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

Abstract

To set a suppression region for suppressing automatic lane change and a possible range for enabling the automatic lane change on the basis of map information and image information.SOLUTION: A vehicle control device is provided with a controller for controlling velocity and steering of a vehicle traveling on a travel line to perform automatic lane change to a branch lane branching from the travel lane. The controller sets a suppression region for suppressing automatic lane change with a specific road structure existing on the travel lane and a possible region for enabling the automatic lane change on the basis of map information, and changes region setting based on the map information in the case that image information picked up by imaging means exceeds a prescribed threshold.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Patent document 1 discloses a vehicle control technology that restricts lane changes when a vehicle is detected to be in a first area having a first distance in the longitudinal direction of the road based on the start point of a specific road structure, or a second area having a second distance in the longitudinal direction of the road based on the end point of a specific road structure. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-11254 A Summary of the Invention [Problem to be solved by the invention]

[0004] From the perspective of traffic safety and smooth traffic flow, it is necessary to set a restricted area that restricts lane changes by automobiles and a permitted area that enables lane changes by automobiles based on map information and image information acquired in an actual driving environment.

[0005] The present invention aims to improve traffic safety while suppressing a decline in traffic smoothness, and specifically aims to provide a vehicle control technology that can set a suppression area that suppresses automated lane changing and a feasible area that enables automated lane changing based on map information and image information. [Means for solving the problem]

[0006] A vehicle control device according to one aspect of the present invention is a vehicle control device for a vehicle, a control means for controlling a speed and steering of the vehicle traveling in a driving lane to perform an automatic lane change to a branch lane branching from the driving lane; The control means Based on map information, it detects vehicles in the driving lane. and the vehicle can pass through Certain road structures a first inhibition area having a length of a first distance in the longitudinal direction of the road along the driving lane based on the start point of the road structure; and a second inhibition area having a length of a second distance in the longitudinal direction of the road along the driving lane based on the end point of the road structure; Set mounted on the vehicle Imaging means an image of the area in front of the vehicle is captured by The first suppression area or the second suppression area is reduced when a difference between a luminance value of a driving lane area in the first suppression area or the second suppression area and a luminance value of a branch lane area in the first suppression area or the second suppression area becomes equal to or less than a predetermined threshold. The area setting based on the map information is changed.

[0007] A vehicle control method according to another aspect of the present invention is a vehicle control method for a vehicle control device in a vehicle, comprising: a control step of controlling a speed and steering of the vehicle traveling in a driving lane to perform an automated lane change to a branch lane branching from the driving lane, In the control step, Based on map information, it detects vehicles in the driving lane. and the vehicle can pass through Certain road structures a first inhibition area having a length of a first distance in the longitudinal direction of the road along the driving lane based on the start point of the road structure; and a second inhibition area having a length of a second distance in the longitudinal direction of the road along the driving lane based on the end point of the road structure; Set mounted on the vehicle Imaging means an image of the area in front of the vehicle is captured by The first suppression area or the second suppression area is reduced when a difference between a luminance value of a driving lane area in the first suppression area or the second suppression area and a luminance value of a branch lane area in the first suppression area or the second suppression area becomes equal to or less than a predetermined threshold. The area setting based on the map information is changed. [Effects of the Invention]

[0008] According to the present invention, it is possible to set a restricted area in which automated lane changing is restricted and a permitted area in which automated lane changing is permitted, based on map information and image information. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram of a vehicle and its control device according to an embodiment; [Figure 2] FIG. 4 is a diagram showing state transitions in a driving assistance function. [Figure 3] 4 is a flowchart showing the procedure of a vehicle control process executed in the embodiment. [Figure 4] 5A and 5B are diagrams illustrating a vehicle control process according to an embodiment. [Figure 5] 5A and 5B are diagrams illustrating a vehicle control process according to an embodiment. [Figure 6] FIG. 1 is a diagram illustrating a tunnel as a specific road structure. [Figure 7] FIG. 10 is a diagram illustrating an example of a two-dimensional distribution of luminance values. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be arbitrarily combined. Furthermore, the same reference numerals are used for the same or similar components, and redundant explanations will be omitted.

[0011] An embodiment of the present invention will be described. FIG. 1 is a block diagram of a vehicle V and its control device CNT (vehicle control device) according to this embodiment. FIG. 1 shows an outline of the vehicle V in plan view and side view. The vehicle V of this embodiment is, as an example, a four-wheeled sedan-type passenger vehicle, and may be, for example, a parallel hybrid vehicle. Note that the vehicle V is not limited to a four-wheeled passenger vehicle, and may be a saddle-type vehicle (motorcycle, motor tricycle), or a large vehicle such as a truck or bus.

