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 feel safe before second lane change control is initiated to bring the vehicle that has been moved to a destination lane from a traveling lane by first lane change control back to the traveling lane from the destination lane.SOLUTION: A vehicle control device is provided, comprising a control unit capable of causing a vehicle to execute second lane change control for returning to a traveling lane from a destination lane after causing the vehicle to execute first lane change control for moving the vehicle traveling on the traveling lane to the destination lane, and a display device 23 capable of displaying a first image 40 showing information on initiation of the second lane change control before the second lane change control is executed by the vehicle traveling on the destination lane.SELECTED DRAWING: Figure 5

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. That is, this vehicle is capable of executing a first lane change control for moving a vehicle traveling in a driving lane to a destination lane that is a lane other than the driving lane, and a second lane change control for returning the vehicle from the destination lane to the driving lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-44988 Summary of the Invention [Problem to be solved by the invention]

[0004] When the vehicle moves to the destination lane through the first lane change control, the conditions for starting the second lane change control may not be met for a predetermined period of time. In this case, the vehicle occupants may feel uneasy. In this regard, the above-mentioned Patent Document 1 has room for improvement.

[0005] In consideration of the above, the present invention aims to provide a vehicle control device, a vehicle control method, and a program that can provide a sense of security to vehicle occupants before a second lane change control is initiated to return a vehicle that has been moved from a driving lane to a destination lane by a first lane change control from the destination lane to the driving lane. [Means for solving the problem]

[0006] The vehicle control device of claim 1 includes a control unit that causes a vehicle traveling in a driving lane to execute a first lane change control for moving the vehicle to a destination lane, and then causes the vehicle to execute a second lane change control for returning from the destination lane to the driving lane; and a display device that displays a first image that shows information related to the start of the second lane change control before the vehicle traveling in the destination lane executes the second lane change control, When the second lane change control is not in an executable state for a time period corresponding to a first threshold value from a first time when the vehicle moves from the driving lane to the destination lane by the first lane change control, the display device displays the first image after the first threshold value has elapsed. .

[0007] The control unit of the vehicle control device of claim 1 causes the vehicle to execute first lane change control to move the vehicle traveling in the driving lane to a destination lane, and then causes the vehicle to execute second lane change control to return from the destination lane to the driving lane.Furthermore, the display device is capable of displaying a first image showing information regarding the start of the second lane change control before the vehicle traveling in the destination lane executes the second lane change control.Therefore, the vehicle control device of claim 1 is likely to give a sense of security to occupants who look at the display device before executing the second lane change control.

[0009] Claim 1 The display device of the vehicle control device displays the first image when the second lane change control is not in a state in which it is possible to execute the second lane change control for a period of time equivalent to a first threshold value from the first time when the vehicle moves from the driving lane to the destination lane by the first lane change control. In other words, the display device does not display the first image before a period of time less than the first threshold value has elapsed from the first time. Claim 1 The vehicle control device is less likely to cause inconvenience to the occupants.

[0010] Claim 2 The vehicle control device described in Claim 1 In the method, the first image includes an expected time until the second lane change control becomes executable.

[0011] Claim 2 The first image displayed on the display device of the vehicle control device includes the predicted time until the second lane change control becomes executable. Claim 2 The occupant who sees the first image of the vehicle control device can recognize the time remaining until the second lane change control becomes executable.

[0012] Claim 3 In the vehicle control device described in claim 1 or claim 2, when a first cancellation condition for the second lane change control is met while the vehicle is traveling in the target lane, the display device displays a second image showing information regarding the cancellation of the second lane change control.

[0013] Claim 3 The display device of the vehicle control device displays a second image showing information regarding the cancellation of the second lane change control when a first cancellation condition of the second lane change control is met while the vehicle is traveling in the target lane. Claim 3 The occupant who sees the second image of the vehicle control device can recognize that the second lane change control has been stopped.

[0014] Claim 4 In the vehicle control device described in claim 1 or claim 2, when a second cancellation condition for the second lane change control is met by an occupant of the vehicle performing a predetermined operation while the vehicle is traveling in the target lane, the display device does not display the first image.

[0015] Claim 4 The display device of the vehicle control device does not display the first image when the second cancellation condition of the second lane change control is met while the vehicle is traveling in the target lane. The second cancellation condition is met when the occupant performs a predetermined operation. In other words, the occupant can recognize that the second lane change control is being cancelled without looking at the display device. Claim 4 The vehicle control device is less likely to cause inconvenience to the occupants.

