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

Abstract

To provide a vehicle control device, a vehicle control method and a vehicle control program capable of smoothly executing a lane change with drive assistance.SOLUTION: A vehicle control device 10 includes: an acquisition unit 60 that is mounted on a vehicle capable of drive assistance and acquires traffic information for a traveling route from the current location to a predetermined limit location on a route to a destination when a lane change is required before the limit location; a calculation unit 64 that calculates an easiness level of a lane change with drive assistance in a plurality of sections on the traveling route on the basis of the traffic information acquired by the acquisition unit 60; an extraction unit 66 that extracts sections for which the easiness level calculated by the calculation unit 64 is equal to a reference level or higher as sections in which a lane change is possible; and a lane change unit 78 that, when at least one section in which a lane change is possible has been extracted by the extraction unit 66, executes a lane change in any one of the extracted sections in which a lane change is possible.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device, a vehicle control method, and a vehicle control program. [Background technology]

[0002] The following Patent Document 1 discloses an in-vehicle display control device that, when a vehicle attempts to merge from a driving lane into a destination lane by autonomous driving, acquires information about the point where the attempt will be aborted before the vehicle reaches that point and displays it before the vehicle arrives. This display allows the occupants to know how long the autonomous driving attempt to merge will continue, making it easier to understand in advance whether they will need to intervene in their driving operations. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-041287 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology described in Patent Document 1 above is unable to predict when the vehicle should change lanes to ensure smooth lane changes when various lane changes, not just merging, are required before reaching the destination, and is unable to execute lane changes through driving assistance.

[0005] In consideration of the above, an object of the present invention is to provide a vehicle control device, a vehicle control method, and a vehicle control program that are capable of smoothly executing lane changes through driving assistance. [Means for solving the problem]

[0006] First AspectThe vehicle control device is mounted on a vehicle capable of driving assistance, and when a lane change is required before reaching a predetermined limit point on a route to a destination, includes an acquisition unit that acquires traffic information for a driving route from a current location to the limit point, a calculation unit that calculates an ease level for lane change by driving assistance in multiple sections on the driving route based on the traffic information acquired by the acquisition unit, an extraction unit that extracts sections where the ease level calculated by the calculation unit is equal to or higher than a reference level as sections where a lane change is possible, and a lane change unit that, when at least one section where a lane change is possible is extracted by the extraction unit, executes a lane change in any one of the extracted sections where a lane change is possible. an easiest section identification unit that, when a plurality of sections where lane change is possible are extracted by the extraction unit, identifies the section where lane change is easiest among the plurality of sections where lane change is possible based on the ease level calculated by the calculation unit; a first display instruction unit that, when the section where lane change is easiest is away from the limit point by a predetermined distance or more, causes a display unit provided in the vehicle cabin to display a suggestion to change lanes in advance due to traffic conditions; an agreement acceptance unit that accepts information regarding whether or not the occupant agrees to the suggestion from an input unit provided in the vehicle cabin and that can be input by the occupant; a second display instruction unit that, when the agreement of the occupant is not accepted by the agreement acceptance unit, causes the plurality of sections where lane change is possible that are extracted by the extraction unit to be displayed on a display unit provided in the vehicle cabin; and a lane change request section acceptance unit that accepts information regarding the section where the occupant wishes to change lanes among the plurality of sections where lane change is possible from the input unit provided in the vehicle cabin. and The lane change unit executes a lane change in the section where the occupant has requested a lane change, based on information about the section received by the lane change request section receiving unit.

[0007] First Aspect According to the standard, when a vehicle capable of driving assistance travels toward a destination and a lane change is required before reaching a limit point, an acquisition unit acquires traffic information for the driving route from the current location to the limit point. However, the "limit point" here refers to any point where a lane change is required before reaching the destination, such as an intersection, a branch point, an expressway entrance / exit, a rest facility such as a service area or a parking area, or the destination itself. Furthermore, "traffic information" includes any road traffic information related to the ease of lane changes, such as congestion information, congestion forecast information, congestion information, traffic regulation information, accident information, and construction information. Based on the traffic information acquired by the acquisition unit, the calculation unit calculates lane change ease levels for multiple sections along the driving route from the current location to the limit point. These ease levels are set as lane change ease levels with driving assistance. Furthermore, the extraction unit extracts, as a "section where lane changing is possible", a section where the ease level calculated by the calculation unit is equal to or higher than a reference level. Then, when the extraction unit extracts at least one "section where lane change is possible," the lane change unit executes a lane change through driving assistance in any one of the "sections where lane change is possible" extracted by the extraction unit. As a result, if a lane change is necessary before reaching a predetermined limit point on the route to the destination, the lane change is executed in the "section where lane change is possible" extracted in advance. In other words, it is possible to avoid a situation in which a lane change through driving assistance cannot be executed due to traffic conditions after the vehicle approaches the limit point. Note that "executing a lane change" also includes a case in which a lane change instruction signal is simply output to another control device, such as an ADAS-ECU (Advanced Driver Assistance System-Electronic Control Unit) that drives and controls actuators required to actually execute a lane change. Furthermore, when the extraction unit extracts multiple sections where lane changes are possible, the easiest section identification unit identifies the section where lane changes are easiest among the multiple sections where lane changes are possible based on the ease level calculated by the calculation unit. Furthermore, when the section where lane changes are easiest is away from the limit point by a predetermined distance or more, the first display instruction unit displays a suggestion to change lanes in advance due to traffic conditions on a display unit provided in the vehicle cabin. Furthermore, when the consent acceptance unit, which accepts information regarding whether the occupant agrees to the suggestion from an input unit provided in the vehicle cabin and can be input by the occupant, does not accept the occupant's consent, the second display instruction unit displays the multiple sections where lane changes are possible extracted by the extraction unit on a display unit provided in the vehicle cabin. Furthermore, the desired lane change section acceptance unit accepts information regarding the section where the occupant wishes to change lanes from the input unit provided in the vehicle cabin. The lane change unit then executes a lane change in the section where the occupant has requested a lane change based on the information about the section received by the lane change request section receiving unit. This simplifies the user interface when multiple sections where a lane change is possible are extracted compared to when the multiple sections where a lane change is possible are displayed from the beginning.

[0008] A vehicle control device according to a second aspect is mounted on a vehicle capable of driving assistance, and includes an acquisition unit that acquires traffic information for a driving route from a current location to a predetermined limit point on a route to a destination when a lane change is required before the vehicle reaches the limit point; a calculation unit that calculates an ease level for a lane change due to driving assistance in multiple sections on the driving route based on the traffic information acquired by the acquisition unit; an extraction unit that extracts sections where the ease level calculated by the calculation unit is equal to or higher than a reference level as sections where a lane change is possible; and a lane change unit that, when at least one section where a lane change is possible is extracted by the extraction unit, executes a lane change in any one of the extracted sections where a lane change is possible; and an easiest section identification unit that identifies the section where lane change is easiest among the multiple sections where lane change is possible based on the ease level calculated by the calculation unit, if the section where lane change is easiest is away from the limit point by a predetermined distance or more, on a display unit provided in the vehicle cabin, to suggest that the vehicle should change lanes in advance due to traffic conditions, and an agreement acceptance unit that accepts information regarding whether the occupant agrees to the proposal from an input unit provided in the vehicle cabin and that can be input by the occupant, and the lane change unit executes a lane change in the section where lane change is easiest when the agreement of the occupant is accepted by the agreement acceptance unit.

