Vehicle control device, vehicle control method and program

Abstract

To provide a vehicle control device, vehicle control method and program, which are effective in making a driver of a vehicle recognize that overtake assistance control being executed was aborted.SOLUTION: When abort conditions are met while a vehicle capable of executing overtake assistance control, including first lane change control for moving the vehicle traveling on a traveling lane to a destination lane and second lane change control for returning the vehicle to the traveling lane from the destination lane, is under the overtake assistance control, the overtake assistance control is aborted and a second image is displayed on the display device in place of a first image.SELECTED DRAWING: Figure 8

Description

[Technical Field]

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

[0002] Patent Document 1 below discloses a vehicle capable of executing overtaking assist control. The overtaking assist control includes a first lane change control for moving a vehicle traveling in a driving lane to a destination lane, and a second lane change control for returning the vehicle from the destination lane to the driving lane. Furthermore, a display device of this vehicle is capable of displaying a first image while the vehicle is executing overtaking assist control. The display device is also capable of displaying a second image before and after the overtaking assist control starts and ends. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-163932 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, there are cases where the second lane change control is not executed after the vehicle has moved to the destination lane through the first lane change control. The above-mentioned Patent Document 1 leaves room for improvement in the method of controlling the display device in such cases.

[0005] In consideration of the above, an object of the present invention is to provide a vehicle control device, a vehicle control method, and a program that can easily make a vehicle occupant aware that the overtaking assist control that was being executed has been stopped. [Means for solving the problem]

[0006] The vehicle control device of claim 1 includes a control unit capable of executing overtaking assist control including a first lane change control for moving a vehicle traveling in a driving lane to a destination lane and a second lane change control for returning the vehicle from the destination lane to the driving lane, and a display device capable of displaying a first image indicating that the overtaking assist control is being executed when the vehicle is executing the overtaking assist control, and a second image indicating that the overtaking assist control is not being executed when the vehicle is not executing the overtaking assist control, and when a predetermined cancellation condition is met while the vehicle is executing the overtaking assist control, the control unit cancels the overtaking assist control and the display device displays the first image. without displaying an image different from the first image and the second image. The second image is displayed.

[0007] The control unit of the vehicle control device of claim 1 is capable of executing overtaking assist control including first lane change control for moving a vehicle traveling in a driving lane to a destination lane and second lane change control for returning the vehicle from the destination lane to the driving lane. The display device is capable of displaying a first image indicating that the overtaking assist control is being executed when the vehicle is executing the overtaking assist control, and is capable of displaying a second image indicating that the overtaking assist control is not being executed when the vehicle is not executing the overtaking assist control.

[0008] Furthermore, when a predetermined cancellation condition is met while the vehicle is performing the overtaking assist control, the control unit cancels the overtaking assist control. Furthermore, when the cancellation condition is met, the display device erases the first image. , without displaying an image different from the first image and the second image. The second image is displayed. Therefore, the vehicle control device of claim 1 makes it easy for the vehicle occupants to recognize that the overtaking assist control that was being executed has been stopped.

[0009] The vehicle control device of claim 2 is the same as claim 1, in which the cancellation condition is met when the vehicle moves from the driving lane to the destination lane by the overtaking assist control and a specific condition is met while the vehicle is traveling in the destination lane.

[0010] In claim 2, the cancellation condition is met when a specific condition is met while the vehicle moves from the driving lane to the destination lane by overtaking assist control and is traveling in the destination lane. Therefore, the vehicle control device of claim 2 makes the vehicle occupants aware that the overtaking assist control being executed has been cancelled due to the satisfaction of the specific condition.

[0011] The vehicle control device of claim 3 is the same as claim 2, in which the specific condition is met when the accelerator pedal of the vehicle is depressed or when the set vehicle speed of the adaptive cruise control being executed by the vehicle is changed to a higher value.

[0012] In claim 3, the specific condition is met when the accelerator pedal of the vehicle is depressed or when the set vehicle speed of the adaptive cruise control being executed by the vehicle is changed to a higher value. Therefore, the vehicle control device of claim 3 can notify the vehicle occupants that the overtaking assist control being executed has been stopped when these conditions occur.