[0016] A vehicle control method according to the invention of claim 5 includes the steps of: causing a computer to execute a first lane change control for moving a vehicle traveling in a driving lane to a destination lane, and then causing the computer to execute a second lane change control for returning from the destination lane to the driving lane; and displaying a first image showing information related to the start of the second lane change control before the vehicle traveling in the destination lane executes the second lane change control; When the second lane change control is not in an executable state for a time period corresponding to a first threshold value from a first time when the vehicle moves from the driving lane to the destination lane by the first lane change control, the first image is displayed after the first threshold value has elapsed. .

[0017] A program according to the invention of claim 6 includes a process of causing a vehicle traveling in a driving lane to execute a first lane change control for moving the vehicle to a destination lane, and then causing the vehicle to execute a second lane change control for returning from the destination lane to the driving lane; a process of displaying a first image showing information related to the start of the second lane change control before the vehicle traveling in the destination lane executes the second lane change control; When the second lane change control is not in an executable state for a time period corresponding to a first threshold value from a first time when the vehicle moves from the driving lane to the destination lane by the first lane change control, the first image is displayed after the first threshold value has elapsed. The computer executes the process. [Effects of the Invention]

[0018] As described above, the vehicle control device, vehicle control method, and program according to the present invention have the excellent effect of providing a sense of security to vehicle occupants before the second lane change control is initiated to return a vehicle that has been moved from a driving lane to a destination lane by a first lane change control from the destination lane to the driving lane. [Brief explanation of the drawings]

[0019] [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. 2 is a diagram showing a display device displaying a first image. [Figure 6] FIG. 10 is a diagram showing a display device displaying a second image. [Figure 7] 4 is a flowchart showing a process executed by a CPU of an ECU. DETAILED DESCRIPTION OF THE INVENTION

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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").

[0024] As shown in FIGS. 1 and 2, the instrument panel 14 is provided with a display device 23.

[0025] 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.

[0026] As shown in FIG. 2, the vehicle 12 has an ECU (Electronic Control Unit) 26 as a hardware configuration.

[0027] 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.

[0028] 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.

[0029] ROM 26B stores various programs and various data. RAM 26C temporarily stores programs or data as a working area. Storage 26D is configured with a storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) and stores various programs and various data. Furthermore, ROM 26B or storage 26D stores first image data representing a first image 40 and second image data representing a second image 41. The first image 40 and the second image 41 will be described later.

[0030] 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.

[0031] 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).

[0032] 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. The driving assistance control unit 261 is realized by the CPU 26A reading and executing a program stored in the ROM 26B.

[0033] 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.

[0034] 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.

[0035] 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 30 shown in FIG. 4. The road 30 is a road in a country where regulations stipulate that vehicles must keep to the left. The road 30 has a first lane 31, a second lane 32, and a third lane 33. The first lane 31 and the second lane 32 are separated by a dividing line 30A, and the second lane 32 and the third lane 33 are separated by a dividing line 30B. 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 32 (driving lane) executes ACC and the difference between the set vehicle speed of the vehicle 12 set in ACC and the vehicle speed of another vehicle 35 traveling immediately before the vehicle 12 is less than a predetermined value.

[0036] 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 while gripping the steering wheel 18 and visually checking 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 it is determined that the vehicle 12 can change lanes to the third lane 33 along the travel trajectory AR1 in FIG. 4, the driving assistance control unit 261 controls the actuators so that the vehicle 12 moves from the second lane 32 to the third lane 33 (destination lane), which is the lane adjacent to the second lane 32 on the right. For example, when the vehicle 12 moves along the travel trajectory AR1 to a position PS1 on the third lane 33, the driving assistance control unit 261 ends the first lane change control.

[0037] 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 32 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.

[0038] Furthermore, if the text indicating the second confirmation request is not displayed on the display device 23 when a time corresponding to the first threshold has elapsed since the first time, the driving assistance control unit 261 reads the first image data from the ROM 26B or the storage 26D and causes the display device 23 to display the first image 40 based on the first image data, as shown in FIG. 5 . The first image 40 includes information regarding the start of the second lane change control. For example, the first image 40 includes the text "We plan to return to the original lane as soon as preparations are complete." The first threshold is, for example, 10 seconds.

