Vehicle driving assistance method and driving assistance device

Abstract

Provided is a driving assistance method for a vehicle in which an autonomous lane change control is stopped if a driver's steering operation inputted during the execution of the autonomous lane change control satisfies a prescribed stopping condition, wherein: first autonomous lane change control for changing the travel direction and traveling along a travel route toward a set destination location and second autonomous lane change control, other than the first autonomous lane change control, in which the travel direction is not changed are executed; and a prescribed stopping condition for the first autonomous lane change control is set so that the autonomous lane change control is more easily stopped in comparison to a prescribed stopping condition for the second autonomous lane change control.

Description

[Technical Field]

[0001] The present invention relates to a driving assistance method and a driving assistance device for a vehicle. [Background technology]

[0002] When performing lane change control to change lanes from the first lane to the second lane through automated driving, an automated driving system is known that determines whether a stop request operation to request the cancellation of lane change control is performed between the start and completion of lane change control, and if a stop request operation is performed, determines whether a stop permission condition is met, and if the stop permission condition is not met, continues lane change control, and if the stop permission condition is met, stops lane change control and causes the vehicle to travel in the first lane (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-119510 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned conventional technology, the decision to stop autonomous lane change control is made under the same conditions whether the driving scene involves setting a destination in advance or not, which results in the problem that autonomous lane change control may be stopped even in a driving scene where autonomous lane change control should be continued.

[0005] The problem to be solved by the present invention is to provide a vehicle driving assistance method and driving assistance device that can appropriately cancel autonomous lane change control depending on the driving scene. [Means for solving the problem]

[0006] The present invention solves the above problem by setting a predetermined cancellation condition for canceling first autonomous lane change control, which changes the direction of travel and travels along a travel route to head toward a set destination, to a condition that makes it easier to cancel autonomous lane change control than a predetermined cancellation condition for canceling second autonomous lane change control, which does not change the direction of travel other than the first autonomous lane change control. [Effects of the Invention]

[0007] According to the present invention, it is possible to appropriately stop autonomous lane change control depending on the driving scene. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a driving assistance system including a driving assistance device according to the present invention; [Figure 2] 2 is a plan view showing an example of a driving scene in which driving assistance is performed by the driving assistance system shown in FIG. 1. FIG. [Figure 3A] 1. FIG. 4 is a plan view (part 1) showing another example of a driving scene in which driving assistance is performed by the driving assistance system shown in FIG. [Figure 3B] 1. FIG. 4 is a plan view (part 2) showing another example of a driving scene in which driving assistance is performed by the driving assistance system shown in FIG. [Figure 4] 1. FIG. 4 is a plan view showing still another example of a driving scene in which driving assistance is performed by the driving assistance system shown in FIG. [Figure 5] 2 is a block diagram showing state transitions of autonomous driving control in the driving assistance device of FIG. 1. FIG. [Figure 6A] 2 is a flowchart showing an example of a processing procedure in the driving assistance system of FIG. 1 (part 1). [Figure 6B] 2 is a flowchart showing an example of a processing procedure in the driving assistance system of FIG. 1 (part 2). DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The following description is based on the assumption that vehicles are driven on the left side of the road in countries with laws stipulating left-hand traffic. In countries with laws stipulating right-hand traffic, vehicles are driven on the right side of the road, so the terms right and left in the following description should be interpreted as symmetrical.

[0010] [Driver assistance system configuration] FIG. 1 is a block diagram showing a driving assistance system 10 according to the present invention. The driving assistance system 10 is an in-vehicle system that drives a vehicle to a destination set by the vehicle's occupants (including the driver) through autonomous driving control. Autonomous driving control refers to autonomously controlling the vehicle's driving behavior using a driving assistance device (described later). The driving behavior includes all driving behaviors, such as acceleration, deceleration, starting, stopping, steering to the right or left, changing lanes, and pulling over to the side of the road. Furthermore, autonomously controlling driving behavior refers to the driving assistance device controlling the driving behavior using a vehicle's device. The driving assistance device controls these driving behaviors within a predetermined range, and driving behaviors not controlled by the driving assistance device are manually operated by the driver. In this embodiment, the control of changing lanes from the vehicle's own lane to a lane other than the vehicle's own lane (e.g., an adjacent lane) during autonomous driving through autonomous driving control is specifically referred to as "autonomous lane change control," and lanes other than the vehicle's own lane are also referred to as other lanes.

[0011] The above-mentioned vehicles include not only private vehicles but also vehicles dispatched in a vehicle dispatch service. A vehicle dispatch service refers to the allocation and dispatch of a vehicle to a user to transport the user from the boarding location to the disembarking location, and examples include the dispatch of manned and unmanned taxis, the dispatch of vehicles used for shuttle services at airports, stations, hotels, etc., and the dispatch of vehicles used for rental cars and ride-sharing services. Hereinafter, the own vehicle will also be simply referred to as the vehicle.

[0012] 1, a driving assistance system 10 includes an imaging device 11, a distance measuring device 12, a vehicle state detection device 13, map information 14, a vehicle position detection device 15, a navigation device 16, a vehicle control device 17, a display device 18, and a driving assistance device 19. The devices that make up the driving assistance system 10 are connected by a CAN (Controller Area Network) or other in-vehicle LAN, and can exchange information with each other.

[0013] The imaging device 11 is a device that recognizes objects around the vehicle using images, and is, for example, a camera equipped with an imaging element such as a CCD, an ultrasonic camera, or an infrared camera. A single vehicle can be provided with multiple imaging devices 11, and they can be located, for example, near the front grille, under the left and right door mirrors, and near the rear bumper. This reduces blind spots when recognizing objects around the vehicle.

[0014] The distance measuring device 12 is a device for calculating the relative distance and relative speed between the vehicle and an object, and is, for example, a radar device or sonar such as a laser radar, a millimeter wave radar (such as LRF), a LiDAR (light detection and ranging) unit, or an ultrasonic radar. A plurality of distance measuring devices 12 can be provided on one vehicle, and can be arranged, for example, at the front, right side, left side, and rear of the vehicle. This allows the relative distance and relative speed between the vehicle and objects around it to be accurately calculated.

[0015] The objects detected by the imaging device 11 and the distance measuring device 12 include road lane boundaries, center lines, road markings, medians, guardrails, curbs, highway sidewalls, road signs, traffic lights, crosswalks, construction sites, accident sites, traffic restrictions, etc. The objects also include obstacles that may affect the vehicle's travel, such as automobiles (other vehicles) other than the vehicle itself, motorcycles, bicycles, pedestrians, etc. The detection results of the imaging device 11 and the distance measuring device 12 are acquired by the driving assistance device 19 at predetermined time intervals as necessary.

[0016] Furthermore, the detection results of the imaging device 11 and the distance measuring device 12 can be integrated or synthesized (so-called sensor fusion) by the driving assistance device 19, thereby supplementing missing information about the detected object. For example, the driving assistance device 19 can calculate the position information of the object based on the self-position information, which indicates the position where the vehicle is traveling and is acquired by the vehicle position detection device 15, and the relative position (distance and direction) between the vehicle and the object. The calculated position information of the object is integrated by the driving assistance device 19 with multiple pieces of information, such as the detection results of the imaging device 11 and the distance measuring device 12 and the map information 14, to become information about the driving environment around the vehicle. Furthermore, the detection results of the imaging device 11 and the distance measuring device 12 and the map information 14 can be used to recognize objects around the vehicle and predict their movements.

[0017] The vehicle state detection device 13 is a device for detecting the running state of the vehicle, and includes a vehicle speed sensor, an acceleration sensor, a yaw rate sensor (e.g., a gyro sensor), a steering angle sensor, an inertial measurement unit, etc. These devices are not particularly limited, and known devices can be used. The arrangement and number of these devices can be set appropriately within a range that allows the running state of the vehicle to be appropriately detected. The detection results of each device are acquired by the driving assistance device 19 at predetermined time intervals as necessary.

[0018] Map information 14 is information used for generating driving routes, controlling driving behavior, etc., and includes road information, facility information, and their attribute information. Road information and road attribute information include information such as road width, road curvature radius, roadside structures, road traffic regulations (speed limits, whether lane changes are permitted), road merging and branching points, and locations where the number of lanes increases or decreases. Map information 14 is high-definition map information that allows the movement trajectory of each lane to be grasped, and includes two-dimensional and / or three-dimensional position information at each map coordinate, road / lane boundary information at each map coordinate, road attribute information, lane incline / decline information, lane identification information, and destination lane information. Note that high-precision maps are also called HD (High-Definition) maps.

[0019] Road and lane boundary information in high-resolution map information is information that indicates the boundaries between the lane on which a vehicle travels and other roads. A lane on which a vehicle travels is a road along which the vehicle travels, and the form of the lane is not particularly limited. Boundaries exist on both the left and right sides of the vehicle's direction of travel, and the form is not particularly limited. Boundaries are, for example, road markings or road structures. Examples of road markings include lane boundaries and center lines, and examples of road structures include medians, guardrails, curbs, tunnels, and highway sidewalls. Note that at points where lane boundaries cannot be clearly identified, such as within intersections, boundaries are set for the lane in advance. These boundaries are imaginary and are not actually existing road markings or road structures.

[0020] The map information 14 is stored in a readable state in a recording medium provided in the driving assistance device 19, an in-vehicle device, or a server on a network. The driving assistance device 19 acquires the map information 14 as needed.

[0021] The vehicle position detection device 15 is a positioning system for detecting the current position of the vehicle, and is not particularly limited, and any known system can be used. The vehicle position detection device 15 calculates the current position of the vehicle from, for example, radio waves received from a satellite for a GPS (Global Positioning System). Alternatively, the vehicle position detection device 15 may estimate the current position of the vehicle from vehicle speed information and acceleration information acquired from the vehicle state detection device 13, which includes a vehicle speed sensor, an acceleration sensor, and a gyro sensor, and compare the estimated current position with the map information 14 to calculate the current position of the vehicle.

[0022] The navigation device 16 is a device that refers to map information 14 and calculates a driving route from the current position of the vehicle detected by the vehicle position detection device 15 to a destination set by the occupants (including the driver). The navigation device 16 searches for a driving route for the vehicle to reach the destination from the current position using road information, facility information, etc. in the map information 14. The driving route includes at least information on the road on which the vehicle is traveling, the driving lane, and the vehicle's traveling direction, and is displayed, for example, as a linear diagram. There may be multiple driving routes depending on the search conditions. The driving route calculated by the navigation device 16 is output to the driving assistance device 19.

