Vehicle control device, vehicle control method and program

Abstract

To provide a vehicle control device, a vehicle control method, and a program which can execute lane change assist control over a plurality of lanes of a vehicle without operating an operation member by an occupant after start of the lane change assist control.SOLUTION: A vehicle control device includes a control part for allowing a vehicle to execute lane change assist control when an operation member 20 operable by an occupant of a vehicle 12 is operated, wherein the control part executes first lane change assist control of moving the vehicle from a travel lane that is a traveling lane to an adjacent lane when first operation is executed on the operation member, and executes second lane change assist control of moving the vehicle from the traveling lane to a separate lane that is a lane opposite to the traveling lane across the adjacent lane, when second operation different from the first operation is executed on the operation member.SELECTED DRAWING: Figure 1

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 equipped with a turn signal lever (winker lever). When the turn signal lever of this vehicle is moved to a predetermined position, a control device of the vehicle causes the vehicle to execute LCA (lane change assist control). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-103767 Summary of the Invention [Problem to be solved by the invention]

[0004] Assume that a vehicle is traveling in the leftmost lane of a three-lane road. Furthermore, assume that an occupant uses the LCA to move the vehicle to the center lane in the left-right direction and then from the center lane to the rightmost lane. In this case, if the occupant moves the turn signal lever to a predetermined position while the vehicle is traveling in the leftmost lane, the LCA will move the vehicle to the center lane. Furthermore, if the occupant moves the turn signal lever to a predetermined position while the vehicle is traveling in the center lane, the LCA will move the vehicle to the rightmost lane.

[0005] As described above, in the technology described in Patent Document 1, when an occupant wants the vehicle to perform LCA across multiple lanes, the occupant needs to operate the turn signal lever before and after the LCA starts.

[0006] In consideration of the above, the present invention aims to provide a vehicle control device, a vehicle control method, and a program that can perform lane change assist control for a vehicle across multiple lanes without the occupant operating an operating member after the lane change assist control has started. [Means for solving the problem]

[0007] The vehicle control device of claim 1 includes a control unit that causes the vehicle to execute lane change assist control when an operating member that can be operated by a vehicle occupant is operated, and the control unit executes first lane change assist control to move the vehicle from a driving lane, which is the lane in which the vehicle is currently traveling, to an adjacent lane when a first operation is performed on the operating member, and executes second lane change assist control to move the vehicle from the driving lane to a separated lane, which is a lane on the opposite side of the driving lane across the adjacent lane, when a second operation different from the first operation is performed on the operating member. The operating member is a turn signal lever that is movable between an initial position and an actuated position, or a switch that is provided on a steering wheel of the vehicle and is movable between an initial position and an actuated position, and when the operating member is the turn signal lever, the first operation is an operation of moving the turn signal lever to the actuated position and positioning it at the actuated position for a time period that is less than a first threshold and greater than or equal to a predetermined value, and the second operation is an operation of moving the turn signal lever to the actuated position and positioning it at the actuated position for a time period that is less than a first threshold and greater than or equal to a predetermined value, and when the operating member is the switch, the first operation is an operation of moving the switch to the actuated position and positioning it at the actuated position for a time period that is less than a first threshold and greater than or equal to a predetermined value, and the second operation is an operation of moving the switch to the actuated position and positioning it at the actuated position for a time period that is greater than or equal to the first threshold, and when the first threshold has elapsed, it is not determined whether the switch is at the actuated position. .

[0008] The control unit of the vehicle control device of claim 1 executes first lane change assist control to move the vehicle from the driving lane, which is the lane in which the vehicle is currently traveling, to an adjacent lane, when a first operation is executed on the operating member.

[0009] Furthermore, the control unit of the vehicle control device of claim 1 executes second lane change assist control to move the vehicle from the driving lane to the separated lane when a second operation different from the first operation is executed on the operating member. Therefore, according to the vehicle control device of claim 1, it is possible to execute lane change assist control to move the vehicle across multiple lanes even if the occupant does not operate the operating member after the start of lane change assist control.

[0011] The vehicle control device according to claim 1According to the above, when an occupant wants the vehicle to execute lane change assist control across multiple lanes, the occupant only needs to perform the operation of moving the turn signal lever from the initial position to the operation position and keeping it in the operation position for a time period equal to or longer than the first threshold value once. In other words, according to the vehicle control device of claim 2, the vehicle can execute lane change assist control across multiple lanes even if the occupant does not operate the turn signal lever after the start of lane change assist control.

[0013] The vehicle control device according to claim 1 According to the above, when an occupant wants the vehicle to execute lane change assist control across multiple lanes, the occupant only needs to perform the operation of moving the switch from the initial position to the operation position and keeping it in the operation position for a time period equal to or longer than the first threshold value once. In other words, according to the vehicle control device of claim 3, the vehicle can execute lane change assist control across multiple lanes even if the occupant does not operate the switch after the start of lane change assist control.

[0014] The vehicle control device according to claim 2 is the vehicle control device according to claim 1, When the second operation is performed on the operating member of the vehicle traveling on a highway, a predetermined area including the current position of the vehicle on the highway has an exit for the highway and is connected to the leaving lane. It is a lane The system includes a first determination unit that determines whether the predetermined area includes a connecting lane, and a warning generation device that issues a warning when the first determination unit determines that the predetermined area includes the connecting lane.