[0009] According to the second aspect, similar to the first aspect, when a vehicle capable of driving assistance travels toward a destination and a lane change is required before the vehicle reaches a limit point, an acquisition unit acquires traffic information for a driving route from the current location to the limit point. Furthermore, based on the traffic information acquired by the acquisition unit, a calculation unit calculates lane change ease levels for multiple sections along the driving route from the current location to the limit point. Furthermore, an extraction unit extracts sections where the ease levels calculated by the calculation unit are equal to or greater than a reference level as "sections where lane change is possible." Then, when the extraction unit extracts at least one "section where lane change is possible," a lane change is performed by driving assistance in any one of the "sections where lane change is possible" extracted by the extraction unit. As a result, if a lane change is required before the vehicle reaches a predetermined limit point on the route to the destination, a lane change is performed in the "section where lane change is possible" extracted in advance. In other words, it is possible to avoid a situation in which a lane change by driving assistance is not possible due to traffic conditions after the vehicle approaches a limit point. According to a second aspect, when the extraction unit extracts multiple "sections where lane change is possible," the easiest section identification unit identifies the "section where lane change is easiest" from among the multiple "sections where lane change is possible" based on the ease level calculated by the calculation unit. Then, the lane change unit executes a lane change at the "section where lane change is easiest." Thus, a lane change is executed safely and reliably. Furthermore, according to the second aspect, when the "section where lane change is easiest" is located a predetermined distance or more from the limit point, the display instruction unit displays a suggestion to change lanes in advance due to traffic conditions on a display unit provided in the vehicle cabin. Furthermore, the agreement acceptance unit accepts information regarding whether the occupant agrees to the suggestion from an input unit provided in the vehicle cabin and inputtable by the occupant. Then, when the agreement acceptance unit accepts the occupant's agreement, the lane change unit executes a lane change at the "section where lane change is easiest." Thus, it is possible to avoid a situation in which a lane change is executed in a section unintended by the occupant.

[0011] The third aspect is the first or second aspect. In the method, the traffic information includes congestion prediction information.

[0012] Third Aspect According to this system, the ease level of lane changing for multiple sections of a driving route is calculated based on traffic conditions including congestion forecast information, and sections where lane changing is possible are extracted. This makes it possible to avoid situations where the lane to be changed is congested and the driver is unable to change lanes before the limit point.

[0013] The fourth aspect is the first or second aspect. The vehicle navigation system further includes a display instruction unit that displays the section where lane changes are possible, extracted by the extraction unit, on a display unit provided in the vehicle cabin together with a map showing the driving route.

[0014] Fourth Aspect According to the present invention, the display instruction unit displays the "sections where lane changes are possible" extracted by the extraction unit on a display unit provided inside the vehicle cabin. This allows the occupant to visually grasp in advance the "sections where lane changes are possible" if a lane change is required before reaching a predetermined limit point on the route to the destination.

[0015] Fifth Aspect teeth, Fourth Aspect In the above, the display instruction unit causes the display unit to display the section where lane changes are possible together with a map showing the driving route.

[0016] Fifth Aspect According to the information, the display instruction unit displays "sections where lane changes are possible" together with a map showing the driving route on a display unit provided in the vehicle cabin, thereby enabling the occupants to intuitively grasp the "sections where lane changes are possible" on the map.

[0017] A vehicle control method according to a sixth aspect is a vehicle control method used in a vehicle capable of driving assistance, and when a lane change is required before reaching a predetermined limit point on a route to a destination, the method acquires traffic information for a driving route from a current location to the limit point, calculates an ease level for a lane change by driving assistance for a plurality of sections on the driving route based on the traffic information, extracts sections where a lane change is possible and the ease level is equal to or higher than a reference level, and when at least one section where a lane change is possible is extracted, executes a lane change in any one of the extracted sections where a lane change is possible, and when a plurality of sections where a lane change is possible are extracted, the method executes a lane change in any one of the extracted sections where a lane change is possible, and when a plurality of sections where a lane change is possible are extracted, The system identifies the section where lane change is easiest among the sections, and if the section where lane change is easiest is away from the limit point by a predetermined distance or more, displays a suggestion on a display unit provided in the vehicle cabin to change lanes in advance due to traffic conditions, receives information from an input unit provided in the vehicle cabin that the occupant agrees to the suggestion, and if the occupant does not agree, displays the extracted multiple sections where lane change is possible on a display unit provided in the vehicle cabin, receives information from the input unit provided in the vehicle cabin regarding the section where the occupant wishes to change lanes among the multiple sections where lane change is possible, and executes a lane change in the section where the occupant wishes to change lanes based on the received information about the section.

[0018] According to the sixth aspect, as in the first aspect, when a lane change is required before reaching a predetermined limit point on the route to the destination, the lane change is executed in a pre-extracted "section where lane change is possible." In other words, it is possible to avoid a situation where a lane change cannot be performed by driving assistance due to traffic conditions after the vehicle approaches the limit point. Furthermore, when multiple sections where lane change is possible are extracted, the user interface is simplified compared to when multiple sections where lane change is possible are displayed from the beginning.

[0019] A vehicle control method according to a seventh aspect is used in a vehicle capable of driving assistance, and when a lane change is required before reaching a predetermined limit point on a route to a destination, the vehicle control method acquires traffic information for a driving route from a current location to the limit point, calculates an ease level for a lane change by driving assistance in a plurality of sections on the driving route based on the traffic information, extracts sections where a lane change is possible and where the ease level is equal to or higher than a reference level, and when at least one section where a lane change is possible is extracted, the vehicle control method executes a process by a computer to execute a lane change in any one of the extracted sections where a lane change is possible. This control method, when multiple sections where lane changes are possible are extracted, identifies the section among the multiple sections where lane changes are possible that allows the easiest lane change based on the calculated ease level, and if the section where lane changes are possible is away from the limit point by a predetermined distance or more, displays a suggestion to change lanes in advance due to traffic conditions on a display unit installed in the vehicle cabin, receives information regarding whether the occupant agrees to the suggestion from an input unit installed in the vehicle cabin that can be input by the occupant, and if the occupant's agreement is received, performs a lane change in the section where lane changes are possible that allows the easiest lane change.

[0020] According to the seventh aspect, similar to the second aspect, when a lane change is required before reaching a predetermined limit point on the route to the destination, the lane change is executed in a pre-extracted "section where lane change is possible." In other words, it is possible to avoid a situation where the driving assistance is unable to execute a lane change due to traffic conditions after the vehicle approaches the limit point. Furthermore, it is possible to execute a lane change safely and reliably, and to avoid a situation where the lane change is executed without the occupant's consent in a section where the occupant does not intend to do so.

[0021] A vehicle control program according to an eighth aspect is used in a vehicle capable of driving assistance, and when a lane change is required before reaching a predetermined limit point on a route to a destination, the vehicle control program acquires traffic information for a driving route from a current location to the limit point, calculates an ease level for a lane change by driving assistance for a plurality of sections on the driving route based on the traffic information, extracts sections where a lane change is possible and the ease level is equal to or higher than a reference level, and when at least one section where a lane change is possible is extracted, executes a lane change in any one of the extracted sections where a lane change is possible, and when a plurality of sections where a lane change is possible are extracted, the vehicle control program causes a computer to execute a process of executing a lane change in any one of the extracted sections where a lane change is possible, and when a plurality of sections where a lane change is possible are extracted, The system identifies the section where lane change is easiest among the multiple sections where lane change is possible, and if the section where lane change is easiest is away from the limit point by a predetermined distance or more, displays a suggestion to change lanes in advance due to traffic conditions on a display unit provided in the vehicle cabin, receives information from an input unit provided in the vehicle cabin that the occupant can input, regarding whether or not the occupant agrees to the suggestion, and if the occupant does not agree, displays the extracted multiple sections where lane change is possible on a display unit provided in the vehicle cabin, receives information from the input unit provided in the vehicle cabin regarding the section where the occupant wishes to change lanes among the multiple sections where lane change is possible, and executes the lane change in the section where the occupant wishes to change lanes based on the received information about the section.