[0023] The vehicle control device 17 is an on-board computer such as an electronic control unit (ECU), and electronically controls on-board devices that govern the driving of the vehicle. The vehicle control device 17 includes a speed control device 171 that controls the driving speed of the vehicle, and a steering control device 172 that controls the steering operation of the vehicle. The speed control device 171 and the steering control device 172 autonomously control the operation of these drive devices and steering devices in response to control signals input from the driving assistance device 19. This allows the vehicle to drive autonomously along a set driving route. Information required for autonomous control by the speed control device 171 and the steering control device 172, such as the vehicle's driving speed, acceleration, steering angle, and attitude, is obtained from the host vehicle state detection device 13.

[0024] Examples of the drive devices controlled by the speed control device 171 include an electric motor and / or an internal combustion engine that are driving sources for traveling, a power transmission device including a drive shaft and an automatic transmission that transmits the output from these driving sources for traveling to the driving wheels, and a drive device that controls the power transmission device. In addition, the braking device controlled by the speed control device 171 is, for example, a braking device that brakes the wheels. A control signal corresponding to a set traveling speed is input to the speed control device 171 from the driving assistance device 19. The speed control device 171 generates signals to control these drive devices based on the control signals input from the driving assistance device 19 and transmits the signals to the drive devices, thereby autonomously controlling the traveling speed of the vehicle.

[0025] On the other hand, the steering device controlled by the steering control device 172 is a steering device that controls the steered wheels according to the rotation angle of the steering wheel, and an example of this is a steering actuator such as a motor attached to a steering column shaft. Based on a control signal input from the driving assistance device 19, the steering control device 172 autonomously controls the operation of the steering device so that the vehicle travels while maintaining a predetermined lateral position (position of the vehicle in the left-right direction) with respect to the set travel route. For this control, at least one of the detection results of the imaging device 11 and the distance measuring device 12, the vehicle travel state acquired by the host vehicle state detection device 13, the map information 14, and information on the current position of the vehicle acquired by the host vehicle position detection device 15 is used.

[0026] The display device 18 is a device for providing necessary information to vehicle occupants, and is, for example, a liquid crystal display provided on the instrument panel, a projector such as a head-up display (HUD), etc. The display device 18 may also include an input device for the vehicle occupant to input instructions to the driving assistance device 19. Examples of the input device include a touch panel that receives input by the user's finger or a stylus pen, a microphone that receives instructions by the user's voice, and switches attached to the steering wheel of the vehicle. The display device 18 may also include a speaker as an output device.

[0027] The driving assistance device 19 is a device that controls the driving of the vehicle by controlling and cooperating with the devices that make up the driving assistance system 10, and drives the vehicle to a set destination. The destination is set, for example, by a vehicle occupant. The driving assistance device 19 is, for example, a computer, and includes a CPU (Central Processing Unit) 191 that is a processor, a ROM (Read Only Memory) 192 that stores programs, and a RAM (Random Access Memory) 193 that functions as an accessible storage device. The CPU 191 is an operating circuit that executes the programs stored in the ROM 192 and realizes the functions of the driving assistance device 19.

[0028] The driving assistance device 19 has a driving assistance function that drives the vehicle to a set destination through autonomous driving control. As driving assistance functions, the driving assistance device 19 has a route generation function that generates a driving route, an environment recognition function that recognizes the driving environment around the vehicle, and a driving control function that generates a driving trajectory and drives the vehicle along the driving trajectory. The driving control function includes a vehicle speed control function that autonomously controls the vehicle's driving speed, and a steering control function that autonomously controls the steering of the vehicle. In addition, the driving assistance device 19 has a determination function that determines whether the driver's steering operation satisfies a predetermined cancellation condition.

[0029] The programs stored in the ROM 192 include programs for realizing the above-mentioned functions, and these functions are realized by the CPU 191 executing the programs stored in the ROM 192. Figure 1 conveniently shows functional blocks that realize each function.

[0030] [Functions of each function block] The functions of the respective functional blocks of the support unit 20, the generation unit 21, the recognition unit 22, the control unit 23, and the determination unit 24 shown in FIG. 1 will be described below.

[0031] The assistance unit 20 has a driving assistance function that drives the vehicle to a set destination through autonomous driving control. Fig. 2 is a plan view showing an example of a driving scene in which the driving assistance device 19 autonomously controls the driving of the vehicle through the driving assistance function of the assistance unit 20. In the driving scene shown in Fig. 2, a two-lane road extends in the vertical direction of the drawing, and the vehicle travels on the road from the bottom to the top of the drawing. As shown in Fig. 2, the lane on the left side of the driving direction is lane L1, and the lane on the right side of the driving direction is lane L2.

[0032] In the driving scene shown in Fig. 2, vehicle V is traveling at position P1 on lane L1, heading toward destination X located ahead on lane L2, which has been set by an occupant of vehicle V. In this case, driving assistance device 19 generates a driving route toward destination X using the driving assistance function of assistance unit 20, and causes vehicle V to travel along the generated driving route using autonomous driving control. This autonomous driving control is mainly controlled by the functions of generation unit 21, recognition unit 22, control unit 23, and determination unit 24.

[0033] The generation unit 21 has a route generation function that generates a driving route for the vehicle to travel from the current position to the destination. The generation unit 21 also has a function that sets lanes for the vehicle to travel along the driving route. The driving assistance device 19 uses the navigation device 16, through the route generation function of the generation unit 21, to generate a driving route for the vehicle to travel from the current position to the destination by autonomous driving control. The driving assistance device 19 also sets lanes for traveling along the generated driving route. The driving assistance device 19 acquires information on the generated driving route and the set lanes from the navigation device 16 as necessary.

[0034] In the driving scene shown in Fig. 2, the driving assistance device 19 acquires a position P1, which is the current position of the vehicle V, from the vehicle position detection device 15, acquires road network data from the map information 14, and uses the navigation device 16 to search for a route to travel from the position P1 to the destination X. If there are multiple routes searched for, the route with the shortest travel time or travel distance is selected.

[0035] The recognition unit 22 has an environment recognition function that recognizes the driving environment around the vehicle. The driving assistance device 19 recognizes the driving environment around the vehicle using the imaging device 11 and the distance measuring device 12 through the environment recognition function of the recognition unit 22. The driving environment is information for determining whether the vehicle can maintain its current driving state or needs to change its driving state, and includes information such as the type and position of an object, the type and position of an obstacle if present, road conditions such as road surface conditions, and weather. The driving assistance device 19 recognizes the driving environment by performing appropriate processing such as pattern matching and sensor fusion on the detection results of the imaging device 11 and the distance measuring device 12.

[0036] Alternatively or in addition, the driving assistance device 19 may acquire image data from cameras installed on traffic lights, telephone poles, road signs, etc., and recognize obstacles that exist within a range that cannot be detected by the vehicle's imaging device 11. The driving assistance device 19 may also connect to a server that provides traffic information such as the occurrence of congestion, accidents, and road closures, and recognize obstacles from information acquired from the server. Furthermore, the driving assistance device 19 may recognize obstacles that exist within a range that cannot be detected by the vehicle's imaging device 11, using vehicle-to-vehicle communication with other vehicles traveling around the vehicle.

[0037] 2, there are no obstacles around the vehicle V. Therefore, the driving assistance device 19 recognizes from the detection results of the imaging device 11 and the distance measuring device 12 that no obstacles are detected around the vehicle V, and that the driving environment is one in which no objects obstruct the travel of the vehicle V.

[0038] The control unit 23 has a driving control function that generates a driving trajectory for driving the vehicle V along the generated driving route and controls the driving operation of the vehicle V so that it follows the generated driving trajectory. The driving assistance device 19 generates a driving trajectory for driving the vehicle V along the driving route using the driving control function of the control unit 23, and autonomously controls the driving operation of the vehicle via the vehicle control device 17 (particularly, the speed control device 171 and the steering control device 172) so that the vehicle V follows the generated driving trajectory. The generation of the driving trajectory takes into consideration the overall length and overall width of the body of the vehicle V, the minimum turning radius of the vehicle V, and the like, in addition to information such as the shape, width, and curvature of the road included in the map information 14.

[0039] The control unit 23 has a vehicle speed control function that autonomously controls the traveling speed of the vehicle V and a steering control function that autonomously controls the steering of the vehicle V, and the vehicle speed control function is mainly realized by the speed control unit 231, and the steering control function is mainly realized by the steering control unit 232. Hereinafter, the autonomous control of the traveling speed by the speed control unit 231 will also be simply referred to as autonomous speed control, and the autonomous control of the steering by the steering control unit 232 will also be simply referred to as autonomous steering control.

[0040] When the driving assistance device 19 detects a preceding vehicle, the driving assistance device 19 causes the vehicle V to follow the preceding vehicle while performing inter-vehicle distance control to maintain a vehicle-to-vehicle distance according to the driving speed, with the driving speed set by the driver as the upper limit, using the vehicle speed control function of the speed control unit 231. On the other hand, when the driving assistance device 19 does not detect a preceding vehicle, the driving assistance device 19 performs constant speed driving at the driving speed set by the driver. The former is called inter-vehicle distance control, and the latter is called constant speed control. Note that the driving assistance device 19 may use the vehicle speed control function to detect the speed limit of the road being traveled on from road signs using the imaging device 11, or to obtain the speed limit from the map information 14, and automatically set the driving speed to that speed limit.

[0041] To activate the vehicle speed control function of the speed control unit 231, the driver first operates a switch provided on the steering wheel to input the desired traveling speed. For example, if the switch is pressed while the vehicle V is traveling at 70 km / h, the current traveling speed is set as is, but if the desired traveling speed is other than this, the switch is operated to increase or decrease the set speed. In addition, the driver's desired following distance can be selected from multiple settings such as short distance, medium distance, and long distance by operating a switch (for example, a following distance adjustment switch).

[0042] Constant speed control is performed when no preceding vehicle is detected ahead of the vehicle V in the lane it is traveling in by the forward radar of the distance measuring device 12. In constant speed control, the speed control device 171 controls the operation of the drive mechanisms such as the engine and brakes while feeding back vehicle speed information from the vehicle speed sensor, which is the vehicle state detection device 13, to maintain a set traveling speed.