[0015] The vehicle control device according to claim 2 In the system, when a second operation is performed on an operating member of a vehicle traveling on a highway, a first determination unit determines whether a predetermined area including the vehicle's current position on the highway includes a connecting lane that has an exit from the highway and is connected to the separating lane. Furthermore, when the first determination unit determines that the predetermined area includes the connecting lane, a warning generation device issues a warning. Claim 2 When a second operation is performed on an operating member of a vehicle traveling on a highway, the vehicle control device can issue a warning to the occupants asking whether it is okay to drive the vehicle toward the exit.

[0016] The vehicle control device according to claim 3 is the one according to claim 1 or 2, further comprising: determining whether a predetermined area including a current position of the vehicle on the road includes the adjacent lane and the separated lane when the second operation is performed on the operating member of the vehicle traveling on a road. , and whether the predetermined area includes the adjacent lane and does not include the separated lane. When the second determination unit determines that the predetermined area includes the adjacent lane but does not include the separated lane, the control unit causes the vehicle to execute the first lane change assist control.

[0017] The vehicle control device according to claim 3 In the vehicle control device of claim 5, when a second operation is performed on the operating member, the second determination unit determines whether the road on which the vehicle is traveling includes an adjacent lane and a separated lane. Furthermore, when the second determination unit determines that the road includes an adjacent lane and does not include a separated lane, the control unit executes first lane change assist control so that the vehicle moves to the adjacent lane. In this way, the vehicle control device of claim 5 can execute safe lane change assist control while taking into account the occupant's misunderstanding about the lane. The vehicle control device described in claim 4 is in claim 1 or claim 2 and includes a display capable of displaying a road image representing the driving lane, the adjacent lane, and the separated lane, and when the second lane change assist control is executed, the display displays a driving trajectory image representing a lane change from the driving lane to the separated lane. The vehicle control device described in claim 5 is in claim 1 or claim 2 and includes a display capable of displaying a road image representing the driving lane and the adjacent lane, and when the first lane change assist control is executed, the display displays a driving trajectory image representing a lane change from the driving lane to the adjacent lane. The vehicle control device described in claim 6 is in claim 5, in which the display displays an alert image notifying that it has been determined that a lane change to the separated lane is possible when the first operation is performed.

[0018] Claim 7 The vehicle control method according to the present invention comprises: When a first operation is performed on an operating member operable by a vehicle occupant, a first lane change assist control is executed to move the vehicle from a driving lane, which is the lane in which the vehicle is currently traveling, to an adjacent lane, and when a second operation different from the first operation is performed on the operating member, a second lane change assist control is executed to move the vehicle from the driving lane to an adjacent lane, which is a lane on the opposite side of the driving lane across the adjacent lane, and when the operating member is a turn signal lever that is movable between an initial position and an operating position, or a switch that is provided on a steering wheel of the vehicle and is movable between an initial position and an operating position, and when the operating member is the turn signal lever, the first operation moves the turn signal lever to the operating position and the second operation is an operation of moving the turn signal lever to the operating position and positioning it at the operating position for a time period that is less than a first threshold and greater than or equal to a predetermined value, and after the first threshold has elapsed, it does not matter whether the turn signal lever is at the operating position or not; and when the operating member is the switch, the first operation is an operation of moving the switch to the operating position and positioning it at the operating position for a time period that is less than the first threshold and greater than or equal to a predetermined value, and the second operation is an operation of moving the switch to the operating position and positioning it at the operating position for a time period that is greater than or equal to the first threshold, and after the first threshold has elapsed, it does not matter whether the switch is at the operating position or not. .

[0019] Claim 8 The program according to the invention is The present invention causes a computer to execute a process of executing a first lane change assist control to move the vehicle from a driving lane, which is a lane in which the vehicle is currently traveling, to an adjacent lane, when a first operation is performed on an operating member that can be operated by a vehicle occupant, and a process of executing a second lane change assist control to move the vehicle from the driving lane to an adjacent lane, which is a lane on the opposite side of the driving lane across the adjacent lane, when a second operation different from the first operation is performed on the operating member, wherein when the operating member is a turn signal lever that is movable between an initial position and an operating position, or a switch that is provided on a steering wheel of the vehicle and is movable between an initial position and an operating position, and the operating member is the turn signal lever, the first operation moves the turn signal lever to the operating position. the second operation is an operation of moving the turn signal lever to the operating position and positioning it at the operating position for a time period that is less than a first threshold and greater than or equal to a predetermined value, and the second operation is an operation of moving the turn signal lever to the operating position and positioning it at the operating position for a time period that is less than a first threshold and greater than or equal to a predetermined value, and after the first threshold has elapsed, it does not matter whether the turn signal lever is at the operating position or not; and if the operating member is the switch, the first operation is an operation of moving the switch to the operating position and positioning it at the operating position for a time period that is less than a first threshold and greater than or equal to a predetermined value, and the second operation is an operation of moving the switch to the operating position and positioning it at the operating position for a time period that is greater than or equal to the first threshold, and after the first threshold has elapsed, it does not matter whether the switch is at the operating position or not. . [Effects of the Invention]

[0020] As described above, the vehicle control device, vehicle control method, and program of the present invention have the excellent effect of enabling the vehicle to perform lane change assist control across multiple lanes even if the occupant does not operate the operating member after the lane change assist control has started. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a diagram showing the interior of a vehicle equipped with a vehicle control device according to an embodiment; [Figure 2] 2 is a schematic diagram showing the operation of the turn signal lever shown in FIG. 1. [Figure 3] FIG. 2 is a diagram illustrating a hardware configuration of the vehicle shown in FIG. [Figure 4] FIG. 4 is a functional block diagram of the ECU shown in FIG. 3. [Figure 5] 2 is a schematic plan view showing the vehicle shown in FIG. 1 and a first predetermined area of ​​the expressway on which the vehicle is traveling. FIG. [Figure 6] FIG. 4 is a schematic plan view showing a vehicle and a second predetermined area of ​​the expressway on which the vehicle is traveling. [Figure 7] FIG. 4 is a schematic plan view showing a vehicle and a third predetermined area of ​​the expressway on which the vehicle is traveling. [Figure 8] FIG. 10 is a diagram showing the display when LCA is determined to be executable. [Figure 9] FIG. 10 is a diagram illustrating the display when a first operation is performed. [Figure 10] FIG. 10 is a diagram illustrating the display when a second operation is performed. [Figure 11] 4 is a flowchart showing a process executed by a CPU of an ECU. DETAILED DESCRIPTION OF THE INVENTION

[0022] 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.

