driving lane plan includes the vehicle 10 running on the lane 52 of the road 50, the vehicle 10 moving from the lane 52 of the road 50 to the lane 61 of the road 60 at the branch position 54, and the vehicle 10 running on the lane 61 of the road 60.

[0060] Since there is a lane change of the vehicle 10 from lane 52 to lane 61, the planning unit 231 sets the branching position 54. The branching position 54 can be, for example, the intersection of the center line of lane 52 and the extension line obtained by extending the center line of lane 61 toward lane 52.

[0061] In addition, the planning unit 231 sets the vehicle passage area P on lane 52 so as to include the branching position 54. The vehicle passage area P is an area on lane 52 that the vehicle 10 is scheduled to pass through when the vehicle 10 moves from lane 52 to lane 61. The vehicle passage area P is set in a predetermined range before and after including the branching position 54 on lane 52. The predetermined range may be set as a fixed range or may be set based on the speed of the vehicle 10.

[0062] The setting unit 233 sets the control transition area TD1 in front of the automatic control prohibited area R1 of the road 60. The end TD11 on the traveling direction side of the control transition area TD1 coincides with the front side end of the automatic control prohibited area R1. The area between the end TD12 on the front side in the traveling direction and the end TD11 is the control transition area TD1. The length of the control transition area TD1 may be a fixed length or may be determined based on the speed of the vehicle 10.

[0063] In the present embodiment, as shown in FIG. 1, the control transition area TD1 has a variable part A2 whose length can be changed and an invariant part A1 whose length cannot be changed. The invariant part A1 is arranged on the side of the automatic control prohibited area R1, and the variable part A2 is arranged on the front side in the traveling direction of the vehicle 10.

[0064] When the vehicle 10 is in the automatic driving mode, the vehicle control device 16 notifies the driver via the UI5 that the automatic control operation of the vehicle 10 ends in the variable part A. Further, the vehicle control device 16 may notify the driver via the UI5 a control transition request for requesting the vehicle 10 to shift the driving from automatic control to manual control. When the driver approves the control transition request, the vehicle control device 16 may shift the driving of the vehicle 10 from automatic control to manual control.

[0065] When a driver performs a predetermined operation on a steering wheel (not shown), a brake pedal (not shown), or an accelerator pedal (not shown), the vehicle control device 16 determines that a control transfer request has been approved by the driver. Also, when a driver performs a predetermined operation on the UI5, the vehicle control device 16 determines that a control transfer request has been approved by the driver.

[0066] Also, in the invariant part A1, the vehicle control device 16 shifts the operation of the vehicle 10 from automatic control to manual control. For example, the vehicle control device 16 notifies the driver via the UI5 that the operation of the vehicle 10 is to be shifted from automatic control to manual control, and after a lapse of a predetermined time (e.g., 10 seconds), the operation of the vehicle 10 is shifted from automatic control to manual control. When the vehicle 10 reaches the automatic control prohibited area R1, the vehicle 10 is in the manual driving mode.

[0067] The invariant part A1 has a fixed length (e.g., 300 m). The length of the variable part A2 can be determined based on the speed of the vehicle 10. The length of the variable part A2 can be obtained by the product of the speed set by the driver or the speed limit of the road and a predetermined time (e.g., 4 seconds).

[0068] In the example shown in FIG. 1, a part on the end TD12 side in the control transfer region TD1 overlaps with the lane 52 of the road 50. A part on the end TD12 side in the control transfer region TD1 is included in the vehicle passage region P.

[0069] FIG. 6 is an example of an operation flowchart regarding the area determination process of the driving lane planning device 14 of the first embodiment. With reference to FIG. 6, the area determination process of the driving lane planning device 14 will be described below. After the above-described plan generation process, the driving lane planning device 14 executes an area determination process according to the operation flowchart shown in FIG. 6.

[0070] First, the determination unit 232 determines whether a vehicle passage area is included in the most recent driving section in which the driving lane plan has been generated (step S201).

[0071] When the vehicle passage area is included (step S201 - Yes), the determination unit 232 determines whether the vehicle passage area on the driving lane through which the vehicle 10 is scheduled to pass includes at least a part of the control transition area (step S202). The determination unit 232 is an example of the second determination unit.