[0043] Distance control is performed when a preceding vehicle is detected in front of the vehicle V's own lane by the forward radar of the distance measuring device 12. In distance control, the speed control device 171 controls the operation of the drive mechanism while feeding back the distance data detected by the forward radar so as to maintain the set distance between vehicles, with the set travel speed as the upper limit.

[0044] If a preceding vehicle stops while traveling under vehicle-to-vehicle distance control, the driving assistance device 19 stops vehicle V following the preceding vehicle. Also, if the preceding vehicle starts moving within, for example, 30 seconds after vehicle V has stopped, the driving assistance device 19 starts vehicle V and resumes following traveling under vehicle-to-vehicle distance control. If vehicle V has been stopped for more than 30 seconds, vehicle V will not automatically start even if the preceding vehicle starts moving, and will resume following traveling under vehicle-to-vehicle distance control if a switch on the steering wheel is operated or the accelerator pedal is depressed after the preceding vehicle has started moving.

[0045] When a predetermined condition is met while the above-described autonomous speed control is being executed, the driving assistance device 19 controls the operation of the steering actuator with the steering control device 172 using the steering control function of the steering control unit 232, thereby executing autonomous steering control. The autonomous steering control includes lane keeping control and autonomous lane change control. Through lane keeping control, the driving assistance device 19 controls the steering actuator with the steering control device 172 so that the vehicle V travels near the center of the lane, thereby assisting the driver in steering operation. Furthermore, through autonomous lane change control, the driving assistance device 19 performs lane changes through autonomous driving. In other words, the autonomous lane change control by the driving assistance device 19 is realized mainly by the steering control function of the steering control unit 232.

[0046] As an example, in the driving scene shown in Fig. 2, after vehicle V has traveled from position P1 to position P2, the driver operates the turn signal lever at position P2. In this case, the autonomous lane change control of steering control unit 232 starts flashing the turn signal, and if a preset lane change start condition is met, a lane change operation (hereinafter also referred to as LCP), which is a series of processes for changing lanes under autonomous driving control, is started. Alternatively, the turn signal may be flashed and LCP may be started when a button is operated to accept the start of autonomous lane change control, such as when a switch provided on the steering wheel is operated.

[0047] The driving assistance device 19 determines whether or not a lane change start condition is met based on the driving information acquired by the environment recognition function of the recognition unit 22. The lane change start condition is not particularly limited, but may be exemplified as the condition that all of the following conditions are met: -Lane keeping mode in hands-on mode. -Hands-on evaluation is currently underway. - Driving at a speed of 60km / h or more. There is a lane in the direction you are changing lanes. -There is space to change lanes in the lane you are about to change lanes into. -The lane marker type allows lane changes. The curvature radius of the road is 250m or more. -Within one second of the driver operating the turn signal lever.

[0048] The lane keeping mode of the hands-on mode, which will be described in detail later, refers to a state in which the driving assistance device 19 is executing autonomous speed control by the speed control unit 231 and lane keeping control by the steering control unit 232, and the driver's holding of the steering wheel is detected. Also, the hands-on determination status refers to a state in which the driver continues to hold the steering wheel.

[0049] 2, there is a lane L2 to the right of the straight lane L1, and there is space for the vehicle V to enter the lane L2. Therefore, the lane change start condition is met if the driving assistance device 19 is in the lane keeping mode of the hands-on mode, a hands-on determination is in progress, the vehicle V is traveling at 60 km / h or faster, a lane change from lane L1 to lane L2 is possible, and the turn signal lever is operated at position P2 within one second.

[0050] When a lane change initiation condition is satisfied, the driving assistance device 19 starts the LCP by autonomous lane change control. This LCP includes lateral movement of the vehicle V to an adjacent lane (i.e., lane L2) and a lane change maneuver (hereinafter referred to as LCM) to actually move to lane L2. Specifically, the driving assistance device 19 generates a driving trajectory T1 shown in FIG. 2, follows the driving trajectory T1, and travels from position P2 to position P6 to change lanes from lane L1 to lane L2. The driving assistance device 19 starts lateral movement to lane L2 at position P3 and starts LCM at position P4. At position P5, the driving assistance device 19 turns off the turn signal and completes LCM. Then, at position P6, the driving assistance device 19 completes the LCP and starts lane keeping control. During the execution of the LCP, the driving assistance device 19 displays information indicating that a lane change is being performed by autonomous lane change control to the driver on the display device 18 to alert the driver to their surroundings.

[0051] In addition, the control unit 23 has a function of executing overtaking control that combines lane keeping control and autonomous lane change control. The overtaking control is autonomous lane change control in a driving scene in which the vehicle is to overtake a preceding vehicle. FIG. 3A is a plan view showing an example of a driving scene in which the driving assistance device 19 executes overtaking control. The driving scene shown in FIG. 3A is the same as the driving scene shown in FIG. 2 except that there is another vehicle Y traveling at position Py in lane L1. As shown in FIG. 3A, when there is another vehicle Y ahead in lane L1 that is slower than the vehicle V and a predetermined overtaking suggestion condition is satisfied, the driving assistance device 19 uses the display device 18 to present overtaking information to the driver.

[0052] The overtaking information is information that suggests to the driver that the driver should overtake another vehicle Y, which is a preceding vehicle. In addition, the driving assistance device 19 starts the above-mentioned LCP when the driver accepts the overtaking information by operating a switch provided on the steering wheel (corresponding to an acceptance input) and when a preset overtaking start condition is satisfied. The acceptance input includes the driver operating the turn signal lever to the right or left.

[0053] The driving support device 19 determines whether the overtaking suggestion condition and the overtaking start condition are met based on the information acquired by the environment recognition function of the recognition unit 22. System The control may include a function to initiate an LCP to overtake a leading vehicle when the driver operates the turn signal lever, even if overtaking information is not being presented.

[0054] The overtaking proposal condition is not particularly limited, but may be exemplified by the fact that all of the following conditions are met. -Lane keeping mode in hands-off mode. - Driving at a speed of 60km / h or more. There is a lane in the direction you are changing lanes. - There is space in the lane you are about to change lanes into within 5 seconds. -The lane marker type allows lane changes. The curvature radius of the road is 250m or more. Your vehicle's speed is more than 5km / h slower than the set speed. The speed of the vehicle ahead is more than 10km / h slower than the set speed. The distance between the host vehicle and the preceding vehicle is below a threshold value that is set in advance based on the speed difference between the host vehicle and the preceding vehicle. The speed of the vehicle ahead in the lane you are changing into meets a specified condition.

[0055] The lane-keeping mode of the hands-off mode, which will be described in detail later, refers to a mode in which autonomous speed control and lane-keeping control are active and the driver does not need to hold the steering wheel. The condition that the speed of the preceding vehicle in the destination lane satisfies a predetermined condition varies depending on the type of destination lane. For example, when changing lanes from the left lane to the right lane on a multi-lane road with left-hand traffic, the speed of the host vehicle in the left lane must be approximately 5 km / h or more faster than the speed of the preceding vehicle in the right lane. Conversely, when changing lanes from the right lane to the left lane on a multi-lane road with left-hand traffic, the speed difference between the host vehicle and the preceding vehicle in the left lane must be within approximately 5 km / h. The condition regarding the relative speed difference between the host vehicle and the preceding vehicle is reversed on roads with right-hand traffic.

[0056] When the driver agrees to the presentation of overtaking information and a predetermined overtaking start condition is satisfied, the driving assistance device 19 flashes the turn signal by overtaking control and starts LCP. The overtaking start condition is not particularly limited, but may be exemplified as the condition that all of the following conditions are satisfied: -Lane keeping mode in hands-on mode. -Hands-on evaluation is currently underway. - Driving at a speed of 60km / h or more. There is a lane in the direction you are changing lanes. -There is space to change lanes in the lane you are about to change lanes into. -The lane marker type allows lane changes. The curvature radius of the road is 250m or more. Your vehicle's speed is more than 5km / h slower than the set speed (when changing lanes to the right lane while driving on the left). The speed of the vehicle ahead is more than 10km / h slower than the set speed (when changing lanes to the right lane while driving on the left). The speed of the vehicle ahead in the lane you are changing into meets a specified condition. -Within 10 seconds of operating the switch (lane change assist switch) to consent to the start of autonomous lane change control.

[0057] The condition that the speed of the preceding vehicle is 10 km / h or more slower than the set speed can be changed by the driver, and the changed set speed becomes the overtaking start condition. The changeable speed can be selected, for example, from 10 km / h to 15 km / h or 20 km / h. The condition that the speed of the preceding vehicle in the lane to which the lane is to be changed satisfies a predetermined condition is the same as the overtaking suggestion condition described above.

[0058] In the driving scene shown in Figure 3A, lane L2 exists to the right of straight lane L1, and there is space in lane L2 for vehicle V to enter, and that space still exists 5 seconds later. Therefore, the overtaking suggestion condition is met if the vehicle is in lane keeping mode in hands-off mode, vehicle V is traveling at 60 km / h or faster, is capable of changing lanes from lane L1 to lane L2, vehicle V's traveling speed is 5 km / h or slower than the set speed, vehicle Y's traveling speed is 10 km / h or slower than the set speed, and the inter-vehicle distance between vehicle V and vehicle Y is below a threshold preset based on the speed difference between vehicle V and vehicle Y. If the overtaking suggestion condition is met, driving assistance device 19 displays overtaking information using display device 18 when vehicle V is traveling at position P1.

[0059] When the driver is presented with the overtaking information and agrees to overtaking, the driving assistance device 19 determines whether the overtaking start condition is met. In the driving scene of FIG. 3A, the overtaking suggestion condition is met, so a hands-on determination is being made. If the operation of the lane change assistance switch on the steering wheel is within 10 seconds, the overtaking start condition is met. In the driving scene shown in FIG. 3A, the driver inputs consent to the execution of overtaking control while the vehicle V is traveling at position P2. If the overtaking start condition is met, LCP is initiated by overtaking control, and lateral movement to an adjacent lane and LCM are executed.

[0060] Specifically, the driving assistance device 19 generates the driving trajectory T2 shown in FIG. 3A, and changes lanes from lane L1 to lane L2 by following the driving trajectory T2 and traveling from position P3 to position P7. The driving assistance device 19 starts flashing the turn signal at position P3, starts lateral movement to lane L2 at position P4, and starts LCM at position P5. The driving assistance device 19 turns off the turn signal at position P6 and completes LCM. Then, at position P7, the driving assistance device 19 completes LCP and starts lane keeping control. The vehicle V travels in lane L2 under lane keeping control and overtakes another vehicle Y.