[0013] The vehicle control device described in claim 4 is, in claim 2 or claim 3, such that when the vehicle moves from the driving lane to the destination lane by the overtaking assist control, the control unit determines whether the vehicle can be returned from the destination lane to the driving lane by the second lane change control, and the specific condition is met when the control unit determines that the vehicle cannot be returned to the driving lane.

[0014] The control unit of the vehicle control device of claim 4 determines whether or not the overtaking assist control can return the vehicle from the destination lane to the driving lane when the vehicle moves from the driving lane to the destination lane. Furthermore, when the control unit determines that the vehicle cannot be returned to the driving lane, a specific condition is established. Therefore, when it is determined that the overtaking assist control cannot return the vehicle from the destination lane to the driving lane, the vehicle control device of claim 4 makes the occupants of the vehicle aware that the overtaking assist control being executed has been stopped.

[0015] A vehicle control method according to the invention of claim 5 includes, when a vehicle capable of executing overtaking assist control including first lane change control for moving from a current driving lane to a destination lane and second lane change control for returning from the destination lane to the driving lane is executing the overtaking assist control, displaying on a display device of the vehicle a first image indicating that the overtaking assist control is being executed, and when the vehicle is not executing the overtaking assist control, displaying on the display device a second image indicating that the overtaking assist control is not being executed, and when a predetermined cancellation condition is met while the vehicle is executing the overtaking assist control, canceling the overtaking assist control and displaying on the display device the first image. without displaying an image different from the first image and the second image. The second image is displayed.

[0016] The program according to claim 6 includes, when a vehicle capable of executing overtaking assist control including first lane change control for moving from a current driving lane to a destination lane and second lane change control for returning from the destination lane to the driving lane is executing the overtaking assist control, a process for displaying a first image indicating that the overtaking assist control is being executed on a display device of the vehicle, when the vehicle is not executing the overtaking assist control, a process for displaying a second image indicating that the overtaking assist control is not being executed on the display device, and a process for canceling the overtaking assist control and displaying the first image on the display device when a predetermined cancel condition is met while the vehicle is executing the overtaking assist control. without displaying an image different from the first image and the second image. The computer is caused to execute a process of displaying the second image. [Effects of the Invention]

[0017] As described above, the vehicle control device, vehicle control method, and program according to the present invention have the excellent effect of making it easy for a vehicle occupant to recognize that the overtaking assist control being executed has been stopped. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram showing the interior of a vehicle equipped with a vehicle control device according to an embodiment; [Figure 2] FIG. 2 is a diagram illustrating a hardware configuration of the vehicle shown in FIG. [Figure 3] FIG. 3 is a functional block diagram of the ECU shown in FIG. 2. [Figure 4] FIG. 2 is a plan view of the vehicle, surrounding vehicles, and road shown in FIG. [Figure 5] FIG. 10 is a diagram showing a display device displaying an image in a normal state. [Figure 6] FIG. 10 is a diagram showing a display device displaying an overtaking image. [Figure 7] FIG. 1 is a side view of a road and a vehicle. [Figure 8] 4 is a flowchart showing a process executed by a CPU of an ECU. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a program according to the present invention will be described with reference to the drawings. In the drawings, an arrow FR indicates the front side in the longitudinal direction of the vehicle, an arrow LH indicates the left side in the lateral direction of the vehicle, and an arrow UP indicates the upper side in the vertical direction of the vehicle.

[0020] 1, a vehicle 12 equipped with the vehicle control device 10 includes an instrument panel 14 and a front windshield 15. The instrument panel 14 is provided with a steering column 16, and a steering wheel 18 is rotatably supported by the steering column 16.

[0021] As shown in Fig. 1, a sensor unit 21 is provided on the upper part of the interior surface of the front windshield 15. The sensor unit 21 includes a camera 21A that captures an image of a subject located in front of the front windshield 15 through the front windshield 15, a millimeter-wave radar (not shown) that transmits a detection wave and receives a reflected wave, and a lidar (laser imaging detection and ranging) (not shown) that scans the area ahead of the vehicle 12. The vehicle 12 also has multiple cameras (not shown) in addition to the camera 21A. Hereinafter, these cameras will be referred to as a group of perimeter monitoring cameras.

[0022] 2, the vehicle 12 has a GPS (Global Positioning System) receiver 22. The GPS receiver 22 receives GPS signals transmitted from GPS satellites to obtain information about the location where the vehicle 12 is traveling (hereinafter referred to as "location information").