[0023] 1, a vehicle 12 equipped with the vehicle control device 10 includes an instrument panel 14. A steering column 16 is provided on the instrument panel 14, and a steering wheel 18 is rotatably supported on the steering column 16. Furthermore, a turn signal lever (operating member) 20 is movably supported on the right side of the steering column 16.

[0024] The turn signal lever 20 can rotate upward (counterclockwise) and downward (clockwise) around its base end (left end) relative to the steering column 16. The position indicated by the symbol P0 (see solid line) in Figure 2 is the initial position of the turn signal lever 20. When the turn signal lever 20 is in the initial position, the axis 20X of the turn signal lever 20 is approximately parallel to the horizontal direction (left-right direction).

[0025] When the driver (passenger, not shown) of the vehicle 12 applies an external force to the turn signal lever 20, the turn signal lever 20 rotates to an LCA operation position (operation position) P1L or an LCA operation position (operation position) P1R. When the turn signal lever 20 moves to the LCA operation position P1L, a left turn signal (direction indicator) 22L (see FIG. 3), which is a lighting fixture provided at the front end of the vehicle 12, is turned on, and when the turn signal lever 20 moves to the LCA operation position P1R, a right turn signal (direction indicator) 22R (see FIG. 3), which is a lighting fixture provided at the front end of the vehicle 12, is turned on. Furthermore, when the external force applied to the turn signal lever 20, which is located at the LCA operation position P1L or the LCA operation position P1R, is removed, the turn signal lever 20 automatically moves back to the initial position P0.

[0026] When the driver further applies force to the turn signal lever 20, the turn signal lever 20 rotates to the on position P2L or the on position P2R. When the turn signal lever 20 moves to the on position P2L, the left turn signal 22L lights up, and when the turn signal lever 20 moves to the on position P2R, the right turn signal 22R lights up.

[0027] 3, the vehicle 12 has a GPS (Global Positioning System) receiver 21. The GPS receiver 21 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").

[0028] 1 and 2, the instrument panel 14 is provided with a display (warning generation device) 23 and a speaker (warning generation device) 24. The instrument panel 14 is further 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.

[0029] As shown in FIG. 3, the vehicle 12 has an ECU (Electronic Control Unit) 26 as a hardware configuration.

[0030] The ECU 26 includes a CPU (Central Processing Unit) (controller) (first determination unit) (second determination unit) (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.

[0031] 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.

[0032] 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 by 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.

[0033] 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.

[0034] The input / output I / F 26F is an interface for communicating with various devices, including the GPS receiver 21, turn signals 22L and 22R, the display 23, the speaker 24, the driving assistance operation device 25, a group of sensors (described later), and a group of actuators (described later).

[0035] 4 is a block diagram showing an example of the functional configuration of the ECU 26. The ECU 26 has, as its functional configuration, a turn signal control unit 261, a road determination unit 262, a driving assistance control unit 263, a warning control unit 264, and a display control unit 265. The turn signal control unit 261, the road determination unit 262, the driving assistance control unit 263, the warning control unit 264, and the display control unit 265 are realized by the CPU 26A reading and executing programs stored in the ROM 26B.

[0036] The turn signal control unit 261 controls the turn signals 22L, 22R according to the position of the turn signal lever 20. That is, when the turn signal lever 20 is in the LCA operation position P1L or the lighting position P2L, the left turn signal 22L is turned on by the control of the turn signal control unit 261. Also, when the turn signal lever 20 is in the LCA operation position P1R or the lighting position P2R, the right turn signal 22R is turned on by the control of the turn signal control unit 261.

[0037] The road determination unit 262 identifies the road on which the vehicle 12 is traveling, based on map data of the navigation system (navigation application) and the position information of the vehicle 12 received from the GPS receiver 21. For example, the road determination unit 262 identifies whether the road on which the vehicle 12 is traveling is an expressway or an ordinary road. Furthermore, the road determination unit 262 identifies the number of lanes in a predetermined area that is a partial area of ​​the road on which the vehicle 12 is traveling and that includes the current position of the vehicle 12. Furthermore, when the road on which the vehicle 12 is traveling has multiple lanes, the road determination unit 262 identifies the lane on which the vehicle 12 is traveling. Note that the vehicle 12 in this embodiment travels on roads in a country whose regulations stipulate that vehicles must keep to the left.