[0061] After the vehicle Y has been overtaken by the overtaking control, if the overtaking suggestion conditions are met again, the driving assistance device 19 suggests to the driver that they return to the original lane L1 via the display device 18. If the driver accepts this suggestion by operating a switch provided on the steering wheel and if the overtaking start conditions are met, the driving assistance device 19 starts the LCP to return the vehicle V to the original lane L1 by the overtaking control, as shown in Fig. 3B.

[0062] Specifically, if the overtaking suggestion condition is satisfied, the driving assistance device 19 presents overtaking information using the display device 18 when the vehicle V is traveling at position P7. If the driver inputs consent to the execution of overtaking control while the vehicle V is traveling at position P8, the driving assistance device 19 generates the traveling trajectory T3 shown in FIG. 3B , follows the traveling trajectory T3, travels from position P9 to position P13, and changes lanes from lane L2 to the original lane L1. The driving assistance device 19 starts flashing the turn signal at position P9, starts lateral movement to lane L1 at position P10, and starts LCM at position P11. The driving assistance device 19 turns off the turn signal at position P12 and completes LCM. Then, at position P13, the driving assistance device 19 completes LCP and starts lane keeping control.

[0063] In addition, the control unit 23 has a function of executing route driving control that combines lane keeping control and autonomous lane change control. The driving assistance device 19 drives the vehicle V along a set driving route through route driving control. When the set driving route includes a driving direction change point such as a branch point, merging point, exit, or toll gate, and the distance to the driving direction change point is within a predetermined distance and predetermined route driving suggestion conditions are met, the driving assistance device 19 presents route driving information through route driving control. As the route driving information, the driving assistance device 19 suggests a lane change at the driving direction change point on the display device 18.

[0064] The driving assistance device 19 starts the LCP when the lane change suggestion is accepted by operating a switch on the steering wheel and predetermined route travel start conditions are met. The switch operation may be the driver operating a turn signal lever. The driving assistance device 19 determines whether the route travel suggestion conditions and the route travel start conditions are met based on information (driving environment) acquired by the environment recognition function of the recognition unit 22.

[0065] Note that if a driving route is set in the navigation device 16 but route driving control is not being executed or is disabled in the settings, normal navigation that provides route guidance is executed by the navigation device 16. In addition, the route driving control may include a function that starts an LCP for driving along the driving route when the driver operates the turn signal lever, even if a lane change is not suggested by the route driving information.

[0066] Fig. 4 is a plan view showing an example of a driving scene in which the driving assistance device 19 controls route driving. In the driving scene shown in Fig. 4, a road with three lanes on each side extends in the vertical direction of the drawing, and the vehicle travels on the road from the bottom to the top of the drawing. As shown in Fig. 4, the lane on the right side of the driving direction is lane L1, the center lane is lane L2, the lane on the left side of the driving direction is lane L3, and the branch lane leading to destination X is lane L4.

[0067] 4, vehicle V is traveling at position P1 on lane L1, heading toward destination X located ahead on lane L4, which has been set by an occupant of vehicle V. In this case, when the vehicle is within a first predetermined distance from branch point Z (for example, approximately 2.5 km to 1.0 km before branch point Z) and the route travel suggestion conditions are met, driving assistance device 19 proposes a lane change from lane L1 to lane L2 through route travel control.

[0068] The first predetermined distance (also referred to as the proposed lane change section) is set in advance according to the number of lane changes required to move to the lane where the driving direction change point is located. For example, as shown in Figure 4, if two lane changes are required from lane L1 to lane L2 to lane L3, the first predetermined distance (proposed lane change section) is the section from about 2.5 km to 1.0 km before branch point Z, as shown in the example.

[0069] The route travel suggestion conditions are not particularly limited, but may be exemplified by the fact that all of the following conditions are met. A destination is set in the navigation device 16. -Lane keeping mode in hands-off mode. - Driving at a speed of 60km / h or more. There is a lane in the direction you are changing lanes. -The lane marker type allows lane changes. The curvature radius of the road is 250m or more.

[0070] In addition, under the route driving suggestion conditions, even if there is no space available for a lane change at the lane change destination, route driving information is presented to notify the driver that a lane change is necessary along the driving route.

[0071] In the driving scene shown in Figure 4, destination X is set, lane L2 exists to the left (lane change side) of straight lane L1, and there are no obstacles in lane L2. Therefore, if the vehicle is in lane keeping mode in hands-off mode, the vehicle V is traveling at 60 km / h or faster, and the boundary between lane L1 and lane L2 allows for lane change, the route driving suggestion conditions are met. In the driving scene shown in Figure 4, if the route driving suggestion conditions are met, route driving information is presented to the driver using display device 18 while the vehicle is traveling at position P1.

[0072] When the driver inputs consent to change lanes to head toward the branch point at position P1 and the route travel start conditions are met, the driving assistance device 19 turns on the turn signals and starts the LCP through route travel control. The route travel start conditions are not particularly limited, but may be exemplified by the fact that all of the following conditions are met: -Lane keeping mode in hands-on mode. -Hands-on evaluation is currently underway. - Driving at a speed of 60km / h or more. There is a lane in the direction you are changing lanes. -There is space to change lanes in the lane you are about to change lanes into. -The lane marker type allows lane changes. - Driving in a section where a lane change is suggested. The curvature radius of the road is 250m or more.

[0073] In the driving scene shown in FIG. 4, the route driving proposal conditions are met, so the vehicle is in lane keeping mode in hands-on mode, a hands-on determination is in progress, and if the road shown in FIG. 4 is a lane change proposal section, the route driving start conditions are met. When the route driving start conditions are met, the driving assistance device 19 starts LCP using route driving control and executes lateral movement to lane L2 and LCM. For example, the driving assistance device 19 generates a driving trajectory T4 shown in FIG. 4 and autonomously controls the driving behavior of the vehicle V so that it follows the driving trajectory T4. When the LCM is completed, the driving assistance device 19 turns off the turn signal and starts lane keeping control at position P3 on lane L2. Note that while the LCP is being executed, the driving assistance device 19 displays information to the driver on the display device 18 indicating that a lane change is being performed using route driving control, urging the driver to pay attention to their surroundings.

[0074] In addition, the driving support device 19 is 4 As shown in Fig. 4, while lane keeping control is being performed on lane L2, if the vehicle is within a second predetermined distance to branch point Z (for example, approximately 2.3 km to 700 m before the branch point) and the route driving start condition is met, route driving support control turns on the turn indicators to start a second LCP and changes lanes from lane L2 to lane L3. For example, the driving support device 19 generates a driving trajectory T5 shown in Fig. 4 and causes the vehicle V to travel so as to follow the driving trajectory T5, traveling from position P4 to position P5. When LCM is completed, the driving support device 19 turns off the turn indicators and starts lane keeping control at position P5 on lane L3.

[0075] Furthermore, while lane keeping control is being performed on lane L3, if the vehicle is within a third predetermined distance from branch point Z (for example, approximately 800 m to 150 m before the branch point) and the route driving start condition is met, driving assistance device 19 turns on the turn indicators through route driving control. Using route driving control, driving assistance device 19 generates driving trajectory T6 for entering lane L4. Then, at position P6 before branch point Z, autonomous steering control is initiated for entering lane L4, which is a branch line, and the vehicle travels from position P6 to position P7 following driving trajectory T6, entering lane L4 from lane L3. Once entry into lane L4 is complete, driving assistance device 19 turns off the turn indicators and initiates lane keeping control at position P7 on lane L4.

[0076] Next, Fig. 5 is a block diagram showing state transitions of each function established in the driving assistance device 19. The system shown in Fig. 5 refers to an autonomous driving control system realized by the driving assistance device 19. When the main switch is turned on from the system-off state shown in Fig. 5, the system goes into a standby state. The main switch is a switch that turns on / off the power supply of the system that realizes the vehicle speed control function and steering control function of the driving assistance device 19, and is provided on the steering wheel, for example.

[0077] From the standby state, turning on the set / coast switch or resume / accelerate switch activates autonomous speed control using the vehicle speed control function. This initiates the constant speed control or vehicle distance control described above, allowing the driver to drive the vehicle simply by operating the steering wheel, without having to step on the accelerator or brake. The resume / accelerate switch is a switch used to stop (OFF) the autonomous speed control and then resume it at the set speed before turning it off, increase the set speed, or restart the vehicle using the driving assistance device 19 after stopping to follow a preceding vehicle. The set / coast switch is a switch used to start autonomous speed control at the current driving speed or decrease the set speed. These switches are located, for example, on the steering wheel.

[0078] When autonomous speed control is being performed, if condition (1) in Figure 5 is met, the system transitions to lane keeping mode of the autonomous steering control hands-on mode. An example of this condition (1) is when lane markers on both sides of vehicle V are detected and the driver is holding the steering wheel.

[0079] The hands-on mode refers to a mode in which the autonomous steering control function does not operate unless the driver holds the steering wheel, and the hands-off mode refers to a mode in which the autonomous steering control function operates even if the driver takes his or her hands off the steering wheel. The driver's holding of the steering wheel is detected by a touch sensor of the vehicle state detection device 13.

[0080] If condition (2) in Figure 5 is met while the lane keeping mode of the autonomous steering control hands-on mode is being executed, the system will transition to lane keeping mode of the autonomous steering control hands-off mode. An example of this condition (2) is when the host vehicle V is traveling on a highway with a high-precision map and the GPS signal is valid.

[0081] Conversely, if condition (3) in Figure 5 is met while the lane keeping mode of the autonomous steering control hands-off mode is being executed, the system will transition to lane keeping mode of the autonomous steering control hands-on mode. An example of this condition (3) is when the driving speed exceeds the speed limit.

[0082] If condition (4) in Figure 5 is met while the lane-keeping mode of the autonomous steering control / hands-off mode is being executed, the autonomous steering control will be stopped and the system will transition to autonomous speed control. An example of this condition (4) is when the driver is operating the steering wheel.

[0083] Furthermore, if condition (5) in Figure 5 is met while the lane-keeping mode of the autonomous steering control / hands-off mode is being executed, the autonomous steering control and autonomous speed control will be stopped and the system will transition to a standby state. An example of this condition (5) is when the driver operates the brakes.

[0084] If condition (6) in Figure 5 is met while autonomous steering control is in hands-on mode, autonomous steering control is stopped and the system transitions to autonomous speed control. An example of this condition (6) is when the driver operates the turn signal lever.