[0023] As shown in FIGS. 1 and 2, the instrument panel 14 is provided with a display device 23.

[0024] As shown in FIGS. 1 and 2, the instrument panel 14 is provided with a driving assistance operation device 25. The driving assistance operation device 25 is a device for causing the vehicle 12 to execute driving assistance control, which will be described later. When the driving assistance operation device 25 is in the ON state, the vehicle 12 can execute driving assistance control. When the driving assistance operation device 25 is in the OFF state, the vehicle 12 cannot execute driving assistance control.

[0025] As shown in FIG. 2, the vehicle 12 has an ECU (Electronic Control Unit) 26 as a hardware configuration.

[0026] The ECU 26 includes a CPU (Central Processing Unit) (controller) (computer) 26A, a ROM (Read Only Memory) (non-temporary recording medium) (recording medium) 26B, a RAM (Random Access Memory) 26C, a storage (non-temporary recording medium) (recording medium) 26D, a communication I / F 26E, and an input / output I / F 26F. The CPU 26A, the ROM 26B, the RAM 26C, the storage 26D, the communication I / F 26E, and the input / output I / F 26F are connected to each other via an internal bus 26Z so as to be able to communicate with each other.

[0027] The CPU 26A is a central processing unit that executes various programs and controls each part. The CPU 26A reads programs from the ROM 26B or the storage 26D and executes the programs using the RAM 26C as a work area. The CPU 26A controls each component and performs various arithmetic processing in accordance with the programs recorded in the ROM 26B or the storage 26D.

[0028] The ROM 26B stores various programs and various data. The RAM 26C temporarily stores programs or data as a working area. The storage 26D is configured with a storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and stores various programs and various data. For example, a navigation application having map data is installed in the ROM 26B or the storage 26D. In other words, the vehicle 12 is equipped with a navigation system. The ROM 26B or the storage 26D also stores normal image data representing a road image (normal image) (second image) 30 and passenger car images (normal image) (second image) 35A, 35B, and 35C, as well as overtaking image data representing a road image (overtaking image) (first image) 40, passenger car images (overtaking image) (first image) 45A, 45B, and 45C, and a host vehicle image (overtaking image) (first image) 47. The normal image data and overtaking image data will be described later.

[0029] The communication I / F 26E is an interface for connecting via an external bus (not shown) to an ECU (not shown) other than the ECU 26. The interface uses a communication standard such as the CAN protocol.

[0030] The input / output I / F 26F is an interface for communicating with various devices, such as the camera 21A, millimeter-wave radar, lidar, a group of perimeter monitoring cameras, a GPS receiver 22, a display device 23, a driving assistance operation device 25, and a group of actuators (described later).

[0031] 3 is a block diagram showing an example of the functional configuration of the ECU 26. The ECU 26 has, as its functional configuration, a driving assistance control unit 261 and an image display control unit 262. The driving assistance control unit 261 and the image display control unit 262 are realized by the CPU 26A reading and executing programs stored in the ROM 26B.

[0032] When the driving assist operation device 25 is in the ON state, the driving assist control unit 261 uses a group of sensors and a group of actuators (not shown) provided in the vehicle 12 to cause the vehicle 12 to execute driving assist control at driving levels 1 to 5 defined by the Society of Automotive Engineers (SAE). Furthermore, when the driving assist operation device 25 is in the ON state, an occupant of the vehicle 12 can select the driving level and the driving assist control to be executed by operating the driving assist operation device 25. Examples of driving assist control in this embodiment include adaptive cruise control (ACC), lane tracing assist (LTA), lane change assist (LCA), and overtaking assist control. The group of sensors provided in the vehicle 12 includes a sensor unit 21 and a group of periphery monitoring cameras. The group of actuators provided in the vehicle 12 includes a brake system, an electric power steering device having a steering wheel 18, various electric actuators for driving the internal combustion engine as a driving source, and an electric motor as a driving source.

[0033] Here, the overtaking assist control will be explained. The overtaking assist control includes a first lane change control and a second lane change control. The first lane change control and the second lane change control are controls similar to the LCA.