[0038] When the driving assistance operation device 25 is in the ON state, the driving assistance control unit 263 uses a group of sensors (not shown) and a group of actuators (not shown) provided in the vehicle 12 to cause the vehicle 12 to execute driving assistance control at driving levels 1 to 5 defined by the Society of Automotive Engineers (SAE). Furthermore, when the driving assistance operation device 25 is in the ON state, an occupant of the vehicle 12 can select the driving level and the driving assistance control to be executed by operating the driving assistance operation device 25. The driving assistance control of this embodiment includes, for example, adaptive cruise control (ACC), lane trace assist (LTA), and lane change assist (LCA). The group of sensors provided in the vehicle 12 includes, for example, a millimeter-wave radar that transmits detection waves and receives reflected waves, a laser imaging detection and ranging (LIDAR) that scans the area ahead of the vehicle 12, and a camera that captures images of objects around the vehicle 12. The group of actuators provided on the vehicle 12 includes a brake device, an electric power steering device having a steering wheel 18, various electric actuators for driving the internal combustion engine which is the drive source, and an electric motor which is the drive source.

[0039] Here, a brief description of LCA will be given. Like LTA, LCA controls the lateral position (lane width direction) of the vehicle 12 relative to the lane. LCA is initiated when driving assist control of levels 1 to 3 is selected and the turn signal lever 20 is moved to the LCA operating position P1L or P1R while LTA and ACC are being implemented. While LTA and ACC are being implemented, the CPU 26A (driving assist control unit 263) monitors the surroundings of the vehicle 12 based on information acquired from the sensors. Furthermore, when it is determined that the vehicle 12 can safely change lanes, the CPU 26A executes LCA when the turn signal lever 20 is moved to the LCA operating position P1L or P1R. When LCA is executed, the actuators are controlled so that the vehicle 12 moves from the driving lane, which is the lane in which the vehicle 12 is currently traveling, to a lane other than the driving lane. The LCA of this embodiment includes a first LCA (first lane change assist control) and a second LCA (second lane change assist control).

[0040] The first LCA is a control that moves the vehicle 12 from the driving lane to the adjacent lane after it is determined that the vehicle 12 can safely move from the driving lane to the adjacent lane, which is a lane adjacent to the driving lane. When the driving assist operation device 25 is in the ON state and the turn signal lever 20 is positioned at the LCA operation position P1L or the LCA operation position P1R for a time period that is less than the first threshold and is equal to or greater than a predetermined value, the driving assist control unit 263 executes the first LCA. For example, the predetermined value is one second, and the first threshold is two seconds. When the turn signal lever 20 is positioned at the LCA operation position P1L, the vehicle 12 moves from the driving lane to the adjacent lane to the left of the driving lane, and when the turn signal lever 20 is positioned at the LCA operation position P1R, the vehicle 12 moves from the driving lane to the adjacent lane to the right of the driving lane. Hereinafter, the operation of positioning the turn signal lever 20 at the LCA operation position P1L or P1R for a time period that is less than the first threshold and greater than or equal to a predetermined value when the driving assist operation device 25 is in the ON state will be referred to as the "first operation."

[0041] The second LCA is a control that moves the vehicle 12 from the driving lane to the adjacent lane after it is determined that the vehicle 12 can safely move to the adjacent lane, and moves the vehicle 12 from the adjacent lane to the separating lane after it is determined that the vehicle 12 can safely move to the separating lane. Here, the separating lane refers to the lane on the opposite side of the adjacent lane from the driving lane. When the driving assist operation device 25 is in the ON state and the turn signal lever 20 is positioned at the LCA operation position P1L or the LCA operation position P1R for a time period equal to or longer than the first threshold, the driving assist control unit 263 executes the second LCA. When the turn signal lever 20 is positioned at the LCA operation position P1L, the vehicle 12 moves from the driving lane to the separating lane to the left of the driving lane. When the turn signal lever 20 is positioned at the LCA operation position P1R, the vehicle 12 moves from the driving lane to the separating lane to the right of the driving lane. Hereinafter, the operation of positioning the turn signal lever 20 at the LCA operating position P1L or P1R for a time period equal to or longer than the first threshold value when the driving assist operating device 25 is in the ON state will be referred to as a "second operation."

[0042] When a predetermined interruption condition is met during the execution of LCA, the driving assistance control unit 263 interrupts the LCA. For example, the interruption condition is met when the driving assistance control unit 263 determines that the predicted time until collision (TTC) of the vehicle 12 with another vehicle is less than a predetermined threshold during the execution of LCA.

[0043] The warning control unit 264 causes the display 23 and the speaker 24 to perform a predetermined warning operation when a warning condition, which will be described later, is met.

[0044] The display control unit 265 can display various images relating to LCA in an LCA display area 23A, which is a partial area of ​​the display 23.

[0045] For example, when LTA and ACC are executed and it is determined that the vehicle 12 can safely change lanes, the display control unit 265 displays a road image 40A and a driving trajectory image IM-A in the LCA display area 23A shown in FIGS. 1 and 8. The road image 40A includes a driving lane image 41A representing the driving lane, and a demarcation line image 40A-1 and a demarcation line image 40A-2 representing demarcation lines. The driving trajectory image IM-A indicates the direction of a possible lane change. The contrast between the road image 40A and the driving trajectory image IM-A in the LCA display area 23A and the surrounding images is low, and therefore the visibility of the road image 40A and the driving trajectory image IM-A is low.

[0046] Furthermore, when the first operation is performed while the image of FIG. 8 is displayed, the display control unit 265 displays the road image 40B, the driving trajectory image IM-B, and the notification image 43B shown in FIG. 9 in the LCA display area 23A. The road image 40B includes a driving lane image 41B representing the driving lane and lane marking images 40B-1 and 40B-2 representing lane markings. The driving trajectory image IM-B indicates the direction of the lane change being executed. The notification image 43B is a text image for notifying the driver that it has been determined that a lane change to the separated lane can be safely executed. The contrast between the road image 40B, the driving trajectory image IM-B, and the notification image 43B in the LCA display area 23A and their surrounding images is greater than the contrast in FIG. 8, and therefore the visibility of the road image 40B, the driving trajectory image IM-B, and the notification image 43B is good.