[0085] Furthermore, if condition (7) in Figure 5 is met while the autonomous steering control / hands-on mode is being executed, the autonomous steering control and autonomous speed control are stopped and the system transitions to a standby state. An example of this condition (7) is when the driver operates the brakes.

[0086] If condition (8) in Fig. 5 is met while autonomous speed control is being executed, the vehicle transitions to the standby state. An example of this condition (8) is when the driver operates a cancel switch to turn off autonomous speed control.

[0087] If condition (9) in Fig. 5 is met while the lane keep mode of the autonomous steering control hands-off mode is being executed, the system transitions to the lane change mode of the autonomous steering control hands-on mode. Examples of this condition (9) include the driver operating the lane change assist switch in response to a lane change suggestion from the driving assistance system 10, and the driver operating the turn signal lever to execute autonomous lane change control.

[0088] The lane change assist switch is a switch for instructing (consenting to) the driver to start a lane change when the driving assist device 19 confirms with the driver that the driver wants to start a lane change. The lane change assist switch is provided, for example, on the steering wheel.

[0089] If condition (10) in Figure 5 is met while the lane change mode of the autonomous steering control hands-on mode is being executed, the system will transition to lane keeping mode of the autonomous steering control hands-on mode. An example of this condition (10) is when the driving speed exceeds the speed limit before the start of the LCP.

[0090] In this embodiment, it is assumed that a lane keep mode and a lane change mode are set in the autonomous steering control hands-off mode, and that autonomous lane change control can be executed in the autonomous steering control hands-off mode.

[0091] In addition, if the main switch is turned off while the vehicle is in autonomous steering control hands-off mode, autonomous steering control hands-on mode, autonomous speed control, or standby mode, the system will turn off.

[0092] The determination unit 24 has a function of determining whether a steering operation input by the driver satisfies a predetermined cancellation condition while the autonomous lane change control is being executed, and canceling the autonomous lane change control if it is determined that the steering operation satisfies the predetermined cancellation condition. The period during which the autonomous lane change control is being executed refers to, for example, after the autonomous lane change control has been started and before the vehicle V starts moving in the width direction of the road (moving laterally) or before the vehicle V starts LCM. If the determination function of the determination unit 24 determines that the driver's steering operation satisfies the predetermined cancellation condition, the driving assistance device 19 cancels the autonomous lane change control.

[0093] A steering operation refers to an operation of turning the steering wheels of the vehicle V in the direction of travel of the vehicle V, for example, by turning the steering wheel. The steering operation is detected using a steering angle sensor, a torque sensor, etc. of the vehicle state detection device 13. The predetermined cancellation condition is a condition under which the driving assistance device 19 cancels the autonomous lane change control, and examples of such conditions include a condition under which the absolute value of the rotation angle of the steering wheel of the vehicle V becomes larger than a predetermined angle, and a condition under which the absolute value of the steering torque input to the steering wheel by the driver becomes larger than a predetermined value. The steering torque is the torque that rotates the steering wheel. Note that the predetermined cancellation conditions are not limited to these, and the above-mentioned conditions can be combined as appropriate.

[0094] The rotation angle of the steering wheel is defined as 0° when the steered wheels (for example, front wheels) of the vehicle V are parallel to the fore-and-aft direction of the vehicle V, and is defined as a positive angle when the steering wheel is rotated clockwise and a negative angle when the steering wheel is rotated counterclockwise. The steering torque input to the steering wheel is defined as a positive value when the steering wheel is rotated clockwise and a negative value when the steering wheel is rotated counterclockwise. The rotation angle of the steering wheel and the steering torque input to the steering wheel are detected, for example, by a steering angle sensor and a torque sensor of the vehicle state detection device 13.

[0095] The predetermined angle is a value according to the traveling speed of the vehicle V, and can be set to an appropriate value within a range in which the occupants of the vehicle V will not feel uncomfortable if the autonomous lane change control is canceled. Specifically, the predetermined angle is approximately 5 to 10 degrees when the vehicle V is traveling at 80 to 100 km / h, and approximately 10 to 20 degrees when the vehicle V is traveling at 60 to 80 km / h. The predetermined value of the steering torque is approximately 5 to 15 Nm when the vehicle V is traveling at 80 to 100 km / h, and approximately 20 to 30 Nm when the vehicle V is traveling at 60 to 80 km / h. In order to suppress changes in the behavior of the vehicle V, it is preferable to set the predetermined angle and the predetermined value to smaller values ​​as the traveling speed of the vehicle V is higher. Note that the predetermined angle and the steering torque are not limited to the above-mentioned ranges, and can be used in any appropriate combination in the present invention.

[0096] After the autonomous lane change control has started, if the driving assistance device 19 determines that the driver's steering operation satisfies a predetermined cancellation condition while the autonomous lane change control is being executed, the driving assistance device 19 cancels the autonomous lane change control and transitions to manual driving. In this case, the driving assistance device 19 enters the system OFF state shown in FIG. 5, and the vehicle's driving is controlled by the driver's steering operation. Note that manual driving refers to the driving assistance device 19 not performing autonomous driving control of the driving operation, but rather controlling the vehicle's driving by the driver's operation. This transition to manual driving is not an essential configuration for the present invention, and may be added or omitted as necessary.

[0097] Alternatively, if the driving assistance device 19 determines that the driver's steering operation satisfies a predetermined cancellation condition after the start of the autonomous lane change control while the autonomous lane change control is being executed, the driving assistance device 19 may maintain the speed control by the autonomous driving control and cancel the steering control by the autonomous driving control. In this case, the state of the driving assistance device 19 becomes the lane keeping mode of the autonomous steering control hands-on mode shown in FIG. 5, and the driving assistance device 19 performs lane keeping control. Maintaining the speed control by the autonomous driving control and canceling the steering control by the autonomous driving control when it is determined that the driver's steering operation satisfies a predetermined cancellation condition is not an essential configuration of the present invention, and may be added or omitted as necessary.

[0098] In contrast, after the start of the autonomous lane change control, if the driving assistance device 19 determines that a steering operation detected during the execution of the autonomous lane change control does not satisfy a predetermined stop condition, the driving assistance device 19 corrects the driving operation performed by the autonomous lane change control based on the steering operation. For example, the driving assistance device 19 advances or delays the timing of executing the driving operation to change lanes based on the steering operation that does not satisfy the predetermined stop condition. This correction of the driving operation is not an essential configuration of the present invention and may be added or omitted as needed. Alternatively or in addition, the driving assistance device 19 may shorten or lengthen the time required to execute the driving operation to change lanes based on the steering operation. Shortening or lengthening the time required to execute the driving operation to change lanes is not an essential configuration of the present invention and may be added or omitted as needed. Alternatively or in addition, the driving assistance device 19 may increase or decrease the speed in the width direction of the own lane (or road) when the vehicle V moves from the own lane to another lane (e.g., an adjacent lane) based on the steering operation. Setting the speed in the width direction of the own lane to be high or low when the vehicle V moves from the own lane to another lane is not an essential configuration for the present invention, and may be added or omitted as necessary.

[0099] As an example, in the autonomous lane change control shown in FIG. 2, lateral movement to lane L2 is initiated at position P3. However, before the lateral movement is initiated, a steering torque that turns the steering wheel to the left is detected between positions P2 and P3. In this case, if the value of the steering torque is greater than a predetermined value, the autonomous lane change control is stopped as described above. In contrast, if the value of the steering torque is equal to or less than the predetermined value, the driving assistance device 19 changes the position at which the vehicle V initiates lateral movement to lane L2 from position P3 to position P3a. In other words, the driving assistance device 19 delays the timing at which the vehicle V initiates lateral movement in accordance with the steering torque input to the steering wheel.

[0100] As another example, in the autonomous lane change control shown in Fig. 2, assume that a steering torque that turns the steering wheel to the right is detected between positions P2 and P3 before the vehicle V starts to move laterally into lane L2. In this case, if the value of the steering torque is greater than a predetermined value, the autonomous lane change control is stopped as described above. On the other hand, if the value of the steering torque is equal to or less than the predetermined value, the driving assistance device 19 changes the position at which the vehicle V starts to move laterally into lane L2 from position P3 to position P3b. In other words, the timing at which the vehicle V starts to move laterally is advanced.

[0101] If the timing at which the vehicle V starts its lateral movement is changed, the position at which the LCP is completed may be the position that was initially set, or the position at which the LCP is completed may be changed to match the changed timing. For example, if the vehicle V starts its lateral movement from position P3a, the position at which the LCP is completed may be position P6, or may be a position forward of position P6 in the direction of travel. Also, if the vehicle V starts its lateral movement from position P3b, the position at which the LCP is completed may be position P6, or may be a position behind position P6 in the direction of travel.

[0102] Alternatively, if a steering operation that does not satisfy a predetermined cancellation condition is detected continuously for a predetermined time or more after the start of the autonomous lane change control, the driving assistance device 19 may cancel the autonomous lane change control and transition to autonomous driving control that causes the vehicle to continue straight in its own lane. That is, the state of the driving assistance device 19 becomes the lane keeping mode of the autonomous steering control hands-on mode shown in FIG. 5, and the driving assistance device 19 performs lane keeping control. The predetermined time can be set to an appropriate value within a range in which the occupants of the vehicle V do not feel uncomfortable when the autonomous lane change control is canceled, and is specifically approximately 5 to 60 seconds. The transition to autonomous driving control that cancels the autonomous lane change control and causes the vehicle to continue straight in its own lane when a steering operation that does not satisfy a predetermined cancellation condition is detected continuously for a predetermined time or more is not an essential configuration of the present invention, and may be added or omitted as necessary.

[0103] Furthermore, the driving assistance device 19 suspends the autonomous lane change control if a steering torque equal to or less than a predetermined value is continuously input to the steering wheel for a predetermined period of time or longer after the autonomous lane change control has started. For example, in the autonomous lane change control shown in FIG. 2, if the driving assistance device 19 suggests a lane change to the driver at position P1 and then detects torque that rotates the steering wheel to the left for a predetermined period of time or longer, the driving assistance device 19 suspends the autonomous lane change control and transitions to driving under manual control by the driver. The predetermined period of time can be set to an appropriate value within a range in which the occupants of the vehicle V do not feel uncomfortable if the autonomous lane change control is suspended, and is specifically set to approximately 5 to 60 seconds. Suspending the autonomous lane change control when a steering torque equal to or less than a predetermined value is continuously input to the steering wheel for a predetermined period of time or longer is not an essential feature of the present invention, and may be added or omitted as necessary.