[0034] When a predetermined first condition is met, the driving assistance control unit 261 causes the display device 23 to display text representing a first confirmation request. For example, the display device 23 displays the text "Do you want to perform overtaking assistance control?" as the text representing the first confirmation request. Assume here that the vehicle 12 is traveling on a road 50 shown in FIG. 4. The road 50 is a road in a country where regulations stipulate that vehicles must keep to the left. The road 50 has a first lane 51, a second lane 52, and a third lane 53. The first lane 51 and the second lane 52 are separated by a dividing line 50A, and the second lane 52 and the third lane 53 are separated by a dividing line 50B. An arrow DR shown in FIG. 4 indicates the traveling direction of the vehicle 12. For example, the first condition is met when a vehicle 12 traveling in the second lane 52 executes ACC and the difference between the set vehicle speed of the vehicle 12 set in ACC and the vehicle speed of another vehicle 55A traveling immediately before the vehicle 12 is less than a predetermined value.

[0035] When the occupant performs a first approval action after characters representing a first confirmation request are displayed on the display device 23, the driving assistance control unit 261 starts the first lane change control. For example, the first approval action is a predetermined operation performed on the driving assistance operation device 25 by the occupant who is gripping the steering wheel 18 with his / her hands and looking at the lane change direction. When the first lane change control is started, the driving assistance control unit 261 monitors the surroundings of the vehicle 12 based on information acquired from the sensors. After determining that the vehicle 12 can safely change lanes to the right, the driving assistance control unit 261 moves the vehicle 12 to the right. For example, when the driving assistance control unit 261 determines that the vehicle 12 can change lanes to the third lane 53 along the driving trajectory AR1 in FIG. 4, the driving assistance control unit 261 controls the actuators to move the vehicle 12 from the second lane (driving lane) 52 to the third lane (destination lane) 53, which is the lane adjacent to the second lane 52 on the right. For example, when the vehicle 12 moves along the travel trajectory AR1 to a position PS1 on the third lane 53, the driving assistance control unit 261 ends the first lane change control.

[0036] At the first time, which is the time when the first lane change control ends, the driving assistance control unit 261 starts determining whether the vehicle 12 can safely change lanes to the left, based on information acquired from the sensor group. In other words, the driving assistance control unit 261 starts determining whether the second lane change control can be executed. When it is determined that the second lane change control can be executed, the driving assistance control unit 261 causes the display device 23 to display text representing a second confirmation request. For example, when it is determined that the vehicle 12, which has moved to position PS1 in FIG. 4, can change lanes to the second lane 52 along the travel trajectory AR2 in FIG. 4, the driving assistance control unit 261 causes the display device 23 to display text representing the second confirmation request. For example, the display device 23 displays the text "Do you want to return to the original lane?" as the text representing the second confirmation request.

[0037] When the occupant performs a second approval action after characters indicating a second confirmation request are displayed on the display device 23, the driving assistance control unit 261 starts the second lane change control. For example, the second approval action is a predetermined operation on the driving assistance operation device 25. When the second lane change control is started, the driving assistance control unit 261 moves the vehicle 12 to the left while monitoring the surroundings of the vehicle 12 based on information acquired from the sensors. For example, the driving assistance control unit 261 controls the actuators so that the vehicle 12 moves from the third lane 53 to the second lane 52. For example, when the vehicle 12 moves to a position PS2 on the second lane 52 along the travel trajectory AR2, the driving assistance control unit 261 ends the second lane change control.

[0038] On the other hand, if the driving assistance control unit 261 cannot determine that the second lane change control is executable by the time a predetermined threshold time has elapsed since the first time, the driving assistance control unit 261 determines that the first cancellation condition (specific condition) (cancellation condition) is satisfied. For example, the threshold time is 30 seconds. For example, the first cancellation condition is satisfied when another vehicle 55C traveling in the first lane 51 in FIG. 4 moves along the travel path AR3 to a position PS3 on the second lane 52. Furthermore, for example, the first cancellation condition is satisfied when the speed of another vehicle 55B traveling in the second lane 52 in FIG. 4 decreases, and it is predicted that the inter-vehicle distance between the vehicle 12 and the other vehicle 55B when the vehicle 12 moves to a position PS2 will be shorter than a predetermined value.