[0047] Furthermore, when the second operation is performed, the display control unit 265 displays the road image 40C and driving trajectory image IM-C shown in FIG. 10 in the LCA display area 23A. The road image 40C includes a driving lane image 41C representing the driving lane, an adjacent lane image 42C representing an adjacent lane, and lane marking line images 40C-1, 40C-2, and 40C-3 representing lane marking lines. The driving trajectory image IM-C indicates the direction of the lane change being performed. The contrast between the road image 40C and driving trajectory image IM-C and their surrounding images in the LCA display area 23A is greater than the contrast in FIG. 8, and therefore the visibility of the road image 40C and driving trajectory image IM-C is good.

[0048] The turn signal lever 20, the GPS receiver 21, the driving assistance operation device 25, the ECU 26, the above-mentioned sensors, and the above-mentioned actuators are components of the vehicle control device 10.

[0049] (Action and effect) Next, the operation and effects of this embodiment will be described.

[0050] 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.

[0051] It is assumed that the vehicle 12 is traveling on a road 30 shown in FIGS. 5 to 7. The road 30 is a highway and 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. However, the number of lanes varies depending on the area of ​​the road 30. That is, in the first predetermined area AR1 shown in FIG. 5, the road 30 includes the first lane 31, the second lane 32, and the third lane 33. In the second predetermined area AR2 shown in FIG. 6, the road 30 includes the first lane 31, the second lane 32, and the third lane 33, and the third lane 33 is connected to a connecting lane 34. An exit 34E is provided at the end of the connecting lane 34. The exit 34E connects the road 30 to a general road (not shown), which is a road different from the road 30. 7, the road 30 includes only the first lane 31 and the second lane 32. The arrow DR shown in FIGS.

[0052] In step S10 (hereinafter, the word "step" will be omitted), the CPU 26A determines whether or not the vehicle 12 is traveling on a highway. In this case, the CPU 26A determines "Yes" and proceeds to S11.

[0053] In S11, the CPU 26A sets the value of the road flag to "1." The initial value of the road flag is "0."

[0054] If the vehicle 12 is traveling on an ordinary road, the CPU 26A determines No in S10, proceeds to S12, and sets the value of the road flag to "0."

[0055] After completing the process of S11 or S12, the CPU 26A proceeds to S13 and determines whether the number of lanes included in the predetermined area in which the vehicle 12 is traveling is "1." As described above, the road 30 has multiple lanes in all areas. Therefore, the CPU 26A determines No in S13 and proceeds to S14.

[0056] In S14, the CPU 26A determines whether or not the first operation has been performed.

[0057] If the determination in S14 is Yes, the CPU 26A proceeds to S15, where it determines whether or not there is an adjacent lane in the direction indicated by the operation direction of the turn signal lever 20. For example, assume that the vehicle 12 is traveling in the first lane 31 of the first predetermined area AR1 shown in FIG. 5 or the first lane 31 of the second predetermined area AR2 shown in FIG. 6. That is, assume that the vehicle 12 is located at position P12-A in FIG. 5 or position P12-D in FIG. 6. In this case, the traveling lane is the first lane 31, and the adjacent lane is the second lane 32. Therefore, if the first operation is performed to position the turn signal lever 20 at the LCA operation position P1R, the CPU 26A determines Yes in S15. On the other hand, if the first operation is performed to position the turn signal lever 20 at the LCA operation position P1L, the CPU 26A determines No in S15.

[0058] If the determination in S15 is Yes, the CPU 26A proceeds to S16 and executes the first LCA. For example, when the first LCA is executed while the vehicle 12 is located at position P12-A in Fig. 5, the vehicle 12 moves along the travel trajectory JP1 to position P12-B on the second lane 32. When the first LCA is executed while the vehicle 12 is located at position P12-D in Fig. 6, the vehicle 12 moves along the travel trajectory JP3 to position P12-E on the second lane 32.

[0059] When the process of S16 is completed or when it is determined as No in S14 and S15, the CPU 26A proceeds to S17 and determines whether or not the second operation has been performed.

[0060] If the determination in S17 is Yes, the CPU 26A proceeds to S18, where it determines whether or not there is a separating lane in the direction indicated by the operation direction of the turn signal lever 20. For example, assume that the vehicle 12 is located at position P12-A of the first lane 31 in the first predetermined area AR1 shown in FIG. 5 or at position P12-D of the first lane 31 in the second predetermined area AR2 shown in FIG. 6. In this case, the driving lane is the first lane 31, the adjacent lane is the second lane 32, and the separating lane is the third lane 33. Therefore, if the second operation is performed to position the turn signal lever 20 at the LCA operation position P1R, the CPU 26A determines Yes in S18. On the other hand, if the second operation is performed to position the turn signal lever 20 at the LCA operation position P1L, the CPU 26A determines No in S18.

[0061] If the determination in S18 is Yes, the CPU 26A proceeds to S19 and determines whether the value of the road flag is "1" or not.

[0062] If the determination in S19 is Yes, the CPU 26A proceeds to S20 and determines whether the value of the exit flag is "0". The initial value of the exit flag is "0". Furthermore, if there is no connecting lane 34 in the predetermined area in which the vehicle 12 is traveling, the CPU 26A sets the value of the exit flag to "0". On the other hand, if there is a connecting lane 34 in the predetermined area in which the vehicle 12 is traveling, the CPU 26A sets the value of the exit flag to "1".