[0022] According to the eighth aspect, similar to the first aspect, when a lane change is required before reaching a predetermined limit point on the route to the destination, the lane change is executed in a pre-extracted "section where lane change is possible." In other words, it is possible to avoid a situation where a lane change cannot be performed by driving assistance due to traffic conditions after the vehicle approaches the limit point. Furthermore, when multiple sections where lane change is possible are extracted, the user interface is simplified compared to when multiple sections where lane change is possible are displayed from the beginning.

[0023] A vehicle control program according to a ninth aspect is used in a vehicle capable of driving assistance, and when a lane change is required before reaching a predetermined limit point on a route to a destination, acquires traffic information for a driving route from a current location to the limit point, calculates an ease level for a lane change through driving assistance in a plurality of sections on the driving route based on the traffic information, extracts sections where a lane change is possible and where the ease level is equal to or higher than a reference level, and when at least one section where a lane change is possible is extracted, causes a computer to execute a process of executing a lane change in any one of the extracted sections where a lane change is possible. The control program, when multiple sections where lane changes are possible are extracted, identifies the section among the multiple sections where lane changes are possible that allows the easiest lane change based on the calculated ease level, and if the section where lane changes are possible is more than a predetermined distance away from the limit point, displays a suggestion on a display unit installed in the vehicle cabin to change lanes in advance due to traffic conditions, receives information from an input unit installed in the vehicle cabin that can be input by the occupant regarding whether or not the occupant agrees to the suggestion, and if the occupant's agreement is received, performs the lane change in the section where lane changes are possible that allows the easiest lane change.

[0024] According to the ninth aspect, similar to the second aspect, when a lane change is required before reaching a predetermined limit point on the route to the destination, the lane change is executed in a pre-extracted "section where lane change is possible." In other words, it is possible to avoid a situation where the driving assistance is unable to execute a lane change due to traffic conditions after the vehicle approaches the limit point. Furthermore, it is possible to execute a lane change safely and reliably, and to avoid a situation where the lane change is executed without the occupant's consent in a section where the occupant does not intend. [Effects of the Invention]

[0033] As described above, the vehicle control device according to the present invention as set forth in claim 1 has the excellent effect of being able to smoothly execute lane changes through driving assistance.

[0034] The vehicle control device according to the present invention as set forth in claim 2 has the excellent effect of being able to avoid a situation in which the lane to which the vehicle is to change lanes is congested and the vehicle is unable to change lanes before the limit point.

[0035] The vehicle control device according to the present invention as set forth in claim 3 has the excellent effect of making the occupant aware of a section where lane changes are possible.

[0036] The vehicle control device according to the present invention as set forth in claim 4 has the excellent effect of allowing the occupants to more clearly recognize sections where lane changes are possible.

[0037] The vehicle control device according to the present invention as set forth in claim 5 has the excellent effect of being able to change lanes in a section where the occupant desires.

[0038] The vehicle control device according to the present invention as set forth in claim 6 has the excellent effect of being able to provide the occupant with information that encourages the occupant to make a decision.

[0039] The vehicle control device according to the present invention as set forth in claim 7 has the excellent effect of improving the safety and reliability of lane changes.

[0040] The vehicle control device according to the present invention as set forth in claim 8 has the excellent effect of being able to notify the occupant of an upcoming lane change.

[0041] The vehicle control device according to the present invention as set forth in claim 9 has the excellent effect of being able to avoid lane changes in sections where the occupant does not intend.

[0042] The vehicle control method according to the present invention as set forth in claim 10 has the excellent effect of enabling smooth lane changes through driving assistance.

[0043] The vehicle control program according to the present invention as set forth in claim 11 has the excellent effect of enabling smooth lane changes through driving assistance. [Brief explanation of the drawings]

[0044] [Figure 1] 1 is a perspective view showing a front passenger compartment of a vehicle equipped with an ECU as a vehicle control device according to an embodiment of the present invention, viewed from the rear side of the vehicle. [Figure 2] 2 is a block diagram showing a part of the hardware configuration of an in-vehicle system configured to include the ECU shown in FIG. 1. FIG. [Figure 3] FIG. 3 is a block diagram showing the functional configuration of the ECU shown in FIG. 2. [Figure 4] 3 is a flowchart showing an example of a flow of processing performed in the ECU shown in FIG. 2. [Figure 5] 5 is a flowchart showing a first example of the flow of processing after A shown in FIG. 4. [Figure 6] 6 is an example of an image displayed on the meter display shown in FIG. 1 in the first example process shown in FIG. 5. [Figure 7] 5 is a flowchart showing a second example of the processing flow after A shown in FIG. 4. [Figure 8] 8 is an example of an image displayed on the panel display shown in FIG. 1 in the second example process shown in FIG. 7. [Figure 9] 8 is an example of an image displayed on the meter display shown in FIG. 1 in the second example process shown in FIG. 7. DETAILED DESCRIPTION OF THE INVENTION

[0045] An ECU (Electronic Control Unit) 10 as a vehicle control device according to one embodiment of the present invention will be described below with reference to Figures 1 to 9. This ECU 10 is mounted on a vehicle 12 shown in Figure 1. The vehicle 12 is configured to be able to switch between automatic driving and manual driving, and is configured to be able to provide driving assistance such as lane changing. Hereinafter, this vehicle 12 will be referred to as "host vehicle 12."

[0046] (Configuration of the vehicle 12) As shown in Fig. 1, an instrument panel 14 is provided in the front of the cabin of a host vehicle 12. The instrument panel 14 extends in the vehicle width direction, and a steering wheel 16 is provided on the right side of the instrument panel 14. That is, in this embodiment, as an example, the vehicle is a right-hand drive vehicle in which the steering wheel 16 is provided on the right side, and a driver's seat (not shown) is disposed on the right side of the cabin. The steering wheel 16 is provided with a steering switch 16A as a first input unit that can be operated by a passenger.

[0047] The instrument panel 14 is disposed below the windshield glass 18. The windshield glass 18 slopes downward toward the front of the vehicle, separating the interior and exterior of the vehicle.

[0048] The right end of the windshield glass 18 is fixed to a front pillar 20 on the right side of the vehicle. The front pillar 20 extends in the vertical direction of the vehicle, and the windshield glass 18 is fixed to the inner end of the front pillar 20 in the vehicle width direction. A front side glass 22 is disposed on the rear side of the front pillar 20. The left end of the windshield glass 18 is fixed to a front pillar on the left side of the vehicle (not shown).

[0049] A meter display 24, which is a first display unit, is provided in front of the driver's seat on the upper part of the instrument panel 14. The meter display 24 is provided in a position that is visible to an occupant in the driver's seat of the vehicle 12 (hereinafter simply referred to as "occupant") when the occupant is looking ahead of the vehicle.

[0050] A head-up display (see FIG. 2; not shown in FIG. 1) 26, which is a second display unit, is provided on the upper part of the instrument panel 14 in front of the driver's seat. This head-up display (hereinafter referred to as "HUD") 26 is configured to be able to project an image onto a display area 26A set below the windshield glass 18 in front of the driver's seat. This HUD 26 is able to display an image superimposed on the foreground seen by the occupants of the vehicle 12 through the windshield glass 18.