[0072] When the vehicle passage area includes at least a part of the control transition area (step S202 - Yes), the setting unit 233 newly sets an automatic control prohibition area so as to include the vehicle passage area (step S20 3 ), and a series of processes ends.

[0073] Also, when the vehicle passage area is not included (step S201 - No), or when the vehicle passage area does not include the control transition area (step S202 - No), a series of processes ends.

[0074] In the example shown in FIG. 1, in the overlapping part of the vehicle passage area P where the vehicle 10 moves between lanes and the control transition area TD1 where the operation of the vehicle 10 shifts from automatic control to manual control, from the viewpoint of ensuring the safety of the vehicle 10, the operation of the vehicle 10 by automatic control is not permitted.

[0075] Therefore, as shown in FIG. 2, the setting unit 233 newly sets an automatic control prohibition area R2 on the lane 52 so as to include the part of the control transition area TD1 that overlaps with the vehicle passage area P. The setting unit 233 may newly set the automatic control prohibition area R2 on the lane 52 so as to include the entire vehicle passage area P.

[0076] Then, by the plan generation process shown in FIG. 5, a new control transition area TD2 for shifting the operation of the vehicle 10 from automatic control to manual control is set on the lane 52 in front of the new automatic control prohibition area R2. Regarding the control transition area TD2, the description regarding the control transition area TD1 described above is appropriately applied.

[0077] FIG. 7 is an example of an operation flowchart regarding the shortening determination process of the driving lane planning device 14 of the first embodiment. With reference to FIG. 7, the shortening determination process of the driving lane planning device 14 will be described below. After the above-described area determination process, the driving lane planning device 14 executes a shortening determination process according to the operation flowchart shown in FIG. 7.

[0078] First, the determination unit 232 determines whether a vehicle passage area is included in the most recent driving section in which the driving lane plan has been generated (step S301).

[0079] When a vehicle passage area is included (step S301-Yes), the determination unit 232 determines whether the vehicle passage area on the driving lane through which the vehicle 10 is expected to pass includes at least a part of the control transition area (step S302).

[0080] When the vehicle passage area includes at least a part of the control transition area (step S302-Yes), the determination unit 232 determines whether it is possible to prevent the control transition area from being included in the vehicle passage area by shortening the length of the variable part (step S303).

[0081] When it is possible to prevent the control transition area from being included in the vehicle passage area by shortening the length of the variable part (step S303-Yes), the setting unit 233 shortens the length of the variable part so that the control transition area is not included in the vehicle passage area (step S304).

[0082] Next, the setting unit 233 removes the new automatic control prohibited area and the control transition area (step S305), and ends a series of processes.

[0083] Also, when a vehicle passage area is not included (step S301-No), when the vehicle passage area does not include the control transition area (step S302-No), or when it is not possible to prevent the control transition area from being included in the vehicle passage area by shortening the length of the variable part (step S303-No), a series of processes ends.

[0084] In the example shown in FIG. 1, the length of the portion of the control transition region TD1 that overlaps with the vehicle passage region P is shorter than the length of the variable portion A2 of the control transition region TD1. Therefore, the determination unit 232 determines that the length of the variable portion A2 of the control transition region TD1 can be shortened so that the control transition region TD1 is not included in the vehicle passage region P. Here, the length of the control transition region TD1 may be the length along the center line of the lane.

[0085] As shown in FIG. 3, the setting unit 233 moves the position of the front end TD12 toward the traveling direction side in the traveling direction, shortens the length of the variable portion A2 so that the control transition region TD1 is not included in the vehicle passage region P, and newly sets the control transition region TD1.

[0086] If the length of the portion of the control transition region TD1 that overlaps with the vehicle passage region P is longer than the length of the variable portion A2 of the control transition region TD1, the determination unit 232 determines that the control transition region TD1 cannot be made not to be included in the vehicle passage region P. Further, if the predetermined reference length cannot be ensured as the length of the variable portion A2 when the variable portion A2 is shortened, the determination unit 232 may determine that the control transition region TD1 cannot be made not to be included in the vehicle passage region P.

[0087] Then, as shown in FIG. 3, the setting unit 233 removes the new automatic control prohibited region R2 and the control transition region TD2. The driver is not notified of the control transition request in the control transition region TD2.