[0104] As shown in FIGS. 2, 3A to 3B, and 4, the driving assistance device 19 of this embodiment executes autonomous lane change control for traveling along a travel route toward a set destination X. However, autonomous lane change control can also be executed without setting a destination. For example, in a driving scene in which the vehicle is traveling along its own lane under constant speed control or distance control without setting a destination, if a preceding vehicle traveling at a slower speed than vehicle V is detected ahead, the driving assistance device 19 executes overtaking control to overtake the preceding vehicle in order to maintain the traveling speed of vehicle V. In this overtaking control, a lane change is executed using autonomous lane change control. Hereinafter, autonomous lane change control for changing the traveling direction and traveling along a travel route toward a set destination will be referred to as first autonomous lane change control, and other autonomous lane change control will be referred to as second autonomous lane change control. In other words, the second autonomous lane change control includes autonomous lane change control in driving scenes where the vehicle drives along a road rather than along a driving route to a destination, and autonomous lane change control for driving along a driving route that does not change the direction of travel, and the second autonomous lane change control does not change the direction of travel of the vehicle.

[0105] The direction of travel refers to the direction in which a vehicle travels when traveling along a road. Examples of lane changes that change the vehicle's direction of travel include lane changes to turn right or left at an intersection, entering a lane designated for right or left turns before the intersection, lane changes to travel straight through an intersection, entering a straight-through lane before the intersection, lane changes from the main lane to a branch lane, and lane changes made before a branch point to travel on the main lane or enter a branch lane. Before and after these lane changes, the direction of travel when traveling along the lane before the lane change differs from the direction of travel when traveling along the lane after the lane change. In contrast, examples of lane changes that do not change the vehicle's direction of travel include lane changes to overtake a leading vehicle while traveling along the road in the vehicle's own lane under constant speed control or distance control, and lane changes to avoid an obstacle ahead of the vehicle while traveling along the travel path.

[0106] In both the first autonomous lane change control and the second autonomous lane change control, the driver can intervene in the autonomous lane change control by steering and correct the lane change driving behavior. When the driver intervenes in the first autonomous lane change control, the driver is deliberately intervening in the autonomous driving control when the vehicle could have reached the destination without any particular operation, and it is therefore considered that the driver intends to discontinue the autonomous driving control (especially the autonomous lane change control) and drive manually. In contrast, when the driver intervenes in the second autonomous lane change control, it is considered that the driver intends to correct the lane change driving behavior while continuing to drive along the road using constant speed control or vehicle-to-vehicle distance control, for example.

[0107] In other words, when the driver intervenes in the first autonomous lane change control, the driver's discomfort can be reduced if the autonomous lane change control is easier to cancel, and when the driver intervenes in the second autonomous lane change control, the driver's discomfort can be reduced if the autonomous lane change control is easier to continue. Therefore, driving assistance device 19 uses the determination function of determination unit 24 to set the predetermined cancellation condition for canceling the first autonomous lane change control to a condition that makes it easier to cancel the autonomous lane change control than the predetermined cancellation condition for canceling the second autonomous lane change control.

[0108] Regarding the predetermined angle, which is the rotation angle of the steering wheel at which autonomous lane change control is suspended, driving assistance device 19 sets the predetermined angle for the first autonomous lane change control to be smaller than the predetermined angle for the second autonomous lane change control. For example, the predetermined angle for the first autonomous lane change control may be set to approximately 5 to 10°, and the predetermined angle for the second autonomous lane change control may be set to approximately 2.5 to 5°, which is half the predetermined angle for the first autonomous lane change control. Alternatively or in addition, driving assistance device 19 may set the predetermined value for the first autonomous lane change control to be smaller than the predetermined value for the second autonomous lane change control. For example, the predetermined value for the first autonomous lane change control may be set to approximately 5 to 15 Nm, and the predetermined value for the second autonomous lane change control may be set to approximately 2.5 to 7.5 Nm, which is half the predetermined value for the first autonomous lane change control. In addition, changing the predetermined value of the predetermined angle and / or steering torque to set the predetermined cancellation condition for canceling the first autonomous lane change control to a condition that makes it easier to cancel the autonomous lane change control than the predetermined cancellation condition for canceling the second autonomous lane change control is not an essential configuration of the present invention, and may be added or omitted as needed.

[0109] Alternatively or additionally, the predetermined cancellation condition for canceling the first autonomous lane change control may be set to a condition that makes it easier to cancel the autonomous lane change control than the predetermined cancellation condition for canceling the second autonomous lane change control by changing the steering wheel operation setting without changing the predetermined angle of the steering wheel rotation angle and the predetermined value of the steering torque. For example, if the vehicle is equipped with a steering device in which the amount of steering wheel rotation required to change the steering angle of the steered wheels of the vehicle is variable, the amount of steering wheel rotation for the first autonomous lane change control may be set to be smaller than the amount of steering wheel rotation for the second autonomous lane change control. This allows the first autonomous lane change control to be canceled with a smaller steering wheel rotation than the second autonomous lane change control. Alternatively or additionally, the assist gain for the driver's steering input may be set higher so that the torque required to rotate the steering wheel in the first autonomous lane change control is smaller than the torque required to rotate the steering wheel in the second autonomous lane change control. As a result, the steering torque required to reach the predetermined angle becomes larger, and the autonomous lane change control can be stopped with a smaller steering torque input than in the second autonomous lane change control. Note that setting the predetermined stop condition for stopping the first autonomous lane change control to a condition that makes it easier to stop the autonomous lane change control than the predetermined stop condition for stopping the second autonomous lane change control by changing the setting of the steering wheel operation without changing the predetermined angle of the steering wheel rotation angle and the predetermined value of the steering torque is not an essential configuration of the present invention, and may be added or omitted as necessary.

[0110] Furthermore, the driving assistance device 19 sets the predetermined cancellation condition so that the autonomous lane change control is more likely to be cancelled when the vehicle V is traveling at a high speed than when the vehicle V is traveling at a low speed. In other words, the predetermined cancellation condition is set so that the autonomous lane change control is more likely to be cancelled the faster the vehicle V is traveling at a high speed. This is because the behavior of the vehicle V changes more significantly in response to inputs to the steering wheel as the vehicle V travels at a high speed, and therefore the driving assistance device 19 is able to appropriately cancel the autonomous lane change control while suppressing changes in the behavior of the vehicle V. Specifically, the predetermined angle of the steering wheel rotation angle and / or the predetermined value of the steering torque are set smaller as the vehicle V travels at a high speed. Alternatively or in addition, the amount of steering wheel rotation required to change the steering angle of the vehicle's steered wheels may be set smaller as the vehicle V travels at a high speed. Alternatively or in addition, the torque required to rotate the steering wheel may be set smaller as the vehicle V travels at a high speed. Setting a predetermined cancellation condition so that autonomous lane change control is more likely to be cancelled when the vehicle V is traveling at a high speed than when the vehicle V is traveling at a low speed is not an essential configuration of the present invention, and may be added or omitted as needed.

[0111] Alternatively or in addition, the driving assistance device 19 may set a predetermined cancellation condition so that the autonomous lane change control is more likely to be cancelled when another vehicle traveling in another lane is detected than when no other vehicle is detected. This is because, when the lane change start condition is not met due to the presence of an obstacle such as another vehicle, if the lane can be changed by manual operation by the driver, the autonomous lane change control is cancelled and the system quickly transitions to manual operation. Setting a predetermined cancellation condition so that the autonomous lane change control is more likely to be cancelled when another vehicle traveling in another lane is detected than when no other vehicle is detected is not an essential configuration for the present invention, and may be added or omitted as necessary.

[0112] For example, when a preceding or following vehicle traveling in a lane adjacent to the own vehicle is detected, the driving assistance device 19 sets the predetermined angle and / or predetermined value to be smaller than when such a vehicle is not detected. Alternatively or in addition, when a vehicle traveling in a lane adjacent to the own vehicle is detected, the amount of rotation of the steering wheel required to change the steering angle of the vehicle's steering wheels may be set to be smaller than when no other vehicle is detected. Alternatively or in addition, when a vehicle traveling in a lane adjacent to the own vehicle is detected, the torque required to rotate the steering wheel may be set to be smaller than when no other vehicle is detected.

[0113] Alternatively or in addition to this, the driving assistance device 19 may set the predetermined cancellation condition so that the autonomous lane change control is more likely to be canceled when the traveling speed of the vehicle V is slower than the traveling speed of another vehicle traveling in another lane than when the traveling speed of the vehicle V is faster than the traveling speed of the other vehicle. In other words, the predetermined cancellation condition may be set so that the autonomous lane change control is more likely to be canceled when the vehicle V changes lanes from a lane where the average speed of vehicles traveling in the lane is fast (for example, an overtaking lane) to a lane where the average speed of vehicles traveling in the lane is slower (for example, a driving lane or a climbing lane) than in the opposite case.

[0114] When a vehicle traveling in another lane (e.g., an adjacent lane) is traveling at a higher speed than the vehicle traveling in the same lane, a following vehicle that the driver can see but cannot detect using the imaging device 11 and the distance measuring device 12 may approach the vehicle V at a higher speed than the vehicle V. In this case, the driver may correct the driving behavior of the autonomous lane change control by operating the steering wheel so that the vehicle V can start lateral movement or LCM before the following vehicle approaches. Therefore, a predetermined cancellation condition is set so that the autonomous lane change control is less likely to be canceled even if the driver operates the steering wheel. Specifically, when the vehicle V changes lanes from a lane with a low average vehicle speed to a lane with a high average vehicle speed, the predetermined angle of the steering wheel rotation angle and / or the predetermined value of the steering torque are set smaller than in the opposite case. Furthermore, when the vehicle V changes lanes from a lane with a low average vehicle speed to a lane with a high average vehicle speed, the amount of steering wheel rotation required to change the steering angle of the steered wheels and / or the torque required to rotate the steering wheel may be set smaller than in the opposite case. In addition, setting a predetermined cancellation condition so that autonomous lane change control is more likely to be canceled when the traveling speed of vehicle V is slower than the traveling speed of other vehicles traveling in other lanes than when the traveling speed of vehicle V is faster than the traveling speed of other vehicles is not an essential configuration of the present invention, and may be added or omitted as necessary.