[0051] Furthermore, a panel display 28, which is a third display unit, is provided on the upper part of the instrument panel 14 between the driver's seat and the passenger seat. The panel display 28 is a component of a navigation system 36 (see FIG. 2), and displays various information such as map information, location information of the vehicle 12, and traffic information. As an example, the panel display 28 can be operated by touch or voice by the occupant, and also functions as a second input unit. Note that the panel display 28 may not function as an input unit and may only function as a display unit.

[0052] (Configuration of in-vehicle system 30) 2 is a block diagram showing the configuration of an in-vehicle system 30 mounted on the host vehicle 12. The in-vehicle system 30 includes an ECU 10, a group of vehicle state detection sensors 32 that acquire information about the state of the host vehicle 12, a group of surrounding state acquisition devices 34 that acquire information about the surrounding state of the host vehicle 12, a navigation system 36, and a group of actuators 38. Note that FIG. 2 shows only a part of the in-vehicle system 30.

[0053] The ECU 10 includes a CPU (Central Processing Unit) 10A, a memory 10B such as a ROM (Read Only Memory) or a RAM (Random Access Memory), a non-volatile storage unit 10C such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive), a wireless communication I / F (Interface) 10D, an in-vehicle communication I / F 10E, and an input / output I / F 10F. The CPU 10A, the memory 10B, the storage unit 10C, the wireless communication I / F 10D, the in-vehicle communication I / F 10E, and the input / output I / F 10F are connected to each other via an internal bus 10G so as to be able to communicate with each other.

[0054] The CPU 10A is a central processing unit that executes various programs and controls each part. That is, the CPU 10A reads programs from the ROM of the memory 10B and the storage unit 10C, and executes the programs using the RAM of the memory 10B as a work area. The CPU 10A controls each of the above components and performs various arithmetic processing in accordance with the programs.

[0055] The storage unit 10C stores a vehicle control program 50. The CPU 10A of the ECU 10 executes the vehicle control program 50 to cause the host vehicle 12 to change lanes by driving assistance.

[0056] The wireless communication I / F performs at least one of vehicle-to-vehicle communication with other vehicles and road-to-vehicle communication with a roadside device.

[0057] The in-vehicle communication I / F 10E is an interface for connecting to the vehicle state detection sensors 32, the surrounding condition acquisition devices 34, the navigation system 36, and the actuators 38. The external bus 10H to which the in-vehicle communication I / F 10E is connected is connected to the vehicle state detection sensors 32, the surrounding condition acquisition devices 34, the navigation system 36, and the actuators 38. The in-vehicle communication I / F 10E uses a communication standard based on the CAN protocol.

[0058] Furthermore, the input / output I / F 10F is electrically connected to a meter display 24 as a first display unit, a HUD 26 as a second display unit, and a steering switch 16A as a first input unit.

[0059] The vehicle state detection sensor group 32 is composed of multiple sensors that acquire the state of the host vehicle 12, including a vehicle speed sensor 32A that detects the vehicle speed of the host vehicle 12 and an acceleration sensor 32B that detects the acceleration applied to the host vehicle 12.

[0060] The surrounding condition acquisition device group 34 includes a radar device 34A and a camera 34B. The radar device 34A includes multiple radar devices with different detection ranges. The radar device 34A detects surrounding objects, such as pedestrians and other vehicles, around the host vehicle 12 as point cloud information and acquires the relative position and relative speed of the detected surrounding objects and the host vehicle 12. The radar device 34A also incorporates a processing device that processes the detection results of the surrounding objects. This processing device excludes noise, roadside objects such as guardrails, and the like from monitoring targets based on changes in the relative position and relative speed of each surrounding object included in the most recent multiple detection results, and tracks and monitors specific objects, such as pedestrians and other vehicles, as monitoring targets. The radar device 34A then outputs information such as the relative position and relative speed of each monitoring target. The camera 34B captures the surroundings of the host vehicle 12 with multiple cameras and outputs the captured images.

[0061] When the vehicle 12 attempts to change lanes, the ECU 10 determines whether or not the lane can be changed immediately based on information such as the status of other vehicles in the lane ahead, which is acquired by the surrounding condition acquisition device group 34. For example, the ECU 10 acquires information such as the inter-vehicle distance between other vehicles in the lane ahead and the relative speed between the vehicle 12 and other vehicles in the lane ahead, and combines this information to make the above determination. Other functions of the ECU 10 will be described in detail later.

[0062] The navigation system 36 includes a panel display 28, a GPS (Global Positioning System) device 40 that acquires location information of the vehicle 12, a traffic information receiver 42 that acquires traffic information to the destination, and a memory unit 44 that stores map information.

[0063] The GPS device 40 includes an antenna (not shown) that receives signals from GPS satellites. The GPS device 40 receives GPS signals from a plurality of GPS satellites and determines the current position of the vehicle 12.

[0064] The navigation system 36 displays the current position of the vehicle 12 on a map on the panel display 28 based on the map information stored in the memory unit 44 and the position information of the vehicle 12 obtained from the GPS device 40. The navigation system 36 also provides route guidance to the destination D (see FIG. 8). Furthermore, based on traffic information acquired by the traffic information receiver 42, the navigation system 36 displays traffic information related to the traveling of the vehicle 12 on the panel display 28.

[0065] The actuator group 38 is composed of a throttle ACT (actuator) 38A that changes the throttle opening of the host vehicle 12, a brake ACT 38B that changes the braking force generated by the braking device of the host vehicle 12, and a steering ACT 38C that changes the steering amount by the steering device of the host vehicle 12.

[0066] The CPU 10A of the ECU 10 judges the situation based on information obtained from the vehicle state detection sensors 32, the surrounding situation acquisition devices 34, the navigation system 36, and the steering switch 16A, and displays the information on at least one of the display units, namely, the HUD 26, the meter display 24, and the panel display 28, while controlling the actuators 38 to execute a lane change.

[0067] (Functional configuration of ECU10) 3, when the CPU 10A executes the vehicle control program 50, the ECU 10 functions as an acquisition unit 60, a limit point identification unit 62, a calculation unit 64, an extraction unit 66, an easiest section identification unit 68, a determination unit 70, a display instruction unit 72, a lane change desired section acceptance unit 74, an agreement acceptance unit 76, and a lane change unit 78. Each function will be described below.

[0068] The acquisition unit 60 has a function of acquiring information about the state of the host vehicle 12 from the vehicle state detection sensor group 32, and acquiring information about the surrounding conditions of the host vehicle 12 from the surrounding condition acquisition device group 34. Furthermore, the acquisition unit 60 has a function of acquiring, from the navigation system 36, location information of the destination D (see FIG. 8), location information of the host vehicle 12 (see FIG. 8), map information and traffic information to the destination D. However, the "traffic information" here includes all road traffic information related to the ease of lane changes of the host vehicle 12, such as congestion information, congestion forecast information, congestion information, traffic regulation information, accident information, construction information, etc.

[0069] The limit point identification unit 62 has a function of identifying a predetermined limit point L (see FIG. 8) on the route to destination D (see FIG. 8) when a lane change is required before the limit point L is reached, based on the various information acquired by the acquisition unit 60. However, the "limit point" referred to here refers to any point where a lane change is required before reaching the limit point, such as an intersection, a branch point, an expressway entrance / exit, a rest facility such as a service area or parking area, or the destination itself.