[0088] As described above, when the vehicle passage region includes at least a part of the control transition region, the travel lane planning device according to the present embodiment shortens the length of the control transition region so that the control transition region is not included in the vehicle passage region by shortening the length of the variable portion. As a result, the new automatic control prohibited region is removed, so that the vehicle can be automatically controlled to move between lanes in the vehicle passage region. Further, since the new control transition region is also removed, the travel lane planning device can reduce the driver's burden.

[0089] Next, the operation of the driving lane planning device 14 according to the second to third embodiments disclosed in this specification will be described below with reference to FIGS. 8 to 12 and the like. For parts not described in other embodiments, the description of the first embodiment described above is appropriately applied.

[0090] In the operation of the driving lane planning device 14 according to the second to third embodiments, the configuration of the control transition region and the conditions for determining whether the control transition region can be shortened are different from those of the first embodiment described above.

[0091] FIG. 8 is a diagram for explaining the control transition region of the second embodiment. The control transition region TD1 includes a control transition notification region B2 for notifying the driver to shift the operation of the vehicle 10 from automatic control to manual control, and a control transition execution region B1 for executing the shift of the operation of the vehicle 10 from automatic control to manual control.

[0092] In the control transition notification region B2, the vehicle control device 16 notifies the driver via the UI5 that the automatic control operation of the vehicle 10 has ended. Thereby, the driver recognizes that the operation of the vehicle 10 is started in the manual driving mode. In the control transition notification region B2, the vehicle control device 16 may reduce the speed of the vehicle 10 from the viewpoint of facilitating the driver to start driving. Further, the vehicle control device 16 may notify the driver via the UI5 of a control transition request for requesting the operation of the vehicle 10 to be shifted from automatic control to manual control. When the driver approves the control transition request, the vehicle control device 16 may shift the operation of the vehicle 10 from automatic control to manual control.

[0093] In the control transition execution area B1, the vehicle control device 16 shifts the operation of the vehicle 10 from automatic control to manual control. For example, the vehicle control device 16 notifies the driver via the UI5 of the shift of the operation of the vehicle 10 from automatic control to manual control. After a predetermined time (e.g., 10 seconds) has elapsed, the vehicle control device 16 shifts the operation of the vehicle 10 from automatic control to manual control. When the vehicle 10 reaches the automatic control prohibited area R1, the operation of the vehicle 10 is in the manual driving mode. When the vehicle 10 reaches the control transition execution area B1 and is in the manual driving mode, this driving mode is maintained.

[0094] The control transition execution area B1 has a fixed length (e.g., 300 m). The length of the control transition notification area B2 can be determined based on the speed of the vehicle 10. The length of the control transition notification area B2 can be obtained by multiplying the speed set by the driver or the speed limit of the road by a predetermined time (e.g., 4 seconds).

[0095] The control transition execution area B1 may be an invariant part. Further, the control transition notification area B2 may have a variable part arranged on the control transition execution area B1 side and an invariant part arranged in front of the variable part.

[0096] FIG. 9 is an example of an operation flowchart regarding the shortening determination process of the travel lane planning device 14 according to the second embodiment. With reference to FIG. 9, the shortening determination process of the travel lane planning device 14 will be described below. After the area determination process described above, the travel lane planning device 14 executes a shortening determination process according to the operation flowchart shown in FIG. 9.

[0097] The processes of steps S401, S402, and S405 are the same as steps S301, S302, and S305 described above.

[0098] When the vehicle passage area includes at least a part of the control transition area (step S402 - Yes), the determination unit 232 determines whether it is possible to make the control transition area not included in the vehicle passage area by shortening the length of the control transition notification area (step S403).

[0099] When it is possible to shorten the length of the control transition notification area (step S403 - Yes), the setting unit 233 shortens the length of the control transition notification area so that the control transition area is not included in the vehicle passage area (step S404). Other operations of the shortening determination process of the travel lane planning device 14 are the same as those in the first embodiment.

[0100] In the example shown in FIG. 8, the length of the portion of the control transition area TD1 overlapping the vehicle passage area P is shorter than the length of the control transition notification area B2. Therefore, the determination unit 232 determines that the length of the control transition notification area B2 of the control transition area TD1 can be shortened so that the control transition area TD1 is not included in the vehicle passage area P.