[0039] Furthermore, when a predetermined second condition (specific condition) is satisfied due to an operation by the occupant during the period from when the first time has elapsed until the second approval action is performed, the driving assistance control unit 261 determines that a predetermined second cancellation condition (cancellation condition) is satisfied. For example, the second condition is satisfied when the accelerator pedal 19 (see FIG. 1) of the vehicle 12 is depressed by the occupant, or when the occupant uses the driving assistance operation device 25 to change the set vehicle speed of the running ACC to a vehicle speed higher than the current vehicle speed.

[0040] The image display control unit 262 identifies the road on which the vehicle 12 is traveling based on the car navigation system (map data) and the position information. Furthermore, the image display control unit 262 reads the map data of the car navigation system and causes the display device 23 to display an image of the road on which the vehicle 12 is currently traveling. For example, assume that the vehicle 12 is traveling on a road 50 shown in FIG. 4. In this case, the image display control unit 262 can cause the display device 23 to display two types of road images based on the road 50. That is, the image display control unit 262 can selectively display the road image 30 shown in FIG. 5 and the road image 40 shown in FIG. 6 on the display device 23.

[0041] When overtaking assist control is not being executed, the image display control unit 262 acquires normal image data representing a road. That is, before overtaking assist control is executed, after overtaking assist control has ended, or when overtaking assist control is stopped, the image display control unit 262 causes the display device 23 to display a road image (normal image) (second image) 30 as shown in Fig. 5. The road image 30 has a first lane image 31, a second lane image 32, and a third lane image 33. The first lane image 31 and the second lane image 32 are separated by a lane line image 30A, and the second lane image 32 and the third lane image 33 are separated by a lane line image 30B.

[0042] Furthermore, when overtaking assist control is not being executed, the image display control unit 262 determines whether or not a peripheral vehicle located in the vicinity of the vehicle 12 is included in the camera image (image data) that is acquired by the camera 21A and the group of periphery monitoring cameras and that depicts a subject located in the vicinity of the vehicle 12, using a pattern matching method. Furthermore, when it is determined that a peripheral vehicle is included in the camera image, the image display control unit 262 acquires normal image data that depicts the peripheral vehicle. For example, as shown in FIG. 4, assume that the vehicle 12 and two peripheral vehicles located in front of the vehicle 12, passenger cars 55A and 55B, are traveling in the second lane 52, and another peripheral vehicle, passenger car 55C, is traveling in the first lane 51. In this case, the image display control unit 262 recognizes the relative positions of the vehicle 12 and each peripheral vehicle based on the detection results of the group of sensors and the camera image. Furthermore, as shown in FIG. 5, the image display control unit 262 causes the display device 23 to display passenger car images (normal images) (second images) 35A, 35B, and 35C representing the respective surrounding vehicles based on the relative positions.

[0043] The road image 30 and passenger car images 35A, 35B, and 35C represent a view diagonally forward from a virtual viewpoint EP1 (see FIG. 7) located above the top of the vehicle 12 in a side view. The range of the road image 30 in a side view is the range between two straight lines LU1 and LD1 extending from the virtual viewpoint EP1. The angle between the straight lines LU1 and LD1 in the side view is θ1.

[0044] On the other hand, when overtaking assist control is being executed, the image display control unit 262 acquires overtaking image data representing a road. That is, when overtaking assist control is being executed, the image display control unit 262 causes the display device 23 to display a road image (overtaking image) (first image) 40, as shown in Fig. 6. The road image 40 has a first lane image 41, a second lane image 42, and a third lane image 43. The first lane image 41 and the second lane image 42 are separated by a lane line image 40A, and the second lane image 42 and the third lane image 43 are separated by a lane line image 40B.

[0045] Furthermore, when overtaking assist control is being executed, the image display control unit 262 determines whether or not the camera image includes surrounding vehicles using the camera image and a pattern matching method. Furthermore, when it is determined that the camera image includes surrounding vehicles, the image display control unit 262 acquires overtaking images representing each of the surrounding vehicles. For example, when the vehicle 12 and passenger cars 55A, 55B, and 55C are traveling on the road 50 of FIG. 4, the image display control unit 262 recognizes the relative positions of the vehicle 12 and each of the surrounding vehicles based on the detection results of the sensor group and the camera image. Furthermore, as shown in FIG. 6, the image display control unit 262 causes the display device 23 to display passenger car images (overtaking images) (first images) 45A, 45B, and 45C representing each of the surrounding vehicles based on the relative positions. Furthermore, the overtaking image data includes host vehicle image data representing the vehicle 12. The image display control unit 262 causes the display device 23 to display a host vehicle image 47 (overtaking image) (first image) based on the host vehicle image data, as shown in FIG. 6.