[0070] The calculation unit 64 has a function of calculating, based on the traffic information acquired by the acquisition unit 60, the ease level of lane changing for a plurality of sections on the driving route R (see FIG. 8) from the current position of the vehicle 12, i.e., the current location, to the limit point L. This lane changing ease level is set as the ease level of lane changing with driving assistance.

[0071] As an example, the calculation unit 64 estimates the time the vehicle 12 will arrive at each section along the travel route R based on traffic information, determines whether the section is passable at the estimated arrival time and how congested the section is, and calculates and evaluates the ease level on a five-point scale based on this. For example, a section where lane changes are impossible due to traffic restrictions is evaluated as ease level 0, a section where lane changes are expected to be difficult due to congestion is evaluated as ease level 1, a section where lane changes are possible but expected to be somewhat congested is evaluated as ease level 2, and so on, from ease level 3 to ease level 5 depending on the expected congestion within the range where lane changes are possible. Note that the above method of calculating the ease level is merely an example and is not limited to this. Furthermore, the ease level is not limited to five levels, and may be evaluated as a percentage, with 100% representing a case where lane changes are possible without any obstacles such as traffic restrictions or predicted congestion. Alternatively, for example, a two-point scale based on simple congestion forecast information may be used: a section where congestion is expected to be present is evaluated as ease level 0, and a section where no congestion is expected is evaluated as ease level 1.

[0072] The extraction unit 66 has a function of extracting, as a "section where lane changing is possible", a section where the ease level calculated by the calculation unit 64 is equal to or higher than a reference level. As an example, the extraction unit 66 of this embodiment extracts, as a "section where lane changing is possible", a section where the ease level is equal to or higher than 2 in the above-mentioned five-level evaluation.

[0073] The easiest section identification unit 68 has the function of identifying the ``easiest section where lane changes are possible'' among the multiple ``sections where lane changes are possible'' based on the ease level calculated by the calculation unit 64 when multiple ``sections where lane changes are possible'' are extracted by the extraction unit 66.

[0074] The lane change desired section receiving unit 74 has the function of receiving information regarding the section where the occupant wishes to change lanes from at least one of the input units, the steering switch 16A and the panel display 28, provided in the vehicle cabin, when multiple "sections where lane changes are possible" are extracted by the extraction unit 66.

[0075] In the processing of a first example described below, the agreement receiving unit 76 has a function of receiving information regarding whether the occupant agrees to the suggestion to "change lanes in advance due to traffic conditions" from at least one of the input units, the steering switch 16A and the panel display 28. Note that the input unit is not limited to the steering switch 16A and the panel display 28, but may be any device that is provided in the vehicle cabin and that the occupant can input to. For example, it may be a remote controller or a joystick.

[0076] The display instruction unit 72 has the function of displaying a message suggesting a route change or a manual lane change on at least one of the display units, namely, the HUD 26, the meter display 24, and the panel display 28, when the extraction unit 66 does not extract any "sections where lane changes are possible."

[0077] Furthermore, the display instruction unit 72 has a function of displaying a message or suggestion to change lanes in advance due to traffic conditions on at least one of the display units, the HUD 26, the meter display 24, and the panel display 28, when the "section where lane change is easiest" is located at a predetermined distance or more from the limit point L (see FIG. 8). FIG. 6 shows, as an example, an image in which the meter display 24 displays a suggestion saying, "There is traffic congestion ahead. Would you like to change lanes in advance?" In response to this message, the occupant can select "Yes" or "No" via, for example, the steering switch 16A, and the consent acceptance unit 76 can accept the occupant's selection. FIG. 9 shows, as another example, an image in which the meter display 24 displays a message saying, "There is traffic congestion ahead, so we will change lanes in advance."

[0078] Furthermore, the display instruction unit 72 has a function of displaying the extracted multiple "sections where lane changes are possible" together with the ease levels calculated by the calculation unit 64 on at least one display unit, including the HUD 26, the meter display 24, and the panel display 28. As an example, as shown in FIG. 8, the display instruction unit 72 displays sections S1, S2, and S3 as "sections where lane changes are possible" on the panel display 28 together with the ease levels on a map showing the driving route R to the limit point L. In FIG. 8, the roads shown with hatching are expected to be congested at each arrival time of the host vehicle 12, and therefore the sections S1, S2, and S3 extracted by the extraction unit 66 are displayed on the map as "sections where lane changes are possible." Here, the lane change ease level in section S1 is 4, the lane change ease level in section S2 is 5, and the lane change ease level in section S3 is 2, and each level is displayed with five color-coded stars. The method of displaying the ease level is not limited to this, and may be, for example, a horizontal bar graph or different colors. The calculated ease level may also be displayed directly. Furthermore, the ease level may also be displayed using words such as "very easy" or "somewhat difficult."

[0079] The determination unit 70 has a function of determining whether or not at least one "section where lane changes are possible" has been extracted by the extraction unit 66. The determination unit 70 also has a function of determining whether the "section where lane changes are possible" extracted by the extraction unit 66 is one or multiple.

[0080] Furthermore, the determination unit 70 has a function of determining whether or not the vehicle 12 has reached the "section where lane change is most easily possible" identified by the easiest section identification unit 68. The determination unit 70 also has a function of determining whether or not the "section where lane change is most easily possible" is located a predetermined distance or more away from the limit point.

[0081] Furthermore, the determination unit 70 has a function of determining whether or not the occupant has agreed to a suggestion to change lanes in advance due to traffic conditions in the processing of a first example described below.

[0082] The determination unit 70 also has a function of determining whether or not the selection of the "desired lane change section" in which the occupant desires to change lanes has been accepted.

[0083] Furthermore, the determination unit 70 has a function of determining whether or not the vehicle 12 has reached a desired lane change zone.

[0084] When only one "section where lane change is possible" is extracted by the extraction unit 66, the lane change unit 78 has the function of checking the surrounding conditions and automatically executing a lane change when the vehicle 12 reaches the "section where lane change is possible."

[0085] In addition, when the "section where lane change is most easily possible" identified by the easiest section identification section 68 is located less than a predetermined distance from the limit point, that is, when the "section where lane change is most easily possible" is close to the limit point, the lane change section 78 has the function of checking the surrounding conditions and automatically executing a lane change when the vehicle 12 reaches the "section where lane change is most easily possible."

[0086] Furthermore, in the processing of the first example described below, if the occupant agrees to a suggestion to change lanes in advance due to traffic conditions, the lane change unit 78 has the function of checking the surrounding conditions and automatically executing a lane change when the vehicle 12 reaches the ``section where lane change is easiest.''

[0087] Furthermore, if the lane change unit 78 does not accept the occupant's selection of a desired lane change section, it has a function of checking the surrounding conditions and automatically executing a lane change when the vehicle 12 reaches the "section where the lane change is easiest." Also, if the lane change unit 78 accepts the occupant's selection of a desired lane change section, it has a function of checking the surrounding conditions and automatically executing a lane change when the vehicle 12 reaches the desired lane change section.

[0088] (First example of processing flow) Next, a first example of the flow of processing executed by the ECU 10 will be described with reference to Figures 4 to 6. This processing is executed at the starting point, and thereafter executed each time after passing each limit point.

[0089] In step S100 of FIG. 4, the CPU 10A of the ECU 10 acquires, from the navigation system 36, the position information of the destination D, the position information of the vehicle 12, map information to the destination D, and traffic information.

[0090] In step S102, the CPU 10A of the ECU 10 identifies a predetermined limit point L on the route to the destination D, if a lane change is required before the lane change is required before the lane change is required before the lane change is required.