[0101] As shown in FIG. 3, the setting unit 233 moves the position of the front - side end TD12 in the traveling direction toward the traveling direction side, shortens the length of the control transition notification area B2 so that the control transition area TD1 is not included in the vehicle passage area P, and newly sets the control transition area TD1.

[0102] If the length of the portion of the control transition area TD1 overlapping the vehicle passage area P is longer than the length of the control transition notification area B2, the determination unit 232 determines that the control transition area TD1 cannot be made not to be included in the vehicle passage area P. Also, when shortening the control transition notification area B2, if a predetermined reference length cannot be ensured as the length of the control transition notification area B2, the determination unit 232 may determine that the control transition area TD1 cannot be made not to be included in the vehicle passage area P.

[0103] Then, as shown in FIG. 3, the setting unit 233 removes the new automatic control prohibition area R2 and the control transition area TD2. The driver is no longer notified of the control transition request in the control transition area TD2.

[0104] As described above, when the vehicle passage area includes at least a part of the control transition area, the lane planning device of the present embodiment shortens the length of the control transition notification area so that the control transition area is not included in the vehicle passage area. As a result, a new automatic control prohibition area is removed, so that the vehicle can move between lanes automatically in the vehicle passage area. In addition, since a new control transition area is also removed, the lane planning device can reduce the driver's burden.

[0105] Next, the operation of the lane planning device of the third embodiment will be described below. In the present embodiment, the setting unit 233 determines the length of the control transition area TD1 based on the speed of the vehicle 10.

[0106] FIG. 10 is a diagram for explaining the control transition area of the third embodiment. The setting unit 233 determines the length of the control transition area TD1 based on the speed of the vehicle 10. For example, the length of the control transition area TD1 is obtained by multiplying the speed set by the driver or the speed limit of the road by a predetermined time (for example, 4 seconds). The higher the speed set by the driver or the speed limit of the road, the longer the length of the control transition area TD1. Further, the length of the control transition area TD1 may be the sum of a predetermined reference length and a length determined based on the speed.

[0107] FIG. 11 is a diagram for explaining the operation related to the shortening determination process of the lane planning device of the third embodiment. With reference to FIG. 11, the shortening determination process of the lane planning device 14 will be described below. After the area determination process described above, the lane planning device 14 executes the shortening determination process according to the operation flowchart shown in FIG. 11.

[0108] The processes in steps S501, S502, and S505 are the same as the processes in steps S301, S302, and S305 described above.

[0109] When the vehicle passage area includes at least a part of the control transition area (step S502 - Yes), the determination unit 232 determines whether the vehicle speed can be changed to the target speed of the vehicle determined based on the length of the control transition area required so that the control transition area is not included in the vehicle passage area (step S503). The speed determination process in step S503 will be described in detail later with reference to FIG. 12.

[0110] When the vehicle speed can be changed (step S503 - Yes), the setting unit 233 shortens the length of the control transition area so that the control transition area is not included in the vehicle passage area (step S504). Other operations of the shortening determination process of the travel lane planning device 14 are the same as those in the first embodiment.

[0111] FIG. 12 is an example of an operation flowchart regarding the speed determination process of the travel lane planning device according to the third embodiment.

[0112] First, the determination unit 232 obtains the target length of the control transition area when the length is shortened so that the control transition area is not included in the vehicle passage area (step S601).

[0113] Next, the determination unit 232 obtains the target speed of the vehicle 10 determined based on the target length (step S602). The target speed is the quotient obtained by dividing the target length by a predetermined time (for example, 4 seconds). Here, the predetermined time is the time used when obtaining the length of the control transition area TD1.

[0114] Next, the determination unit 232 determines whether the current speed of the vehicle 10 can be changed to the target speed before the vehicle 10 reaches the control transition area having the target length (step S603).

[0115] When changing the current speed of the vehicle 10 to the target speed satisfies the constraints used in generating the driving plan, the determination unit 232 determines that the change to the target speed is possible. On the other hand, when changing the current speed of the vehicle 10 to the target speed exceeds the constraints used in generating the driving plan, the determination unit 232 determines that the change to the target speed is not possible. For example, when the deceleration when reducing the speed of the current vehicle 10 to change to the target speed exceeds the upper limit value of the deceleration used in generating the driving plan, the determination unit 232 determines that the change to the target speed is not possible.