[0039] Furthermore, when the first image 40 is displayed on the display device 23, the driving assistance control unit 261 causes the display device 23 to display the predicted time from the current time until the time when the second lane change control can be started, based on the surrounding monitoring situation. For example, if the predicted time at the current time is 5 seconds, the text "Predicted time until preparation is complete: 5 seconds" is displayed on the display device 23, as shown in FIG. 5. The display related to this predicted time is part of the first image 40.

[0040] When the occupant performs a second approval action after characters representing 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 33 to the second lane 32. For example, when the vehicle 12 moves to a position PS2 on the second lane 32 along the travel trajectory AR2, the driving assistance control unit 261 ends the second lane change control.

[0041] 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 time corresponding to the second threshold has elapsed from the first time, the driving assistance control unit 261 determines that the first cancellation condition is met. The second threshold is greater than the first threshold. For example, the second threshold is 30 seconds. For example, the first cancellation condition is met when another vehicle 36 traveling in the first lane 31 in FIG. 4 moves along the travel trajectory AR3 to a position PS3 on the second lane 32. Furthermore, for example, the first cancellation condition is met when the speed of another vehicle 37 traveling in the second lane 32 in FIG. 4 decreases, and it is predicted that the inter-vehicle distance between the vehicle 12 and the other vehicle 37 will be shorter than a predetermined value when the vehicle 12 moves to a position PS2.

[0042] Furthermore, when the first cancellation condition is met, the driving assistance control unit 261 reads the second image data from the ROM 26B or the storage 26D, and displays the second image 41 based on the second image data on the display device 23 instead of the first image 40, as shown in FIG. 6. The second image 41 represents information regarding the cancellation of the second lane change control. For example, the second image 41 is text that reads, "Lane change to the original lane will not be performed."

[0043] Furthermore, when a predetermined second condition is met due to an operation by the occupant between the first time and the time when the characters representing the second confirmation request are displayed on the display device 23, the driving assistance control unit 261 determines that a predetermined second cancellation condition is met. For example, the second condition is met when the accelerator pedal 19 (see FIG. 1 ) of the vehicle 12 is depressed by the occupant. When the second cancellation condition is met, the display device 23 does not display the first image 40. For example, when the second cancellation condition is met before a time corresponding to a first threshold has elapsed since the first time, the display device 23 does not display the first image 40. When the second cancellation condition is met after a time corresponding to the first threshold has elapsed since the first time, the first image 40 is erased from the display device 23.

[0044] 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.

[0045] (Action and effect) Next, the operation and effects of this embodiment will be described.

[0046] 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.

[0047] In step S10 (hereinafter, the word "step" will be omitted), the CPU 26A determines whether or not the first condition is met.

[0048] 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.

[0049] Next, the CPU 26A proceeds to S12 and determines whether or not the first approval action has been performed within a predetermined time.

[0050] If the determination in S12 is Yes, the CPU 26A proceeds to S13 and starts the first lane change control.

[0051] After completing the process of S13, the CPU 26A proceeds to S14 and determines whether the first lane change control has ended.

[0052] If the determination in S14 is Yes, the CPU 26A proceeds to S15, where it determines whether or not the second lane change control is executable.

[0053] Next, the CPU 26A proceeds to S 16. If it is determined that the second lane change control is executable, the CPU 26A proceeds to S17, where it causes the display device 23 to display characters representing a second confirmation request for a predetermined period of time.

[0054] Next, the CPU 26A proceeds to S18, and determines whether or not characters representing a second confirmation request have been displayed on the display device 23 when a time shorter than the first threshold has elapsed since the first time.

[0055] If it is determined as Yes in S18, the CPU 26A proceeds to S19 and determines whether or not the second approval action has been performed within a predetermined time.

[0056] If the determination in S19 is Yes, the CPU 26A proceeds to S20 and starts the second lane change control.

[0057] After completing the process of S20, the CPU 26A proceeds to S21 and determines whether the second lane change control has ended.

[0058] On the other hand, if the determination in S16 is No, the CPU 26A proceeds to S22 and determines whether or not the second condition is met.