[0091] In step S104, the CPU 10A of the ECU 10 calculates the ease level of lane changes for a plurality of sections on the travel route R from the current location of the vehicle 12 to the limit point L based on the traffic information acquired in step S100.

[0092] In step S106, the CPU 10A of the ECU 10 extracts a section where the ease level is equal to or higher than the reference level as a "section where lane changing is possible."

[0093] In step S108, the CPU 10A of the ECU 10 determines whether or not at least one "section where lane changes are possible" has been extracted.

[0094] If it is determined in step S108 that no "sections where lane changes are possible" have been extracted, in step S110, the CPU 10A of the ECU 10 displays a message suggesting a route change or a manual lane change on at least one of the display sections of the HUD 26, the meter display 24, and the panel display 28, and then ends the processing.

[0095] On the other hand, if it is determined in step S108 that at least one "section where lane changes are possible" has been extracted, then in step S112, CPU 10A of ECU 10 determines whether the number of extracted "sections where lane changes are possible" is one or multiple.

[0096] If it is determined in step S112 that there is one extracted "section where lane changes are possible," then in step S114, the CPU 10A of the ECU 10 determines whether the vehicle 12 has reached the "section where lane changes are possible."

[0097] If it is determined in step S114 that the vehicle 12 has reached a "section where lane changes are possible," then in step S116, the CPU 10A of the ECU 10 executes lane changes according to the surrounding conditions and ends the process. If it is determined in step S114 that the vehicle 12 has not reached a "section where lane changes are possible," then the process of step S114 is executed again after a predetermined time has elapsed.

[0098] On the other hand, if it is determined in step S112 that there are multiple extracted "sections where lane changes are possible," then in step S118 of Figure 5, CPU 10A of ECU 10 identifies the "section where lane changes are easiest" from among the multiple sections where lane changes are possible based on the calculated ease level.

[0099] In step S120, the CPU 10A of the ECU 10 determines whether the vehicle 12 has reached the "section where lane change is most easily possible."

[0100] If it is determined in step S120 that the vehicle 12 has reached the "section where lane change is easiest," then in step S122 the CPU 10A of the ECU 10 determines whether the "section where lane change is easiest" is a predetermined distance or more away from the limit point. On the other hand, if it is determined in step S120 that the vehicle 12 has not reached the "section where lane change is easiest," the CPU 10A of the ECU 10 executes the process of step S120 again after a predetermined time has elapsed.

[0101] If it is determined in step S122 that the "section where lane change is easiest" is not further than a predetermined distance from the limit point L, i.e., the "section where lane change is easiest" is close to the limit point L, then in step S116 of FIG. 4, the CPU 10A of the ECU 10 executes a lane change according to the surrounding conditions and terminates the processing.

[0102] On the other hand, if it is determined in step S122 of FIG. 5 that the "section where lane change is most easily possible" is away from the limit point L by a predetermined distance or more, in step S124, the CPU 10A of the ECU 10 causes the meter display 24 to display a suggestion to change lanes in advance due to traffic conditions, as shown in FIG. 6.

[0103] In step S126 shown in FIG. 5, the CPU 10A of the ECU 10 determines whether or not the occupant agrees to the proposal.

[0104] If it is determined in step S126 that the occupant has agreed, in step S116 of FIG. 4, the CPU 10A of the ECU 10 executes the lane change in accordance with the surrounding circumstances, and ends the process.

[0105] On the other hand, if it is determined in step S126 that the occupant has not agreed, in step S128, the CPU 10A of the ECU 10 causes the panel display 28 to display multiple "sections where lane changes are possible" S1, S2, and S3 (see Figure 8) along with the ease level.

[0106] In step S130, the CPU 10A of the ECU 10 determines whether or not the selection of the desired lane change section by the occupant has been accepted.

[0107] If it is determined in step S130 that the occupant's selection has not been accepted within the predetermined time, the CPU 10A of the ECU 10 executes the lane change in accordance with the surrounding circumstances and terminates the process in step S116 of Fig. 4. In other words, even if the occupant does not wish to change lanes in the "section where lane change is easiest," if the occupant does not input the desired lane change section within the predetermined time, the lane change will be executed at the next timing when lane change is possible.

[0108] On the other hand, if it is determined in step S130 of FIG. 5 that the occupant's selection has been accepted, then in step S132, the CPU 10A of the ECU 10 determines whether or not the host vehicle 12 has reached a desired lane change zone.

[0109] If it is determined in step S132 that the vehicle 12 has reached the desired lane change section, the CPU 10A of the ECU 10 executes the lane change in accordance with the surrounding conditions and ends the process in step S116 of Fig. 4. On the other hand, if it is determined in step S132 that the vehicle 12 has not reached the desired lane change section, the CPU 10A of the ECU 10 executes the process of step S132 again after a predetermined time has elapsed.

[0110] (Second example of processing flow) Next, a second example of the flow of processing executed by ECU 10 will be described with reference to Fig. 4 and Fig. 7 to Fig. 9. As in the first example, this processing is executed at the starting point, and then executed after each limit point is passed. The processing of steps S100 to S116 shown in Fig. 4 is the same as in the first example, so description thereof will be omitted, and the processing from A onwards shown in Fig. 4 will be described with reference to Fig. 7.

[0111] In step S140, the CPU 10A of the ECU 10 displays the extracted "sections where lane changes are possible" S1, S2, and S3 on the panel display 28 together with the ease levels of each, as shown in FIG.

[0112] In step S142, the CPU 10A of the ECU 10 determines whether or not the selection of the desired lane change section by the occupant has been accepted.

[0113] If it is determined in step S142 that the occupant's selection has been accepted, the CPU 10A of the ECU 10 determines in step S144 whether the vehicle 12 has reached the desired lane change section.

[0114] If it is determined in step S144 that the vehicle 12 has reached the desired lane change section, the CPU 10A of the ECU 10 executes the lane change in accordance with the surrounding conditions and ends the process in step S116 of Fig. 4. If it is determined in step S144 that the vehicle 12 has not reached the desired lane change section, the CPU 10A of the ECU 10 executes the process of step S144 again after a predetermined time has elapsed.

[0115] On the other hand, if it is determined in step S142 that the occupant's selection has not been received within the predetermined time, then in step S146, the CPU 10A of the ECU 10 identifies the "section where lane change is most easily possible." In the example shown in Fig. 8, the section S2 is identified as the "section where lane change is most easily possible."

[0116] In step S148, the CPU 10A of the ECU 10 determines whether the vehicle 12 has reached the "segment S2 where lane changing is easiest."

[0117] If it is determined in step S148 that the vehicle 12 has reached the "section where lane change is easiest" S2, then in step S150 the CPU 10A of the ECU 10 determines whether the "section where lane change is easiest" is a predetermined distance or more away from the limit point. If it is determined in step S148 that the vehicle 12 has not reached the "section where lane change is easiest" S2, the CPU 10A of the ECU 10 executes the process of step S148 again after a predetermined time has elapsed.

[0118] If it is determined in step S150 that the "section where lane change is easiest" S2 is not further away from the limit point L by a predetermined distance, i.e., the "section where lane change is easiest" S2 is close to the limit point L, then in step S116 of FIG. 4, the CPU 10A of the ECU 10 executes a lane change according to the surrounding conditions and terminates the processing.