[0116] When it is possible to change to the target speed (step S603 - Yes), the determination unit 232 determines that the change to the target speed is possible (step S604) and ends the series of processes.

[0117] On the other hand, when it is not possible to change to the target speed (step S603 - No), the determination unit 232 determines that the change to the target speed is not possible (step S605) and ends the series of processes.

[0118] As shown in the example of FIG. 10, a part of the end TD12 side in the control transition region TD1 overlaps with the lane 52 of the road 50. A part of the end TD12 side in the control transition region TD1 is included in the vehicle passage region P.

[0119] In the example shown in FIG. 10, the determination unit 232 obtains the target length of the control transition region TD1 when the length is shortened so that the control transition region TD1 is not included in the vehicle passage region P. The target length can be the length between the end TD11 and the connection position of the road 50 and the road 60.

[0120] The determination unit 232 obtains the quotient obtained by dividing the target length by a predetermined time (for example, 4 seconds) as the target speed. It is determined that changing the current speed of the vehicle 10 to the target speed satisfies the constraints used in generating the driving plan.

[0121] The determination unit 232 determines that the current speed of the vehicle 10 can be changed to the target speed before the vehicle 10 reaches the control transition region TD1 having the target length.

[0122] As shown in FIG. 3, the setting unit 233 moves the position of the front end TD12 on the near side in the traveling direction toward the traveling direction side, shortens the length of the control transition region TD1 so that the control transition region TD1 is not included in the vehicle passage region P, and newly sets the control transition region TD1.

[0123] The determination unit 232 notifies the vehicle control device 16 to change the speed of the vehicle 10 to the target speed. The vehicle 10 travels at the target speed and reaches the control transition region TD1.

[0124] As described above, when the vehicle passage region includes at least a part of the control transition region, the lane planning device according to the present embodiment changes the speed of the vehicle to the target speed and shortens the length of the control transition region so that the control transition region is not included in the vehicle passage region. As a result, the new automatic control prohibited region is removed, so that the vehicle can move between lanes automatically in the vehicle passage region. In addition, since the new control transition region is also removed, the lane planning device can reduce the driver's burden.

[0125] In the present disclosure, the vehicle control device, the vehicle control computer program, and the vehicle control method according to the above-described embodiment can be appropriately changed without departing from the spirit of the present disclosure. Further, the technical scope of the present disclosure is not limited to those embodiments, but extends to the invention described in the claims and its equivalents.

[0126] For example, in each of the above-described embodiments, the automatic control prohibited region is located on another road branching from the traveling road on which the vehicle travels, but the position of the automatic control prohibited region is not limited to this. For example, the automatic control prohibited region may be located on another road at the confluence where the traveling roads on which the vehicle travels merge. Further, the automatic control prohibited region may be within the traveling road on which the vehicle travels. In this case, the automatic control prohibited region is located in the adjacent lane adjacent to the traveling lane on which the vehicle travels.

Description of Reference Numerals

[0127] 1 Vehicle control system 2 Camera 3 Positioning information receiver 4 Navigation device 5 User interface 5a Display device 10 Vehicle 11 Map information storage device 12 Position estimation device 13 Object detection device 14 Driving lane planning device 21 Communication interface 22 Memory 23 Processor 231 Planning section 232 Judgment section 233 Setting section 15 Driving plan device 16 Vehicle control device 17 In-vehicle network

Claims

1. A first determination unit that determines whether or not an automatic control prohibited area where automatic control of the vehicle is not permitted is included in a planned driving lane on which the vehicle is planned to travel in a predetermined section in the traveling direction from the current position of the vehicle; When it is determined by the first determination unit that the automatic control prohibited area is included in the planned driving lane, a first setting unit that sets a control transition area for shifting the control of the vehicle from automatic control to manual control on the planned driving lane in a predetermined range on the front side from the front end of the automatic control prohibited area; A planning unit that sets a vehicle passage area so as to include a predetermined range before and after including the position where the vehicle moves between lanes on the planned driving lane on which the vehicle is planned to travel before the vehicle moves between lanes when there is a movement between the planned driving lanes of the vehicle; A second determination unit that determines whether or not the vehicle passage area includes at least a part of the control transition area when the vehicle passage area is set by the planning unit; A second setting unit that newly sets the automatic control prohibited area so as to include the vehicle passage area when it is determined by the second determination unit that the vehicle passage area includes at least a part of the control transition area, and has, When a predetermined condition indicating that the length of the control transition area can be shortened so that the vehicle passage area includes at least a part of the control transition area and the control transition area is not included in the vehicle passage area is satisfied, the first setting unit shortens the length of the control transition area so that the control transition area is not included in the vehicle passage area, newly sets the control transition area, and the second setting unit removes the newly set automatic control prohibited area. A vehicle control device characterized by the above.