[0059] If the determination in S22 is No, the CPU 26A proceeds to S23, where it determines whether or not it has been determined that the second lane change control is executable when the time corresponding to the first threshold has elapsed since the first time. In other words, the CPU 26A determines whether or not characters representing a second confirmation request have been displayed on the display device 23 when the time corresponding to the first threshold has elapsed since the first time.

[0060] If the determination in S23 is Yes, the CPU 26A proceeds to S24, where the first image 40 is displayed on the display device 23 for a predetermined time. If the determination in S18 is No, the CPU 26A proceeds to S25, where the CPU 26A causes the display device 23 to display the first image 40 for a predetermined time.

[0061] If the result of S23 is No or when the processing of S24 is completed, the CPU 26A proceeds to S26 and determines whether it has been determined that the second lane change control can be executed within the time period corresponding to the second threshold value from the first time.

[0062] If the determination in S26 is Yes, the CPU 26A proceeds to S27, and causes the display device 23 to display the second image 41 for a predetermined time.

[0063] After completing the process of S27, the PU 26A proceeds to S28 and stops the overtaking assist control.

[0064] If the determination in S26 is No, the CPU 26A proceeds to S16.

[0065] When the determinations in S10, S12, and S19 are No, when the determination in S21 is Yes, or when the process of S28 is completed, the CPU 26A temporarily ends the process of the flowchart in FIG.

[0066] As described above, the vehicle control device 10 of this embodiment can cause the vehicle 12 to execute the first lane change control for moving from the driving lane (second lane 32) to the destination lane (third lane 33), and then cause the vehicle 12 to execute the second lane change control for returning from the destination lane to the driving lane. Furthermore, before the vehicle 12, which is traveling in the destination lane, executes the second lane change control, the display device 23 can display the first image 40 that presents information regarding the start of the second lane change control. Therefore, the vehicle control device 10 can easily give a sense of security to occupants who look at the display device 23 before the second lane change control is executed.

[0067] Furthermore, when the second lane change control is not in a state in which it is possible to execute the second lane change control for a period of time equivalent to the first threshold value from the first time when the vehicle 12 moves from the driving lane to the destination lane by the first lane change control, the display device 23 displays the first image 40. In other words, the display device 23 does not display the first image 40 before a period of time less than the first threshold value has elapsed from the first time. Therefore, the vehicle control device 10 is unlikely to annoy the occupants.

[0068] Furthermore, the first image 40 displayed by the display device 23 includes an expected time until the second lane change control becomes executable, so that an occupant looking at the first image 40 can recognize the time until the second lane change control becomes executable.

[0069] Furthermore, when the first cancellation condition is met while the vehicle 12 is traveling in the destination lane (third lane 33), a second image 41 showing information regarding the cancellation of the second lane change control is displayed on the display device 23. Therefore, an occupant who sees the second image 41 can recognize that the second lane change control has been canceled.

[0070] Furthermore, the display device 23 does not display the first image 40 when the second cancellation condition is met while the vehicle 12 is traveling in the destination lane (third lane 33). The second condition is met when the accelerator pedal 19 of the vehicle 12 is depressed by the occupant, and when the second condition is met, the second cancellation condition is met. That is, in this case, the occupant can recognize that the second lane change control will be cancelled without looking at the display device 23. Therefore, in this case, there is no need to display the first image 40 on the display device 23. Therefore, when the second cancellation condition is met, the display device 23 is unlikely to annoy the occupant.

[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 driving assistance control unit 261 may start the overtaking assistance control when an operation by an occupant of the vehicle 12 is used as a trigger. For example, the driving assistance control unit 261 may start the overtaking assistance control when an occupant performs a predetermined operation on the driving assistance operation device 25.

[0073] The first image 40 and the second image 41 may be images other than text. For example, the first image 40 may be an illustration or a symbol representing information related to the start of the second lane change control. For example, the second image 41 may be an illustration or a symbol representing information related to the cancellation of the second lane change control.

[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) 31 to the third lane (destination lane) 33 in Fig. 4, and the second lane change control may move the vehicle 12 from the third lane (destination lane) 33 back to the first lane (driving lane) 31.