[0063] For example, assume that the vehicle 12 is traveling in the first predetermined area AR1 shown in Fig. 5. This first predetermined area AR1 does not have a connecting lane 34. Therefore, in this case, the CPU 26A determines Yes in S20 and proceeds to S21.

[0064] In S21, the CPU 26A executes the second LCA. For example, when the second LCA is executed while the vehicle 12 is located at position P12-A in Fig. 5, the vehicle 12 moves along the travel path JP1 to position P12-B on the second lane 32, and then moves further along the travel path JP2 to position P12-C on the third lane 33.

[0065] On the other hand, assume that the vehicle 12 is traveling in the second predetermined area AR2 shown in Fig. 6. A connecting lane 34 exists in this second predetermined area AR2. Therefore, in this case, the CPU 26A determines No in S20 and proceeds to S22. Note that when the CPU 26A determines No in S20, the warning condition is met.

[0066] In S22, the CPU 26A causes the display 23 and the speaker 24 to execute a warning operation. In this case, the display 23 displays the text "When the second LCA is executed, your vehicle will proceed to the highway exit. Is this okay?", and the speaker 24 emits the voice "When the second LCA is executed, your vehicle will proceed to the highway exit. Is this okay?".

[0067] After completing the process of S22, the CPU 26A executes the process of S17 again.

[0068] If the determination in S18 is No, the CPU 26A proceeds to S23. For example, when the vehicle 12 is traveling in the first lane 31 or the second lane 32 of the third predetermined area AR3 shown in Figure 7, the CPU 26A determines No in S18.

[0069] The CPU 26A proceeds to S23 and determines whether there is an adjacent lane in the direction indicated by the operation direction of the turn signal lever 20. For example, assume that the vehicle 12 is traveling in the first lane 31 of the third predetermined area AR3 shown in FIG. 7. That is, assume that the vehicle 12 is located at position P12-G in FIG. 7. In this case, the traveling lane is the first lane 31, and the adjacent lane is the second lane 32. Therefore, if the second operation is performed to position the turn signal lever 20 at the LCA operation position P1R, the CPU 26A determines Yes in S23. On the other hand, if the second operation is performed to position the turn signal lever 20 at the LCA operation position P1L, the CPU 26A determines No in S23.

[0070] If the determination in S23 is Yes, the CPU 26A proceeds to S24 and executes the first LCA. For example, if the first LCA is executed while the vehicle 12 is located at position P12-G, the vehicle 12 moves along the travel path JP5 to position P12-H on the second lane 32.

[0071] When the determinations in S13, S17, and S23 are No, or when the processes of S21 and S24 are completed, the CPU 26A temporarily ends the process of the flowchart in FIG.

[0072] As described above, in this embodiment, when a first operation is performed on the turn signal lever 20, the CPU 26A (driving assistance control unit 263) executes first lane change assist control to move the vehicle 12 from the driving lane, which is the lane in which the vehicle is currently traveling, to an adjacent lane. Furthermore, when a second operation different from the first operation is performed on the turn signal lever 20, the CPU 26A (driving assistance control unit 263) executes second lane change assist control to move the vehicle 12 from the driving lane to an adjacent lane. Therefore, when the driver wants the vehicle 12 to execute lane change assist control across multiple lanes, the driver only needs to execute the second operation on the turn signal lever 20 once while the vehicle 12 is traveling in the driving lane. In other words, according to the vehicle control device 10 of this embodiment, the vehicle 12 can execute lane change assist control (second LCA) across multiple lanes even if the driver does not operate the turn signal lever 20 after the lane change assist control is started.

[0073] Furthermore, when a second operation is performed on the turn signal lever 20 of the vehicle 12 traveling on the road 30, which is an expressway, the CPU 26A determines whether or not the leaving lane (third lane 33) is connected to the exit 34E of the road 30. Furthermore, when the CPU 26A determines that the leaving lane is connected to the exit 34E of the road 30, the display 23 and the speaker 24 issue a warning. In this way, when a second operation is performed on the turn signal lever 20 of the vehicle 12 traveling on the road 30, which is an expressway, the vehicle control device 10 of this embodiment issues a warning to the driver asking whether it is okay to drive the vehicle 12 toward the exit 34E. Therefore, the driver who receives the warning can determine whether or not to continue the second lane change assist control.

[0074] Furthermore, when a second operation is performed on the turn signal lever 20, the CPU 26A determines whether or not a predetermined area of ​​the road 30 on which the vehicle 12 is traveling includes an adjacent lane and a separated lane. When it is further determined that the adjacent lane is included and the separated lane is not included, the CPU 26A executes a first LCA so that the vehicle 12 moves to the adjacent lane. In this way, the vehicle control device 10 of this embodiment can execute safe lane change assist control while taking into account the driver's misunderstanding about the lane.

[0075] 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.

[0076] For example, as shown in FIG. 1 , a handle switch (operating member) (switch) 19 may be provided on the steering wheel 18. The handle switch 19 is movable relative to the steering wheel 18 between an initial position where it protrudes rearward from the surface of the steering wheel 18 by a large amount and an operating position where it protrudes less than the initial position. Furthermore, a spring member provided on the steering wheel 18 acts to hold the steering wheel 18 in the initial position when no external force is applied to the handle switch 19. In this modification, when the handle switch 19 is in the operating position while the LTA and ACC are being performed, the LCA is executed instead of the LTA. More specifically, when the driving assist operating device 25 is in the ON state and the handle switch 19 is placed in the operating position for a time period that is less than the first threshold and is equal to or greater than a predetermined value, the driving assist control unit 263 executes the first LCA. The operation of placing the handle switch 19 in the operating position for a time period that is less than the first threshold and is equal to or greater than a predetermined value when the driving assist operating device 25 is in the ON state is the "first operation." For example, the predetermined value is one second, and the first threshold is two seconds. Furthermore, when the driving assist operation device 25 is in the ON state and the handle switch 19 is in the operating position for a time period equal to or longer than the first threshold, the driving assist control unit 263 executes the second LCA. The operation of positioning the handle switch 19 in the operating position for a time period equal to or longer than the first threshold when the driving assist operation device 25 is in the ON state is the "second operation."