[0119] On the other hand, if it is determined in step S150 of FIG. 7 that the "section where lane change is easiest" S2 is away from the limit point L by a predetermined distance or more, then in step S152, the CPU 10A of the ECU 10 causes the meter display 24 to display a message indicating that a lane change will be made in advance due to traffic conditions, as shown in FIG. 9, and then in step S116 of FIG. 4, the lane change is performed in accordance with the surrounding conditions, and the processing ends.

[0120] (Action of this embodiment) According to the ECU 10 of this embodiment, if a lane change is required before reaching a predetermined limit point L on the route to the destination D, the lane change is executed in the extracted "section where a lane change is possible." In other words, it is possible to avoid a situation in which the vehicle 12 is unable to change lanes by driving assistance due to traffic conditions after approaching the limit point L.

[0121] In particular, "sections where lane changes are possible" S1, S2, and S3 are extracted based on traffic conditions including congestion forecast information, so it is possible to avoid situations where the lane to which the lane change is to be made is congested and the lane change cannot be made by the limit point L.

[0122] 8, "sections where lane changes are possible" S1, S2, and S3 are displayed on a panel display 28 provided inside the vehicle cabin. This allows the occupant to visually grasp in advance the "sections where lane changes are possible" S1, S2, and S3 if a lane change is required before reaching a predetermined limit point L on the route to destination D. In particular, since the "sections where lane changes are possible" S1, S2, and S3 are displayed on the panel display 28 together with a map showing the driving route R, the occupant can intuitively grasp the "sections where lane changes are possible" S1, S2, and S3 on the map. Then, the occupant can execute the lane change at the section where the occupant desires to change lanes.

[0123] Furthermore, the ease level is displayed for each "section where lane changes are possible" S1, S2, and S3, so that the occupant can understand the ease level of lane changes in each section and then select the desired section for lane changes.

[0124] Furthermore, when a lane change is performed in the "segment where lane change is easiest" S2, the lane change is performed safely and reliably.

[0125] Furthermore, if the "section S2 where lane change is easiest" is located a predetermined distance or more from the limit point L, the display instruction unit 72 displays a message (processing in the second example; see FIG. 9) or a suggestion (processing in the first example; see FIG. 6) on a display unit provided in the vehicle cabin to indicate that the vehicle will change lanes in advance due to traffic conditions. The message (processing in the second example; see FIG. 9) to indicate that the vehicle will change lanes in advance due to traffic conditions allows the occupant to foresee the lane change. Therefore, for example, even if the vehicle changes lanes well before the limit point where the lane change is required, it is possible to avoid a surprise situation. Furthermore, the suggestion (processing in the first example; see FIG. 6) to change lanes in advance due to traffic conditions prevents the vehicle from changing lanes unintentionally in an unintended section.

[0126] Furthermore, in the first example, if the identified "section where lane change is easiest" is close to limit point L, no special display is given and the lane change is performed as usual near limit point L. This allows the occupants to reach their destination comfortably without receiving unnecessary notifications or performing unnecessary operations.

[0127] <Supplementary explanation of the above embodiment> In the above embodiment, the traffic information includes congestion forecast information, and the calculation unit 64 estimates the time when the vehicle 12 will arrive at each section of the travel route R based on the traffic information including the congestion forecast information, determines whether the section is passable at the estimated time and how congested the section is, and calculates and evaluates the ease level. However, this is not limiting. For example, the calculation unit may calculate the ease level based only on the traffic information at the time of data acquisition.

[0128] In the above embodiment, the ECU 10 has been described as having a display instruction unit 72 that displays the "sections where lane changes are possible" S1, S2, and S3 on the panel display 28 provided inside the vehicle cabin, but this is not limited to this. For example, in level 4 or level 5 autonomous driving, the vehicle control device may automatically execute a lane change in any one of the extracted "sections where lane changes are possible" without displaying the "sections where lane changes are possible" on the display unit.

[0129] Furthermore, in the above embodiment, the display instruction unit 72 has been described as displaying the "sections where lane changes are possible" S1, S2, and S3 on the panel display 28 together with a map showing the driving route, but this is not limiting. For example, while the vehicle is driving on a highway, if an image showing the names of service areas, parking areas, interchanges, etc. that the vehicle is to pass through, arranged in order at equal intervals, is displayed on a display unit such as a panel display, the "sections where lane changes are possible" may also be displayed on the image.

[0130] Furthermore, in the above embodiment, the ECU 10 has been described as having a lane change desired section receiving unit that receives information about a section where the occupant wants to change lanes from the steering switch 16A, and as executing a lane change in the section where the occupant wants to change lanes, but this is not limited thereto. For example, if the occupant does not agree in step S126 of Fig. 5, the vehicle control device may end the process without displaying the section where the lane change is possible on the map.

[0131] In the above embodiment, the display instructing unit 72 is described as displaying the ease level along with each section where lane changes are possible on the panel display 28, but this is not limiting. For example, the vehicle control device does not have to display the ease level in step S128 of Fig. 5 or step S140 of Fig. 7.

[0132] Furthermore, in the above embodiment, the easiest section specifying unit specifies the "section where lane change is easiest," but this is not limited to this. For example, if the occupant's selection is not accepted in step S142 of Fig. 7, the vehicle may automatically change lanes at the first "section where lane change is possible."

[0133] Furthermore, in the processing of the second example of the above embodiment, the display instruction unit 72 was described as displaying on the panel display 28 a message indicating that a lane change will be made in advance due to traffic conditions if the "section where lane change is most easily possible" is more than a predetermined distance away from the limit point, but this is not limited to this, and such a display may not be made.

[0134] In the processing of the first example of the above embodiment, the ECU 10 displays a suggestion (see FIG. 6) on the panel display 28 to change lanes in advance due to traffic conditions when the "section where lane change is easiest" is a predetermined distance or more away from the limit point L, receives information from the steering switch 16A regarding whether the occupant agrees to the suggestion, and if the occupant's agreement is received, executes a lane change at the "section where lane change is easiest." This is not limited to this, and the second example may simply display a suggestion to change lanes in advance due to traffic conditions as shown in FIG. 9, and execute a lane change without giving the occupant a choice. In other words, the vehicle control device does not need to have an agreement receiving unit.

[0135] Furthermore, in the above embodiment, the ECU 10 is described as directly controlling the actuator group 38 to execute a lane change, but this is not limited thereto. For example, the vehicle control device may output a lane change instruction signal to the ADAS-ECU to which the actuator group is connected. [Explanation of symbols]

[0136] 12 vehicles 16A Steering switch (input part) 24 Meter display (display unit) 28 Panel display (display unit) 50 Vehicle Control Program 60 Acquisition Department 64 Calculation Unit 66 Extraction part 68 Easiest section identification part 70 Judgment section 72 Display instruction section 74 Lane Change Request Section Reception 76 Agreement Reception Department 78 Lane change section D destination L limit point R Driving Route S1, S2, S3 Sections where lane changes are possible S2 The easiest lane change section

Claims

1. It is installed in vehicles capable of driving assistance, an acquisition unit that acquires, when a lane change is required before reaching a predetermined limit point on a route to a destination, traffic information for a driving route from a current location to the limit point; a calculation unit that calculates a level of ease of lane changes due to driving assistance in a plurality of sections of the traveling route based on the traffic information acquired by the acquisition unit; and an extraction unit that extracts a section where the ease level calculated by the calculation unit is equal to or higher than a reference level as a section where a lane change is possible; a lane change unit that, when the extraction unit extracts at least one section in which a lane change is possible, executes a lane change in any one of the extracted sections in which a lane change is possible; an easiest section identification unit that identifies the easiest section among the plurality of sections where lane changes are possible based on the ease level calculated by the calculation unit when the extraction unit extracts a plurality of sections where lane changes are possible; and a first display instruction unit that displays, on a display unit provided in a vehicle cabin, a suggestion to change lanes in advance due to traffic conditions, when the section where the lane change is easiest is away from the limit point by a predetermined distance or more; an agreement receiving unit that receives information regarding whether the occupant agrees to the proposal from an input unit that is provided in the vehicle cabin and that can be input by the occupant; a second display instruction unit that, when the agreement acceptance unit does not accept the agreement of the occupant, causes a display unit provided in the vehicle cabin to display the plurality of sections in which lane changes are possible that are extracted by the extraction unit; and a lane change desired section receiving unit that receives information regarding a section where an occupant desires to change lanes from an input unit provided in the vehicle cabin, among the plurality of sections where lane changes are possible; and The lane change unit executes a lane change in the section where the occupant has requested a lane change based on information about the section received by the lane change request section receiving unit.