[0012] [Configuration of vehicle control device] The control device CNT (vehicle control device) includes a controller 1, which is an electronic circuit that controls the vehicle V, including driving assistance for the vehicle V. The controller 1 is equipped with multiple ECUs (Electronic Control Units). An ECU is provided, for example, for each function of the control device CNT. Each ECU includes a processor represented by a CPU (Central Processing Unit), a storage device such as a semiconductor memory, an interface with an external device, etc. The storage device stores programs executed by the processor and data used by the processor for processing, etc. The interfaces include an input / output interface and a communication interface. Each ECU may include multiple processors, multiple storage devices, and multiple interfaces.

[0013] The controller 1 controls the drive (acceleration) of the vehicle V by controlling a power unit (power plant) 2. The power unit 2 is a traveling drive unit that outputs drive force to rotate the drive wheels of the vehicle V, and may include an internal combustion engine, a motor, and an automatic transmission. The motor can be used as a drive source to accelerate the vehicle V, and can also be used as a generator during deceleration, etc. (regenerative braking).

[0014] In this embodiment, the controller 1 controls the output of the internal combustion engine and the motor and changes the gear position of the automatic transmission in response to the driver's operation and vehicle speed detected by the operation detection sensor 2a provided on the accelerator pedal AP and the operation detection sensor 2b provided on the brake pedal BP. The automatic transmission is provided with a rotation speed sensor 2c that detects the rotation speed of the output shaft of the automatic transmission as a sensor that detects the running state of the vehicle V. The vehicle speed of the vehicle V can be calculated from the detection result of the rotation speed sensor 2c.

[0015] The controller 1 controls the braking (deceleration) of the vehicle V by controlling the hydraulic device 3. The driver's braking operation on the brake pedal BP is converted into hydraulic pressure in the brake master cylinder BM and transmitted to the hydraulic device 3. The hydraulic device 3 is an actuator that can control the hydraulic pressure of the hydraulic oil supplied to the brake devices 3a (e.g., disc brake devices) provided on each of the four wheels based on the hydraulic pressure transmitted from the brake master cylinder BM.

[0016] The controller 1 can control the braking of the vehicle V by controlling the driving of the solenoid valves and the like provided in the hydraulic device 3. The controller 1 can also configure an electric servo brake system by controlling the distribution of braking force by the brake device 3a and braking force by regenerative braking of the motor provided in the power unit 2. The controller 1 may also turn on the brake lamps 3b during braking.

[0017] The controller 1 controls the steering of the vehicle V by controlling the electric power steering device 4. The electric power steering device 4 includes a mechanism for steering the front wheels in response to the driver's driving operation (steering operation) with respect to the steering wheel ST. The electric power steering device 4 includes a drive unit 4a including a motor that generates a driving force (sometimes referred to as steering assist torque) for assisting the steering operation or for automatically steering the front wheels, a steering angle sensor 4b, and a torque sensor 4c that detects the steering torque borne by the driver (called steering burden torque, to be distinguished from steering assist torque).

[0018] The controller 1 controls an electric parking brake device 3c provided on the rear wheels. The electric parking brake device 3c has a mechanism for locking the rear wheels. The controller 1 can control the electric parking brake device 3c to lock and unlock the rear wheels.

[0019] The controller 1 controls an information output device 5 that notifies the interior of the vehicle of information. The information output device 5 includes, for example, a display device 5a that notifies the driver of information by image and / or an audio output device 5b that notifies the driver of information by sound. The display device 5a may be provided, for example, on an instrument panel or a steering wheel ST. The display device 5a may be a head-up display. The information output device 5 may notify the occupant of information by vibration or light. The controller 1 also receives instruction inputs from the occupant (for example, the driver) via an input device 6. The input device 6 is arranged in a position operable by the driver, and includes, for example, a group of switches 6a through which the driver issues instructions to the vehicle V and / or a turn signal lever 6b that activates a turn signal (blinker).

[0020] The controller 1 recognizes and determines the current position and course (attitude) of the vehicle V. In this embodiment, the vehicle V is provided with a gyro sensor 7a, a GNSS (Global Navigation Satellite System) sensor 7b, and a communication device 7c. The gyro sensor 7a detects the rotational motion (yaw rate) of the vehicle V. The GNSS sensor 7b detects the current position of the vehicle V. The communication device 7c wirelessly communicates with a server that provides map information and traffic information to acquire this information. In this embodiment, the controller 1 determines the course of the vehicle V based on the detection results of the gyro sensor 7a and the GNSS sensor 7b, and sequentially acquires high-precision map information related to the course from the server via the communication device 7c and stores it in a database 7d (storage device). The vehicle V may also be provided with sensors for detecting the state of the vehicle V, such as a speed sensor that detects the speed of the vehicle V and an acceleration sensor that detects the acceleration of the vehicle V.