[0115] Alternatively or in addition, the driving assistance device 19 may set a predetermined cancellation condition for steering into another lane, among the steering operations performed by the driver, so that the autonomous lane change control is more likely to be canceled. For example, when the vehicle V changes lanes from its own lane to an adjacent lane to the right of the own lane, the driving assistance device 19 sets a smaller predetermined angle of the steering wheel rotation angle and / or a smaller predetermined value of the steering torque for turning the steering wheel to the right than for turning the steering wheel to the left. Alternatively or in addition, when the vehicle V changes lanes from its own lane to an adjacent lane to the right of the own lane, the driving assistance device 19 may set a smaller predetermined angle and / or a smaller predetermined value for turning the steering wheel to the right than for turning the steering wheel to the left. In the autonomous lane change control shown in FIG. 2, since the vehicle V is changing lanes from lane L1 to lane L2, the predetermined angle and / or the predetermined value for turning the steering wheel to the right is set smaller than for turning the steering wheel to the left. This makes it possible to stop the autonomous lane change control and quickly transition to manual operation while suppressing changes in the behavior of the vehicle V. Note that the setting of a predetermined stop condition by the driving assistance device 19 to make it easier to stop the autonomous lane change control for steering into another lane among the steering operations performed by the driver is not an essential configuration for the present invention, and may be added or omitted as needed.

[0116] [Processing in driving assistance systems] The procedure for information processing by the driving assistance device 19 will be described with reference to Figures 6A and 6B. Figures 6A and 6B are an example of a flowchart showing information processing executed in the driving assistance system 10 of this embodiment. The processing described below is executed at predetermined time intervals by the CPU 191, which is the processor of the driving assistance device 19. Note that the flowcharts shown in Figures 6A and 6B are based on the premise that the vehicle V is traveling on a road using lane keeping control.

[0117] First, in step S1 of FIG. 6A, vehicle V is caused to travel using the vehicle control device 17 through lane keeping control by the steering control unit 232. Specifically, the traveling speed of vehicle V is controlled using the speed control device 171 through vehicle distance control or constant speed control. Furthermore, the steering device of vehicle V is controlled using the steering control device 172 through autonomous steering control so that the vehicle travels along its own lane. In the following step S2, the environment recognition function of the recognition unit 22 acquires the current position of vehicle V from the own vehicle position detection device 15. In the following step S3, the traveling control function of the control unit 23 acquires a traveling route from the navigation device 16. In the following step S4, the environment recognition function of the recognition unit 22 recognizes the traveling environment around vehicle V from the detection results of the imaging device 11 and the distance measurement device 12.

[0118] In step S5, the determination function of the determination unit 24 determines whether or not autonomous lane change control needs to be executed based on the information acquired in steps S2 to S4. For example, if it is necessary to change lanes from the current lane to an adjacent lane that is a left-turn-only lane in order to make a left turn along the set driving route, it determines that autonomous lane change control needs to be executed. On the other hand, if the destination can be reached by continuing driving along the current lane, it determines that autonomous lane change control does not need to be executed.

[0119] If it is determined that autonomous lane change control does not need to be performed, the process proceeds to step S6, and driving using lane keeping control is maintained. In the following step S7, the driving assistance function of the assistance unit 20 determines whether the vehicle V has arrived at the destination. If it is determined that the vehicle V has arrived at the destination, the autonomous driving control is stopped, and the driver is prompted to drive manually via the display device 18. On the other hand, if it is determined that the vehicle V has not arrived at the destination, the process proceeds to step S1, and the above-mentioned processing is repeated.

[0120] On the other hand, if it is determined in step S5 that autonomous lane change control needs to be executed, the process proceeds to step S11 in Fig. 6B. First, in step S11, the determination function of the determination unit 24 determines whether or not a lane change start condition is met. If it is determined that the lane change start condition is not met, the autonomous driving control is stopped, and the driver is prompted to manually change lanes via the display device 18. On the other hand, if it is determined that the lane change start condition is met, the process proceeds to step S12, and autonomous lane change control is started.

[0121] In the next step S13, the determination function of the determination unit 24 determines whether the lane change performed by the autonomous lane change control is a lane change for traveling along a travel route toward a set destination (first autonomous lane change control). For example, if the autonomous lane change control is performed to enter a lane toward the destination, it is determined that the lane change is for traveling along a travel route toward the set destination, and the process proceeds to step S14. In the next step S14, it is determined whether the traveling direction when traveling along the lane before the lane change is different from the traveling direction when traveling along the lane after the lane change (i.e., whether the traveling direction of the vehicle changes before and after the lane change). If the traveling direction of the vehicle changes, the process proceeds to step S15, where a predetermined cancellation condition for the first autonomous lane change control is set. That is, a predetermined cancellation condition that makes it easy to cancel the autonomous lane change control is set. Then, the process proceeds to step S21.

[0122] On the other hand, if in step S14 the direction of travel of the vehicle does not change in the lane on which the vehicle will travel after the lane change, the process proceeds to step S16. Furthermore, for example, if the autonomous lane change control is executed to overtake a preceding vehicle traveling at a slower speed than vehicle V while traveling along a road at constant speed control without setting a destination, the process determines in step S13 that the lane change is not for traveling along a travel route toward the set destination, and the process proceeds to step S16. Then, in step S16, a predetermined cancellation condition for the second autonomous lane change control is set. That is, a predetermined cancellation condition is set that makes it difficult to cancel the autonomous lane change control.

[0123] In the following step S17, the determination function of the determination unit 24 determines whether the traveling speed of the vehicle V is faster than a predetermined speed. The driving assistance device 19 of this embodiment sets a predetermined cancellation condition so that the faster the traveling speed of the vehicle V, the more likely it is that the autonomous lane change control will be canceled. In one aspect, the driving assistance device 19 determines, using the determination function of the determination unit 24, whether the traveling speed of the vehicle V is faster than a predetermined speed. The predetermined speed can be set to an appropriate value within a range in which the change in behavior of the vehicle V when the autonomous lane change control is canceled does not cause discomfort to the occupants of the vehicle V, and is, for example, 40 to 60 km / h. If the traveling speed acquired from the vehicle speed sensor is equal to or lower than the predetermined speed, the process proceeds to step S18. On the other hand, if the traveling speed acquired from the vehicle speed sensor is faster than the predetermined speed, the process proceeds to step S20.

[0124] In step S18, the determination function of the determination unit 24 determines whether or not another vehicle traveling in the other lane to which the lane is to be changed has been detected. In particular, it determines whether or not a preceding vehicle and / or a following vehicle traveling in the adjacent lane to which the lane is to be changed has been detected. If no other vehicle traveling in the other lane (for example, the adjacent lane) has been detected from the information acquired from the imaging device 11 and the distance measurement device 12, the process proceeds to step S19. On the other hand, if another vehicle traveling in the other lane has been detected, the process proceeds to step S20.

[0125] In step S19, the determination function of the determination unit 24 determines whether the vehicle V is about to enter an overtaking lane. That is, it determines whether the vehicle V is about to enter a lane in which another vehicle traveling at a higher speed than the vehicle V is traveling. If it is determined that the vehicle V is about to change lanes from the overtaking lane to the driving lane (i.e., about to enter a lane in which vehicles are traveling at a slower speed), the process proceeds to step S20. On the other hand, if it is determined that the vehicle V is about to change lanes from the driving lane to the overtaking lane (i.e., about to enter a lane in which vehicles are traveling at a higher speed), the process proceeds to step S21.

[0126] In step S20, the determination function of determination unit 24 changes the predetermined cancellation condition to a condition that makes it easier to cancel the autonomous lane change control. For example, the predetermined cancellation condition for the second autonomous lane change control set in step S16 is changed to the predetermined cancellation condition for the first autonomous lane change control. Then, the process proceeds to step S21.

[0127] In step S21, the determination function of the determination unit 24 determines whether or not a steering operation by the driver has been detected. If it is determined that a steering operation by the driver has not been detected, the process proceeds to step S22, where a lane change is executed by the autonomous lane change control of the control unit 23. Specifically, the LCP and LCM are executed. Then, after the lane change is executed, the process proceeds to step S7 in FIG. 6A.

[0128] On the other hand, if it is determined that a steering operation by the driver has been detected, the process proceeds to step S23. In step S23, the determination function of the determination unit 24 determines whether the input steering operation satisfies a predetermined stop condition. For example, if the absolute value of the steering torque acquired from the torque sensor (host vehicle state detection device 13) is greater than a predetermined value, it is determined that the predetermined stop condition is satisfied. On the other hand, if the rotation angle of the steering wheel acquired from the steering angle sensor (host vehicle state detection device 13) is equal to or smaller than the predetermined angle, it is determined that the predetermined stop condition is not satisfied.

[0129] If it is determined that the steering operation does not satisfy the predetermined cancellation condition, the process proceeds to step S24, where the lane change driving operation is corrected according to the steering operation. For example, when changing lanes to the right in the traveling direction, if torque that turns the steering wheel to the left in the traveling direction is detected, the timing at which the vehicle V starts to move laterally is delayed.

[0130] In the next step S25, it is determined whether or not a steering torque equal to or less than a predetermined value has been input to the steering wheel continuously for a predetermined time or more by the determination function of the determination unit 24. If it is determined that a steering torque equal to or less than the predetermined value has not been input to the steering wheel continuously for a predetermined time or more, the process proceeds to step S22, where a lane change is executed based on the corrected driving operation.

[0131] On the other hand, if it is determined that a steering torque equal to or less than a predetermined value has been input to the steering wheel continuously for a predetermined time or more, the process proceeds to step S26, where the autonomous lane change control is stopped. Also, if it is determined in step S23 that the input steering operation satisfies a predetermined stop condition, the process proceeds to step S26, where the autonomous lane change control is stopped. Then, the driver is prompted to drive manually via the display device 18.

[0132] If it is determined in step S23 that the steering operation does not satisfy the predetermined cancellation condition, the process may proceed to step S1 in Fig. 6A and transition to driving using lane keeping control instead of proceeding to step S24. Also, if it is determined in step S23 that the steering operation satisfies the predetermined cancellation condition, the autonomous lane change control may be stopped, and the process may proceed to step S1 in Fig. 6A and transition to driving using lane keeping control.