[0046] The road image 40, passenger car images 45A, 45B, and 45C, and host vehicle image 47 represent a view diagonally forward from a virtual viewpoint EP2 (see FIG. 7) located above the virtual viewpoint EP1 in a side view. The range of the road image 40 in a side view is the range between two straight lines LU2 and LD2 extending from the virtual viewpoint EP2. The angle between the straight lines LU2 and LD2 in a side view is θ2.

[0047] The GPS receiver 22, the display device 23, the driving support operation device 25, the ECU 26, the above-mentioned sensors, and the above-mentioned actuators are components of the vehicle control device 10.

[0048] (Action and effect) Next, the operation and effects of this embodiment will be described.

[0049] Next, a description will be given of the processing executed by the CPU 26A of the ECU 26. The CPU 26A repeatedly executes the processing of the flowchart shown in FIG.

[0050] In step S10 (hereinafter, the word "step" will be omitted), the CPU 26A determines whether or not the first condition is met. It is assumed that the normal image is displayed on the display device 23 at this time.

[0051] If the determination in S10 is Yes, the CPU 26A proceeds to S11, and causes the display device 23 to display characters representing the first confirmation request for a predetermined period of time.

[0052] Next, the CPU 26A proceeds to S12 and determines whether or not the first approval action has been performed within a predetermined time.

[0053] If the determination in S12 is Yes, the CPU 26A proceeds to S13 and starts the first lane change control.

[0054] After completing the process of S13, the CPU 26A proceeds to S14 and causes the display device 23 to display the overtaking images (road image 40, passenger car images 45A, 45B, 45C, and host vehicle image 47).

[0055] After completing the process of S14, the CPU 26A proceeds to S15 and determines whether the first lane change control has ended.

[0056] If the determination in S15 is Yes, the CPU 26A proceeds to S16, where it determines whether or not the second lane change control is executable.

[0057] Subsequently, the CPU 26A proceeds to S 17. If it is determined that the second lane change control is executable, the CPU 26A proceeds to S 18, and causes the display device 23 to display characters representing a second confirmation request for a predetermined period of time.

[0058] Next, the CPU 26A proceeds to S19, where it determines whether or not the second condition is met.

[0059] If determined as No in S19, CPU 26A proceeds to S20 and determines whether or not the second approval action has been performed within a predetermined time since the characters representing the second confirmation request were displayed.

[0060] If the determination in S20 is Yes, the CPU 26A proceeds to S21 and starts the second lane change control.

[0061] After completing the process of S21, the CPU 26A proceeds to S22 and determines whether the second lane change control has ended.

[0062] On the other hand, if the determination in S17 is No, the CPU 26A proceeds to S23 and determines whether or not the second condition is met.

[0063] If the determination in S23 is Yes, the CPU 26A proceeds to S24 and displays the normal image (road image 30, passenger car images 35A, 35B, 35C) instead of the overtaking image on the display device 23. If the determination in S19 is Yes, the CPU 26A proceeds to S24 and displays the normal image instead of the overtaking image on the display device 23.

[0064] After completing the process of S24, the PU 26A proceeds to S25 and stops the overtaking assist control.

[0065] If the determination in S23 is No, the CPU 26A proceeds to S26, where it determines whether or not it has been determined that the second lane change control is executable by the time a predetermined threshold time has elapsed since the first time point.

[0066] If the determination in S26 is Yes, the CPU 26A proceeds to S24. On the other hand, if the determination in S26 is No, the CPU 26A proceeds to S17.

[0067] When the determinations in S10, S12, and S20 are No, or when the process of S25 is completed, the CPU 26A temporarily ends the process of the flowchart in FIG.