2. A vehicle equipped with a driving assistance system, an acquisition unit that acquires, when a lane change is required before reaching a predetermined limit point on a route to a destination, traffic information for a driving route from a current location to the limit point; a calculation unit that calculates a level of ease of lane changes due to driving assistance in a plurality of sections of the traveling route based on the traffic information acquired by the acquisition unit; and an extraction unit that extracts a section where the ease level calculated by the calculation unit is equal to or higher than a reference level as a section where a lane change is possible; a lane change unit that, when the extraction unit extracts at least one section in which a lane change is possible, executes a lane change in any one of the extracted sections in which a lane change is possible; an easiest section identification unit that identifies the easiest section among the plurality of sections where lane changes are possible based on the ease level calculated by the calculation unit when the extraction unit extracts a plurality of sections where lane changes are possible; and a first display instruction unit that displays, on a display unit provided in a vehicle cabin, a suggestion to change lanes in advance due to traffic conditions, when the section where the lane change is easiest is away from the limit point by a predetermined distance or more; an agreement receiving unit that receives information regarding whether the occupant agrees to the proposal from an input unit that is provided in the vehicle cabin and that can be input by the occupant; and The lane change unit executes a lane change in the section where a lane change is most easily possible when the agreement of the occupant is accepted by the agreement acceptance unit.

3. The traffic information includes congestion forecast information. The vehicle control device according to claim 1 or 2.

4. The vehicle navigation system further includes a display instruction unit that displays the section where lane changes are possible, which is extracted by the extraction unit, on a display unit provided in the vehicle cabin. The vehicle control device according to claim 1 or 2.

5. The display instruction unit causes the display unit to display the section in which the lane change is possible together with a map showing the driving route. The vehicle control device according to claim 4.

6. A method for providing a driving assistance system to a vehicle capable of driving assistance, wherein, when a lane change is required before reaching a predetermined limit point on a route to a destination, traffic information for the driving route from the current location to the limit point is acquired, Based on the traffic information, calculate a level of ease of lane changes due to driving assistance for a plurality of sections in the travel route; extracting a section where lane changes are possible and the ease level is equal to or higher than a reference level; When at least one section where lane change is possible is extracted, a lane change is performed in any one of the extracted sections where lane change is possible. A vehicle control method in which processing is executed by a computer, If a plurality of sections where lane changes are possible are extracted, the section where lane changes are most easily possible is identified based on the calculated ease level; If the section where the lane can be changed most easily is away from the limit point by a predetermined distance or more, a display unit provided in the vehicle cabin displays a suggestion to change lanes in advance due to traffic conditions, receiving information regarding whether the occupant agrees to the proposal from an input unit that is provided in the vehicle cabin and that can be input by the occupant; If the driver does not consent to the lane change, the extracted plurality of sections in which the lane change is possible are displayed on a display unit provided in the vehicle interior; receiving information about a section where the occupant wishes to change lanes from an input unit provided in the vehicle cabin, among the plurality of sections where lane changes are possible; Execute a lane change in the section where the occupant has requested a lane change based on the received information about the section. Vehicle control method.

7. A method for providing a driving assistance system to a vehicle capable of driving assistance, wherein, when a lane change is required before reaching a predetermined limit point on a route to a destination, traffic information for the driving route from the current location to the limit point is acquired, Based on the traffic information, calculate a level of ease of lane changes due to driving assistance for a plurality of sections in the travel route; extracting a section where lane changes are possible and the ease level is equal to or higher than a reference level; When at least one section where lane change is possible is extracted, a lane change is performed in any one of the extracted sections where lane change is possible. A vehicle control method in which processing is executed by a computer, When a plurality of sections where lane changes are possible are extracted, the section where lane changes are most easily possible is identified from among the plurality of sections where lane changes are possible based on the calculated ease level; If the section where the lane can be changed most easily is away from the limit point by a predetermined distance or more, a display unit provided in the vehicle cabin displays a suggestion to change lanes in advance due to traffic conditions, receiving information regarding whether the occupant agrees to the proposal from an input unit that is provided in the vehicle cabin and that can be input by the occupant; A vehicle control method for executing a lane change in the section where a lane change is most easily possible if the consent of the occupants is accepted.

8. A method for providing a driving assistance system to a vehicle capable of driving assistance, wherein when a lane change is required before reaching a predetermined limit point on a route to a destination, traffic information for the driving route from the current location to the limit point is acquired, Based on the traffic information, calculate a level of ease of lane changes due to driving assistance for a plurality of sections in the travel route; extracting a section where lane changes are possible and the ease level is equal to or higher than a reference level; When at least one section where lane change is possible is extracted, a lane change is performed in any one of the extracted sections where lane change is possible. A vehicle control program that causes a computer to execute processing, If a plurality of sections where lane changes are possible are extracted, the section where lane changes are most easily possible is identified based on the calculated ease level; If the section where the lane can be changed most easily is away from the limit point by a predetermined distance or more, a display unit provided in the vehicle cabin displays a suggestion to change lanes in advance due to traffic conditions, receiving information regarding whether the occupant agrees to the proposal from an input unit that is provided in the vehicle cabin and that can be input by the occupant; If the driver does not consent to the lane change, the extracted plurality of sections in which the lane change is possible are displayed on a display unit provided in the vehicle interior; receiving information about a section where the occupant wishes to change lanes from an input unit provided in the vehicle cabin, among the plurality of sections where lane changes are possible; A vehicle control program that executes a lane change in the section where the occupant desires to change lanes based on the received information about the section.

9. A method for use in a vehicle capable of driving assistance, in which, when a lane change is required before reaching a predetermined limit point on a route to a destination, traffic information for the driving route from the current location to the limit point is acquired, Based on the traffic information, calculate a level of ease of lane changes due to driving assistance for a plurality of sections in the travel route; extracting a section where lane changes are possible and the ease level is equal to or higher than a reference level; When at least one section where lane change is possible is extracted, a lane change is performed in any one of the extracted sections where lane change is possible. A vehicle control program that causes a computer to execute processing, When a plurality of sections where lane changes are possible are extracted, the section where lane changes are most easily possible is identified from among the plurality of sections where lane changes are possible based on the calculated ease level; If the section where the lane can be changed most easily is away from the limit point by a predetermined distance or more, a display unit provided in the vehicle cabin displays a suggestion to change lanes in advance due to traffic conditions, receiving information regarding whether the occupant agrees to the proposal from an input unit that is provided in the vehicle cabin and that can be input by the occupant; A vehicle control program that, if the occupant's consent is received, executes a lane change in the section where the lane change is easiest.

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