[0077] Regardless of whether the road is a highway or an ordinary road, the road may have four or more lanes. Assume here that the road has four lanes and the vehicle 12 is located in the driving lane, which is the leftmost lane. In this case, the lane to the right of the driving lane is the adjacent lane, the lane to the right of the adjacent lane is the first leaving lane (leaving lane), and the lane to the right of the first leaving lane is the second leaving lane (leaving lane). In this case, the second LCA is also executed when a second operation is performed on the handlebar switch 19 or the turn signal lever 20. Furthermore, in this case, when the handlebar switch 19 or the turn signal lever 20 is in an operating position for a time equal to or greater than the first threshold and less than the second threshold, the LCA may cause the vehicle 12 to move from the driving lane to the first leaving lane, and when the handlebar switch 19 or the turn signal lever 20 is in an operating position for a time equal to or greater than the second threshold, the LCA may cause the vehicle 12 to move from the driving lane to the second leaving lane. The second threshold is, for example, 4 seconds.

[0078] The vehicle 12 may be provided with an operating member for the first LCA and an operating member for the second LCA separately.

[0079] Furthermore, the "first operation" may be an operation of moving the operating member to the operating position only once, and the "second operation" may be an operation of moving the operating member to the operating position multiple times within a predetermined time period. This predetermined time period may be, for example, one second.

[0080] [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 causes the vehicle to execute lane change assist control when an operating member that can be operated by a vehicle occupant is operated, wherein the control unit executes first lane change assist control to move the vehicle from a driving lane, which is the lane in which the vehicle is currently traveling, to an adjacent lane when a first operation is performed on the operating member, and executes second lane change assist control to move the vehicle from the driving lane to a leaving lane, which is the lane on the opposite side of the driving lane across the adjacent lane, when a second operation different from the first operation is performed on the operating member. <Configuration 2> A vehicle control device in which the operating member is a turn signal lever that is movable between an initial position and an operating position, the first operation is an operation to move the turn signal lever to the operating position and position it at the operating position for a time period that is less than a first threshold and equal to or greater than a predetermined value, and the second operation is an operation to move the turn signal lever to the operating position and position it at the operating position for a time period that is equal to or greater than the first threshold. <Configuration 3> A vehicle control device in which the operating member is a switch provided on a steering wheel of the vehicle and movable between an initial position and an operating position, the first operation is an operation of moving the switch to the operating position and keeping it in the operating position for a time period that is less than a first threshold and equal to or greater than a predetermined value, and the second operation is an operation of moving the switch to the operating position and keeping it in the operating position for a time period that is equal to or greater than the first threshold. <Configuration 4> A vehicle control device comprising: a first determination unit that, when the second operation is performed on the operating member of the vehicle traveling on a highway, determines whether a predetermined area including the current position of the vehicle on the highway includes a connecting lane that has an exit to the highway and is connected to the separating lane; and a warning generation device that issues a warning when the first determination unit determines that the predetermined area includes the connecting lane. <Configuration 5> A vehicle control device comprising a second judgment unit that, when the second operation is performed on the operating member of the vehicle traveling on a road, judges whether a predetermined area including the current position of the vehicle on the road includes the adjacent lane and the separated lane, and when the second judgment unit determines that the predetermined area includes the adjacent lane and does not include the separated lane, the control unit causes the vehicle to execute the first lane change assist control. 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, when a first operation is performed on an operating member that can be operated by a vehicle occupant, executes a first lane change assist control to move the vehicle from a driving lane, which is the lane in which the vehicle is currently traveling, to an adjacent lane, and, when a second operation different from the first operation is performed on the operating member, executes a second lane change assist control to move the vehicle from the driving lane to a departing lane, which is the lane on the opposite side of the driving lane across the adjacent lane. 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 executing first lane change assist control to move the vehicle from the driving lane, which is the lane the vehicle is currently traveling in, to an adjacent lane, when a first operation is performed on an operating member that can be operated by a vehicle occupant; and a process of executing second lane change assist control to move the vehicle from the driving lane to an adjacent lane, which is the lane on the opposite side of the driving lane across the adjacent lane, when a second operation different from the first operation is performed on the operating member. [Explanation of symbols]

[0081] 10 Vehicle control device 12 vehicles 19 Handle switch (operating member) (switch) 20 Turn signal lever (operating member) 23 Display (Warning device) 24 Speaker (warning device) 26 ECU 26A CPU (control unit) (first judgment unit) (second judgment unit) (computer) 30 Road (Expressway) 31 Lane 1 (Traveling Lane) 32 2nd lane (adjacent lane) 33 Third lane (separate lane) 34 connecting lanes 34E Exit AR1 1st predetermined area (predetermined area) AR2 2nd predetermined area (predetermined area) AR3, the third defined domain (defined domain) P0 Initial position P1L LCA Operation Position (Operation Position) P1R LCA Operation Position (Operation Position)