[0068] As described above, the vehicle control device 10 of this embodiment is capable of executing overtaking assist control, including first lane change control for moving the vehicle 12 traveling in the driving lane (second lane 52) to the destination lane (third lane 53) and second lane change control for returning the vehicle 12 from the destination lane to the driving lane. Furthermore, the display device 23 is capable of displaying overtaking images (road image 40, passenger car images 45A, 45B, 45C, and host vehicle image 47) indicating that the overtaking assist control is being executed when the vehicle 12 is executing the overtaking assist control. Furthermore, the display device 23 is capable of displaying normal images (road image 30, passenger car images 35A, 35B, 35C) indicating that the overtaking assist control is not being executed when the vehicle 12 is not executing the overtaking assist control.

[0069] Furthermore, if the driving assistance control unit 261 cannot determine that the second lane change control can be executed by the time a time equivalent to the threshold time has elapsed from the first time, the driving assistance control unit 261 determines that the first cancellation condition is met. Furthermore, when the first cancellation condition is met, the display device 23 displays a normal image instead of an overtaking image. Therefore, an occupant of the vehicle 12 who looks at the display device 23 can recognize that the overtaking assistance control being executed has been canceled by the determination of the vehicle control device 10.

[0070] Furthermore, when the accelerator pedal 19 of the vehicle 12 is depressed while the overtaking assist control is being executed, or when the set vehicle speed of the ACC being executed by the vehicle 12 is changed to a higher value, the driving assist control unit 261 determines that the second cancellation condition is met. Furthermore, when the second cancellation condition is met, the display device 23 displays the normal image instead of the overtaking image. Therefore, the occupant who looks at the display device 23 can recognize that the overtaking assist control being executed has been stopped by their own driving operation.

[0071] The vehicle control device 10, the vehicle control method, and the program according to the embodiment have been described above, but these can be modified in design as appropriate within the scope of the gist of the present invention.

[0072] For example, the first image and the second image may be different images from the above image as long as they are different from each other. For example, the first image and the second image may be camera images captured by a camera.

[0073] The driving assistance control unit 261 may start the overtaking assistance control using an operation by an occupant of the vehicle 12 as a trigger. For example, the driving assistance control unit 261 may start the overtaking assistance control using a predetermined operation performed by the occupant on the driving assistance operation device 25 as a trigger.

[0074] The first lane change control and the second lane change control may also be controls that move the vehicle 12 across multiple lanes. For example, the first lane change control may move the vehicle 12 from the first lane (driving lane) 51 to the third lane (destination lane) 53 in Fig. 4, and the second lane change control may move the vehicle 12 from the third lane (destination lane) 53 back to the first lane (driving lane) 51.

[0075] [Note] The vehicle control device of the present invention may be any combination of the following configurations 1 to 4. <Configuration 1> A vehicle control device comprising: a control unit capable of executing overtaking assist control including first lane change control for moving a vehicle traveling in a driving lane to a destination lane and second lane change control for returning the vehicle from the destination lane to the driving lane; and a display device capable of displaying a first image indicating that the overtaking assist control is being executed when the vehicle is executing the overtaking assist control, and a second image indicating that the overtaking assist control is not being executed when the vehicle is not executing the overtaking assist control, wherein when a predetermined cancellation condition is met while the vehicle is executing the overtaking assist control, the control unit cancels the overtaking assist control, and the display device erases the first image and displays the second image. <Configuration 2> A vehicle control device in which the cancellation condition is met when the vehicle moves from the driving lane to the destination lane by the overtaking assist control and a specific condition is met while the vehicle is traveling in the destination lane. <Configuration 3> A vehicle control device in which the specific condition is met when the accelerator pedal of the vehicle is depressed or when the set vehicle speed of the adaptive cruise control being executed by the vehicle is changed to a higher value. <Configuration 4> A vehicle control device in which, when the vehicle moves from the driving lane to the destination lane by the overtaking assist control, the control unit determines whether the vehicle can be returned from the destination lane to the driving lane by the second lane change control, and the specific condition is met when the control unit determines that the vehicle cannot be returned to the driving lane. Furthermore, the vehicle control method of the present invention may be a combination of the following configuration 5 and at least one of configurations 1 to 4. <Configuration 5> A vehicle control method, in which, when a vehicle capable of executing overtaking assist control including first lane change control for moving from a current driving lane to a destination lane and second lane change control for returning from the destination lane to the driving lane is executing the overtaking assist control, a first image indicating that the overtaking assist control is being executed is displayed on a display device of the vehicle, and, when the vehicle is not executing the overtaking assist control, a second image indicating that the overtaking assist control is not being executed is displayed on the display device, and, when a predetermined cancellation condition is met while the vehicle is executing the overtaking assist control, the overtaking assist control is canceled and the second image is displayed on the display device instead of the first image. Furthermore, the program of the present invention may be a combination of the following configuration 6 and at least one of configurations 1 to 4. <Configuration 6> A program that causes a computer to execute the following processes: when a vehicle capable of executing overtaking assist control including first lane change control for moving from a current driving lane to a destination lane and second lane change control for returning from the destination lane to the driving lane is executing the overtaking assist control, the program causes a display device of the vehicle to display a first image indicating that the overtaking assist control is being executed; when the vehicle is not executing the overtaking assist control, the program causes the display device to display a second image indicating that the overtaking assist control is not being executed; and when a predetermined cancellation condition is met while the vehicle is executing the overtaking assist control, the program causes the display device to cancel the overtaking assist control and display the second image instead of the first image. [Explanation of symbols]