2. The control transition area has a variable part whose length can be changed and an invariant part whose length cannot be changed, The vehicle control device according to claim 1, wherein the predetermined condition is that the control transition area can be made not to be included in the vehicle passage area by shortening the length of the variable part.

3. The control transition area has a control transition notification area that notifies the driver that the control of the vehicle is shifted from automatic control to manual control, and a control transition execution area that executes the shift of the control of the vehicle from automatic control to manual control. The vehicle control device according to claim 1, wherein the predetermined condition is that the control transition area can be made not to be included in the vehicle passage area by shortening the length of the control transition notification area.

4. The first setting unit determines the length of the control transition area based on the speed of the vehicle, The vehicle control device according to claim 1, wherein the predetermined condition is that the vehicle can change its speed until it reaches the control transition area to a target speed of the vehicle determined based on the length of the control transition area obtained so that the control transition area is not included in the vehicle passage area.

5. A first step of determining whether or not an automatic control prohibited area where automatic control of the vehicle is not permitted is included on a planned travel lane on which the vehicle is planned to travel in a predetermined section in the traveling direction from the current position of the vehicle; When it is determined that the automatic control prohibited area is included on the planned travel lane, a second step of setting a control transition area for shifting the automatic control of the vehicle to manual control on the planned travel lane in a predetermined range on the front side from the front end of the automatic control prohibited area; A third step of setting a vehicle passage area so as to include a predetermined range before and after including the position where the vehicle moves between lanes on the planned travel lane on which the vehicle is planned to travel before the vehicle moves between the planned travel lanes of the vehicle; A fourth step of determining whether or not the vehicle passage area includes at least a part of the control transition area when the vehicle passage area is set; A fifth step of newly setting the automatic control prohibited area so as to include the vehicle passage area when it is determined that the vehicle passage area includes at least a part of the control transition area; causing a processor to execute a process including: When a predetermined condition indicating that the length of the control transition area can be shortened so that the vehicle passage area includes at least a part of the control transition area and the control transition area is not included in the vehicle passage area is satisfied, the length of the control transition area is shortened so that the control transition area is not included in the vehicle passage area, a new control transition area is set, and the newly set automatic control prohibited area is removed. A vehicle control computer program characterized by this.

6. A first step of determining whether an automatic control prohibited area where automatic control of the vehicle is not permitted is included in a planned travel lane on which the vehicle is planned to travel in a predetermined section in the traveling direction from the current position of the vehicle; A second step of setting a control transition area for shifting the operation of the vehicle from automatic control to manual control on the planned travel lane in a predetermined range on the front side from the front end of the automatic control prohibited area when it is determined that the automatic control prohibited area is included in the planned travel lane; A third step of setting a vehicle passage area so as to include a predetermined range before and after including the position where the vehicle moves between lanes on the planned travel lane on which the vehicle is planned to travel before the vehicle moves between the planned travel lanes of the vehicle when there is a movement between the planned travel lanes of the vehicle; A fourth step of determining whether the vehicle passage area includes at least a part of the control transition area when the vehicle passage area is set; A fifth step of newly setting the automatic control prohibited area so as to include the vehicle passage area when it is determined that the vehicle passage area includes at least a part of the control transition area; which is executed by a vehicle control device; When a predetermined condition indicating that the length of the control transition area can be shortened so that the vehicle passage area includes at least a part of the control transition area and the control transition area is not included in the vehicle passage area is satisfied, the length of the control transition area is shortened so that the control transition area is not included in the vehicle passage area, a new control transition area is set, and the newly set automatic control prohibited area is removed, A vehicle control method characterized by that.

Images