Claims

1. a control unit that causes the vehicle to execute lane change assist control when an operating member that can be operated by a vehicle occupant is operated, The control unit executes a first lane change assist control to move the vehicle from a current lane to an adjacent lane when a first operation is performed on the operating member; When a second operation different from the first operation is performed on the operating member, a second lane change assist control is executed to move the vehicle from the driving lane to a separated lane that is a lane on the opposite side of the driving lane across the adjacent lane, the operating member is a turn signal lever that is movable between an initial position and an operating position, or a switch that is provided on a steering wheel of the vehicle and is movable between an initial position and an operating position, When the operating member is the turn signal lever, the first operation is an operation of moving the turn signal lever to the operation position and positioning the turn signal lever at the operation position for a time period that is less than a first threshold value and is equal to or greater than a predetermined value, the second operation is an operation of moving the turn signal lever to the operating position and keeping it in the operating position for a time period equal to or longer than the first threshold value, and after the first threshold value has elapsed, it does not matter whether the turn signal lever is in the operating position or not, When the operation member is the switch, the first operation is an operation of moving the switch to the operation position and keeping the switch at the operation position for a time period that is less than a first threshold and is equal to or greater than a predetermined value, The second operation is an operation that moves the switch to the operating position and keeps it in the operating position for a time period equal to or longer than the first threshold, and after the first threshold has elapsed, it does not matter whether the switch is in the operating position or not.

2. a first determination unit that, when the second operation is performed on the operating member of the vehicle traveling on a highway, determines whether a predetermined area including a current position of the vehicle on the highway includes a connecting lane that has an exit of the highway and is connected to the separating lane; a warning issuing device that issues a warning when the first determination unit determines that the predetermined area includes the connecting lane; The vehicle control device according to claim 1 , comprising:

3. a second determination unit that, when the second operation is performed on the operating member of the vehicle traveling on a road, determines whether a predetermined area including a current position of the vehicle on the road includes the adjacent lane and the separated lane, and whether the predetermined area includes the adjacent lane and does not include the separated lane; 3. The vehicle control device according to claim 1, wherein the control unit causes the vehicle to execute the first lane change assist control when the second determination unit determines that the specified area includes the adjacent lane and does not include the separated lane.

4. A display capable of displaying road images representing the driving lane, the adjacent lane, and the separated lane, 3. The vehicle control device according to claim 1, wherein the display displays a travel path image representing a lane change from the driving lane to the separated lane when the second lane change assist control is executed.

5. A display capable of displaying a road image representing the driving lane and the adjacent lane, 3. The vehicle control device according to claim 1, wherein the display displays a travel path image representing a lane change from the driving lane to the adjacent lane when the first lane change assist control is executed.

6. A vehicle control device as described in Claim 5, wherein the display displays an alert image that notifies the driver that a lane change to the separated lane is determined to be possible when the first operation is performed.

7. The computer When a first operation is performed on an operating member that can be operated by an occupant of the vehicle, a first lane change assist control is executed to move the vehicle from a driving lane that is a lane in which the vehicle is currently traveling to an adjacent lane; When a second operation different from the first operation is performed on the operating member, a second lane change assist control is executed to move the vehicle from the driving lane to a separated lane that is a lane on the opposite side of the driving lane across the adjacent lane, the operating member is a turn signal lever that is movable between an initial position and an operating position, or a switch that is provided on a steering wheel of the vehicle and is movable between an initial position and an operating position, When the operating member is the turn signal lever, the first operation is an operation of moving the turn signal lever to the operation position and positioning the turn signal lever at the operation position for a time period that is less than a first threshold value and is equal to or greater than a predetermined value, the second operation is an operation of moving the turn signal lever to the operating position and keeping it in the operating position for a time period equal to or longer than the first threshold value, and after the first threshold value has elapsed, it does not matter whether the turn signal lever is in the operating position or not, When the operation member is the switch, the first operation is an operation of moving the switch to the operation position and keeping the switch at the operation position for a time period that is less than a first threshold and is equal to or greater than a predetermined value, The vehicle control method, wherein the second operation is an operation of moving the switch to the operating position and keeping it in the operating position for a time period equal to or longer than the first threshold, and wherein after the first threshold has elapsed, it does not matter whether the switch is in the operating position or not.

8. A process for executing a first lane change assist control to move the vehicle from a driving lane, which is the lane in which the vehicle is traveling, to an adjacent lane when a first operation is performed on an operating member that can be operated by an occupant of the vehicle; and a process of executing a second lane change assist control to move the vehicle from the driving lane to a separated lane, which is a lane on the opposite side of the driving lane across the adjacent lane, when a second operation different from the first operation is performed on the operating member; on the computer, the operating member is a turn signal lever that is movable between an initial position and an operating position, or a switch that is provided on a steering wheel of the vehicle and is movable between an initial position and an operating position, When the operating member is the turn signal lever, the first operation is an operation of moving the turn signal lever to the operation position and positioning the turn signal lever at the operation position for a time period that is less than a first threshold value and is equal to or greater than a predetermined value, the second operation is an operation of moving the turn signal lever to the operating position and keeping it in the operating position for a time period equal to or longer than the first threshold value, and after the first threshold value has elapsed, it does not matter whether the turn signal lever is in the operating position or not, When the operation member is the switch, the first operation is an operation of moving the switch to the operation position and keeping the switch at the operation position for a time period that is less than a first threshold and is equal to or greater than a predetermined value, The second operation is an operation of moving the switch to the operating position and keeping it in the operating position for a time period equal to or longer than the first threshold, and after the first threshold has elapsed, it does not matter whether the switch is in the operating position or not.

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