[0076] 10 Vehicle control device 12 vehicles 19 Accelerator pedal 23 Display device 26A CPU (control unit) 30 Road image (normal image) (second image) 35A, 35B, 35C Passenger car image (normal image) (2nd image) 40 Road image (overtaking image) (first image) 45A, 45B, 45C Passenger car image (overtaking image) (first image) 47 Vehicle image (image when overtaking) (first image) 52 Second lane (driving lane) 53 3rd lane (destination lane)

Claims

1. a control unit capable of executing overtaking assist control including a first lane change control for moving a vehicle traveling in a driving lane to a destination lane and a second lane change control for returning the vehicle from the destination lane to the driving lane; a display device capable of displaying a first image indicating that the overtaking assist control is being executed when the vehicle is executing the overtaking assist control, and capable of displaying a second image indicating that the overtaking assist control is not being executed when the vehicle is not executing the overtaking assist control; Equipped with A vehicle control device in which, when a predetermined cancellation condition is met while the vehicle is performing the overtaking assist control, the control unit cancels the overtaking assist control, and the display device erases the first image and displays the second image without displaying an image different from the first image and the second image.

2. 2. The vehicle control device according to claim 1, wherein the cancellation condition is met when a specific condition is met while the vehicle moves from the driving lane to the destination lane by the overtaking assist control and is traveling in the destination lane.

3. 3. The vehicle control device according to claim 2, wherein the specific condition is met when an accelerator pedal of the vehicle is depressed or when a set vehicle speed of an adaptive cruise control currently being executed by the vehicle is changed to a higher value.

4. when the vehicle moves from the driving lane to the destination lane by the overtaking assist control, the control unit determines whether or not the vehicle can return from the destination lane to the driving lane by the second lane change control; 4. The vehicle control device according to claim 2, wherein the specific condition is met when the control unit determines that the vehicle cannot be returned to the driving lane.

5. When a vehicle capable of executing overtaking assist control including a first lane change control for moving from a current driving lane to a destination lane and a second lane change control for returning from the destination lane to the driving lane is executing the overtaking assist control, a first image indicating that the overtaking assist control is being executed is displayed on a display device of the vehicle; When the vehicle is not executing the overtaking assist control, a second image indicating that the overtaking assist control is not being executed is displayed on the display device; A vehicle control method for canceling the overtaking assistance control when a predetermined cancellation condition is met while the vehicle is performing the overtaking assistance control, and for causing the display device to erase the first image and display the second image without displaying an image different from the first image and the second image.

6. a process of displaying, on a display device of a vehicle capable of executing overtaking assist control including a first lane change control for moving from a current driving lane to a destination lane and a second lane change control for returning from the destination lane to the driving lane, a first image indicating that the overtaking assist control is being executed, when the vehicle is executing the overtaking assist control; When the vehicle is not executing the overtaking assist control, a process of displaying, on the display device, a second image indicating that the overtaking assist control is not being executed; and a process of canceling the overtaking assist control when a predetermined cancellation condition is met while the vehicle is performing the overtaking assist control, and causing the display device to erase the first image and display the second image without displaying an image different from the first image and the second image; A program that causes a computer to execute the following.

Images