[0075] [Note] The vehicle control device of the present invention may be any combination of the following configurations 1 to 5. <Configuration 1> A vehicle control device comprising: a control unit that can cause a vehicle traveling in a driving lane to perform a first lane change control to move the vehicle to a destination lane, and then cause the vehicle to perform a second lane change control to return from the destination lane to the driving lane; and a display device that can display a first image that represents information regarding the start of the second lane change control before the vehicle traveling in the destination lane performs the second lane change control. <Configuration 2> A vehicle control device in which the display device displays the first image when the second lane change control is not executable for a period of time corresponding to a first threshold value from a first time when the vehicle moves from the driving lane to the destination lane due to the first lane change control. <Configuration 3> A vehicle control device in which the first image includes an estimated time until the second lane change control becomes executable. <Configuration 4> A vehicle control device in which, when a first cancellation condition for the second lane change control is met while the vehicle is traveling in the target lane, the display device displays a second image representing information regarding the cancellation of the second lane change control. <Configuration 5> A vehicle control device in which, when a second cancellation condition for the second lane change control is met by an occupant of the vehicle performing a predetermined operation while the vehicle is traveling in the target lane, the display device does not display the first image. Furthermore, the vehicle control method of the present invention may be a combination of the following configuration 6 and at least one of configurations 1 to 5. <Configuration 6> A vehicle control method that causes a vehicle traveling in a driving lane to perform a first lane change control to move the vehicle to a destination lane, and then causes the vehicle to perform a second lane change control to return from the destination lane to the driving lane, and displays a first image representing information regarding the start of the second lane change control before the vehicle traveling in the destination lane performs the second lane change control. Furthermore, the program of the present invention may be a combination of the following configuration 7 and at least one of configurations 1 to 5. <Configuration 7> A program that causes a computer to execute the following processes: a process of causing a vehicle traveling in a driving lane to perform a first lane change control to move the vehicle to a destination lane, and then causing the vehicle to perform a second lane change control to return from the destination lane to the driving lane; and a process of displaying a first image that represents information regarding the start of the second lane change control before the vehicle traveling in the destination lane executes the second lane change control. [Explanation of symbols]

[0076] 10 Vehicle control device 12 vehicles 23 Display device 26A CPU (control unit) 32 Second lane (driving lane) 33 3rd lane (destination lane) 40 First Image 41 Second image

Claims

1. a control unit that causes the vehicle to execute a first lane change control for moving the vehicle traveling in a driving lane to a destination lane, and then causes the vehicle to execute a second lane change control for returning from the destination lane to the driving lane; a display device capable of displaying a first image representing information regarding the start of the second lane change control before the vehicle traveling in the destination lane executes the second lane change control; Equipped with A vehicle control device in which, if the second lane change control is not in a state in which it can be executed for a period of time corresponding to a first threshold value from a first time when the vehicle moves from the driving lane to the destination lane due to the first lane change control, the display device displays the first image after the first threshold value has elapsed.

2. The vehicle control device according to claim 1 , wherein the first image includes an estimated time until the second lane change control becomes executable.

3. 3. The vehicle control device according to claim 1, wherein when a first cancellation condition for the second lane change control is met while the vehicle is traveling in the target lane, the display device displays a second image representing information regarding the cancellation of the second lane change control.

4. 3. A vehicle control device as described in claim 1 or claim 2, wherein the display device does not display the first image when a second cancellation condition for the second lane change control is met by an occupant of the vehicle performing a predetermined operation while the vehicle is traveling in the target lane.

5. The computer causing the vehicle traveling in a driving lane to execute a first lane change control for moving the vehicle to a destination lane, and then causing the vehicle to execute a second lane change control for returning from the destination lane to the driving lane; before the vehicle traveling in the destination lane executes the second lane change control, displaying a first image that represents information related to the start of the second lane change control; A vehicle control method that displays the first image after a first threshold has elapsed if the second lane change control is not executable for a period of time corresponding to a first threshold from a first time when the vehicle moves from the driving lane to the destination lane due to the first lane change control.

6. a process of causing a vehicle traveling in a driving lane to perform a first lane change control for moving the vehicle to a destination lane, and then causing the vehicle to perform a second lane change control for returning from the destination lane to the driving lane; a process of displaying a first image representing information related to the start of the second lane change control before the vehicle traveling in the destination lane executes the second lane change control; and a process of displaying the first image after a first threshold has elapsed in a case where the second lane change control is not executable for a period of time corresponding to a first threshold from a first time when the vehicle moves from the driving lane to the destination lane by the first lane change control; A program that causes a computer to execute the following.

Images