[0133] [Embodiments of the present invention] As described above, according to this embodiment, a vehicle driving assistance method is provided in which a processor executes autonomous lane change control to change the lane of the vehicle V from the lane in which the vehicle V is traveling to another lane through autonomous driving control, and the autonomous lane change control is terminated if a steering operation input by the driver during the execution of the autonomous lane change control satisfies a predetermined termination condition. The processor executes a first autonomous lane change control to change the direction of travel and travel along a travel route to head toward a set destination, and a second autonomous lane change control that does not change the direction of travel other than the first autonomous lane change control. The predetermined termination condition for the first autonomous lane change control is set to a condition that makes the autonomous lane change control more likely to be terminated than the predetermined termination condition for the second autonomous lane change control. This allows the autonomous lane change control to be terminated appropriately depending on the driving situation. Furthermore, because the autonomous lane change control can be terminated in line with the driver's intentions, the sense of discomfort felt by the driver can be reduced. Furthermore, when changing lanes to a lane heading towards a set destination, if the lane change cannot be performed using the driving assistance system 10 but the lane change is possible through manual operation by the driver, the autonomous lane change control is stopped and the driver can quickly start manual operation. Also, when correcting the driving operation of the autonomous lane change control, the autonomous lane change control is not stopped and the driver can appropriately intervene in the autonomous lane change control.

[0134] According to the vehicle driving assistance method of this embodiment, the predetermined cancellation condition may include at least one of a condition that the absolute value of the rotation angle of the steering wheel of the vehicle becomes larger than a predetermined angle, and a condition that the absolute value of the steering torque input to the steering wheel by the driver becomes larger than a predetermined value. This makes it possible to more accurately determine whether to cancel the autonomous lane change control.

[0135] Furthermore, according to the vehicle driving assistance method of this embodiment, the processor may set at least one of the following as the predetermined cancellation condition: a condition for setting the predetermined angle for the first autonomous lane change control smaller than the predetermined angle for the second autonomous lane change control; a condition for setting the predetermined value for the first autonomous lane change control smaller than the predetermined value for the second autonomous lane change control; a condition for setting the rotation amount of the steering wheel required to change the steering angle of the steered wheels of the vehicle smaller for the first autonomous lane change control than for the second autonomous lane change control; and a condition for setting the torque required to rotate the steering wheel in the first autonomous lane change control smaller than the torque required to rotate the steering wheel in the second autonomous lane change control. This makes it possible to more reliably set conditions under which the first autonomous lane change control is more likely to be canceled than the second autonomous lane change control.

[0136] According to the vehicle driving assistance method of this embodiment, the processor may suspend the autonomous lane change control when the absolute value of the steering torque input to the steering wheel of the vehicle by the driver is equal to or less than a predetermined value and the steering torque equal to or less than the predetermined value is continuously input to the steering wheel for a predetermined period of time or more. This makes it possible to suppress any discomfort felt by the driver due to the continuation of the autonomous lane change control.

[0137] Furthermore, according to the vehicle driving assistance method of this embodiment, the processor may set the predetermined cancellation condition so that the autonomous lane change control is more likely to be canceled when the vehicle is traveling at a high speed than when the vehicle is traveling at a low speed. This makes it possible to cancel the autonomous lane change control while suppressing changes in the behavior of the vehicle V.

[0138] In addition, according to the vehicle driving assistance method of this embodiment, the processor may set the predetermined cancellation condition so that the autonomous lane change control is more likely to be canceled when another vehicle traveling in the other lane is detected than when the other vehicle is not detected. This allows for a prompt transition to manual lane change by the driver when manual lane change is possible.

[0139] Furthermore, according to the vehicle driving assistance method of this embodiment, the processor may set the predetermined cancellation condition so that the autonomous lane change control is more likely to be canceled when the traveling speed of the vehicle is slower than the traveling speed of another vehicle traveling in the other lane than when the traveling speed of the vehicle is faster than the traveling speed of the other vehicle. This makes it possible to start lateral movement or LCM of vehicle V before the approach of a following vehicle that is visible to the driver but cannot be detected by the imaging device 11 and the distance measuring device 12 and is approaching vehicle V at a traveling speed faster than vehicle V.

[0140] Furthermore, according to the vehicle driving assistance method of this embodiment, the processor may set the predetermined cancellation condition for steering into the other lane among the steering operations so that the autonomous lane change control is likely to be canceled. This makes it possible to cancel the autonomous lane change control and quickly transition to manual operation while suppressing changes in the behavior of the vehicle V.

[0141] Furthermore, according to this embodiment, a vehicle driving assistance device 19 is provided, which includes a control unit 23 that executes autonomous lane change control to change the lane of the vehicle V from the lane in which the vehicle V is traveling to another lane through autonomous driving control, and a determination unit 24 that terminates the autonomous lane change control if a steering operation input by the driver during execution of the autonomous lane change control satisfies a predetermined termination condition. The control unit 23 executes a first autonomous lane change control to change the direction of travel and travel along a travel route to head toward a set destination, and a second autonomous lane change control that does not change the direction of travel other than the first autonomous lane change control. The determination unit 24 sets the predetermined termination condition of the first autonomous lane change control to a condition that makes the autonomous lane change control more likely to be terminated than the predetermined termination condition of the second autonomous lane change control. This allows the termination of the autonomous lane change control to be executed appropriately depending on the driving situation. Furthermore, since the termination of the autonomous lane change control can be executed in accordance with the driver's intention, the discomfort felt by the driver can be reduced. Furthermore, when changing lanes to a lane heading towards a set destination, if the lane change cannot be performed using the driving assistance system 10 but the lane change is possible through manual operation by the driver, the autonomous lane change control is stopped and the driver can quickly start manual operation. Also, when correcting the driving operation of the autonomous lane change control, the autonomous lane change control is not stopped and the driver can appropriately intervene in the autonomous lane change control.

[0142] In the vehicle driving assistance method and driving assistance device 19 of this embodiment, the configurations described in the above-mentioned embodiments may be freely combined and used, and the combination is not particularly limited. In addition, in the vehicle driving assistance method and driving assistance device 19 of this embodiment, the configurations described in the above-mentioned embodiments are not limited to the configurations described in the above-mentioned embodiments, and the configurations described in the embodiments may be freely combined and used, and the combination is not particularly limited. [Explanation of symbols]

[0143] 10...Driver assistance system 11...imaging device 12…Distance measuring device 13... Vehicle state detection device 14...Map information 15...Vehicle position detection device 16...Navigation device 17...Vehicle control device 171...Speed ​​control device 172...Steering control device 18...Display device 19...Driving assistance device 191...CPU (processor) 192...ROM 193...RAM 20…Support Department 21...Generation section 22...Recognition part 23...Control unit 231...Speed ​​control section 232...Steering control unit 24…Judgment section L1, L2, L3, L4...lanes P1,P2,P3,P3a,P3b,P4,P5,P6,P7,P8,P9,P10,P11,P12,P13,Py...Position T1,T2,T3,T4,T5,T6…travel trajectory V...Vehicle (own vehicle) X…Destination Y...Other vehicles Z...branch point

Claims

1. The autonomous driving control executes autonomous lane change control to change the lane from the lane in which the vehicle is traveling to another lane, a processor that executes the method for assisting a vehicle by terminating the autonomous lane change control when a steering operation input by a driver during execution of the autonomous lane change control satisfies a predetermined termination condition; The processor: executes a first autonomous lane change control for changing the traveling direction and traveling along a travel route in order to head toward a set destination, and a second autonomous lane change control for not changing the traveling direction other than under the first autonomous lane change control, A vehicle driving assistance method, comprising: setting the predetermined cancellation condition of the first autonomous lane change control to a condition that makes it easier for the autonomous lane change control to be canceled than the predetermined cancellation condition of the second autonomous lane change control.

2. 2. The vehicle driving assistance method according to claim 1, wherein the predetermined cancellation condition includes at least one of a condition in which an absolute value of a rotation angle of a steering wheel of the vehicle becomes larger than a predetermined angle, and a condition in which an absolute value of a steering torque input by the driver to the steering wheel becomes larger than a predetermined value.

3. The processor: a condition for setting the predetermined angle of the first autonomous lane change control to be smaller than the predetermined angle of the second autonomous lane change control; a condition for setting the predetermined value of the first autonomous lane change control to be smaller than the predetermined value of the second autonomous lane change control; a condition that, regarding a rotation amount of the steering wheel required to change the steering angle of the steered wheels of the vehicle, the rotation amount of the first autonomous lane change control is set to be smaller than the rotation amount of the second autonomous lane change control; and a condition under which the torque required to rotate the steering wheel in the first autonomous lane change control is set to be smaller than the torque required to rotate the steering wheel in the second autonomous lane change control, as the predetermined cancellation condition.

4. 4. The vehicle driving assistance method according to claim 1, wherein the processor suspends the autonomous lane change control when an absolute value of the steering torque input by the driver to the steering wheel of the vehicle is equal to or less than a predetermined value and the steering torque equal to or less than the predetermined value is continuously input to the steering wheel for a predetermined period of time or more.

5. 4. The vehicle driving assistance method according to claim 1, wherein the processor sets the predetermined cancellation condition so that the autonomous lane change control is more likely to be canceled when the vehicle's traveling speed is fast than when the vehicle's traveling speed is slow.

6. 4. The vehicle driving assistance method according to claim 1, wherein the processor sets the predetermined cancellation condition so that the autonomous lane change control is more likely to be canceled when another vehicle traveling in the other lane is detected than when the other vehicle is not detected.

7. 4. The vehicle driving assistance method according to claim 1, wherein the processor sets the predetermined cancellation condition so that the autonomous lane change control is more likely to be canceled when the vehicle's traveling speed is slower than the traveling speed of another vehicle traveling in the other lane than when the vehicle's traveling speed is faster than the traveling speed of the other vehicle.

8. 4. The vehicle driving assistance method according to claim 1, wherein the processor sets the predetermined cancellation condition for steering into the other lane among the steering operations so that the autonomous lane change control is likely to be canceled.

9. a control unit that executes autonomous lane change control to change the lane from the lane in which the vehicle is traveling to another lane through autonomous driving control; a determination unit that, when a steering operation of the driver input during execution of the autonomous lane change control satisfies a predetermined cancellation condition, cancels the autonomous lane change control; the control unit executes a first autonomous lane change control for changing a traveling direction and traveling along a traveling route in order to head toward a set destination, and a second autonomous lane change control for not changing the traveling direction other than the first autonomous lane change control, The determination unit sets the predetermined cancellation condition for the first autonomous lane change control to a condition that makes it easier for the autonomous lane change control to be canceled than the predetermined cancellation condition for the second autonomous lane change control.

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