[0021] The controller 1 performs driving assistance for the vehicle V based on the detection results of various detection units provided in the vehicle V. The vehicle V is provided with surrounding detection units 8a to 8b, which are external sensors that detect the outside of the vehicle V (surrounding conditions (external environment recognition information)), and interior detection units 9a to 9b, which are interior sensors that detect the conditions inside the vehicle (driver's state). The controller 1 is able to grasp the surrounding conditions (external environment recognition information) of the vehicle V based on the detection results of the surrounding detection units 8a to 8b, and perform driving assistance in accordance with the surrounding conditions. Furthermore, the controller 1 is able to determine, based on the detection results of the interior detection units 9a to 9b, whether the driver is performing a predetermined operational obligation imposed on the driver when driving assistance is performed.

[0022] The surroundings detection unit 8a is an imaging device that captures images in front of the vehicle V (hereinafter, sometimes referred to as the front camera 8a), and is attached, for example, to the inside of the passenger compartment of the windshield at the front of the roof of the vehicle V. The controller 1 can extract the contours of targets and lane markings (white lines, etc.) on the road by analyzing the images captured by the front camera 8a.

[0023] The surroundings detection unit 8b is a millimeter wave radar (hereinafter, may be referred to as radar 8b), and uses radio waves to detect targets around the vehicle V, and detect (measure) the distance to the target and the direction (azimuth) of the target relative to the vehicle V. In the example shown in FIG. 1, five radars 8b are provided: one in the center of the front of the vehicle V, one at each of the left and right corners of the front, and one at each of the left and right corners of the rear.

[0024] The surrounding detection unit installed in the vehicle V is not limited to the above configuration, and the number of cameras and the number of radars may be changed, or a lidar (Light Detection and Ranging: LIDAR) may be installed to detect targets around the vehicle V.

[0025] The in-vehicle detection unit 9a is an imaging device that captures images of the interior of the vehicle (hereinafter, sometimes referred to as in-vehicle camera 9a), and is attached, for example, to the inside of the vehicle cabin at the front of the roof of the vehicle interior V. In this embodiment, the in-vehicle camera 9a is a driver monitor camera that captures images of the driver (for example, the driver's eyes and face). The controller 1 can determine the driver's line of sight and facial direction by analyzing the image (image of the driver's face) captured by the in-vehicle camera 9a.

[0026] The in-vehicle detection unit 9b is a grip sensor that detects the driver's grip of the steering wheel ST (hereinafter, may be referred to as grip sensor 9b), and is provided, for example, on at least a part of the steering wheel ST. Note that the torque sensor 4c that detects the driver's steering torque may be used as the in-vehicle detection unit.

[0027] Examples of driving assistance for the vehicle V include acceleration / deceleration assistance, lane keeping assistance, and lane change assistance. The acceleration / deceleration assistance is a driving assistance (ACC: Adaptive Cruise Control) that controls the acceleration / deceleration of the vehicle V within a predetermined vehicle speed while maintaining a distance from a preceding vehicle by controlling the power unit 2 and the hydraulic device 3. The lane keeping assistance is a driving assistance (LKAS: Lane Keeping Assist System) that keeps the vehicle V within the lane by controlling the electric power steering device 4. The lane change assistance is a driving assistance (ALC: Auto Lane Changing, ALCA: Active Lane Change Assist) that changes the driving lane of the vehicle V to an adjacent lane by controlling the electric power steering device 4. The driving assistance performed by the controller 1 may also include a collision mitigation brake, an ABS function, traction control, and / or attitude control of the vehicle V that assists in avoiding a collision with an object on the road (e.g., a pedestrian, another vehicle, or an obstacle) by controlling the hydraulic device 3.

[0028] Driving assistance (acceleration / deceleration assistance, lane keeping assistance, lane change assistance) for the vehicle V is performed in a plurality of modes including a manual driving mode, a normal assistance mode, and an enhanced assistance mode. Fig. 2 shows driving assistance performed in each of the manual driving mode, the normal assistance mode, and the enhanced assistance mode of this embodiment. In the manual driving mode, acceleration / deceleration assistance, lane keeping assistance, and lane change assistance are not performed, and the driver manually drives the vehicle V.

[0029] In the manual driving mode, when the driver inputs an instruction to set the acceleration / deceleration assist (ACC) via the input device 6 (for example, the switch group 6a), the acceleration / deceleration assist is started and the system transitions from the manual driving mode to the normal assistance mode. In the normal assistance mode, in addition to the acceleration / deceleration assist, the lane keeping assist (LKAS) can be executed. The lane keeping assist is started when the driver inputs an instruction to set the lane keeping assist via the input device 6 (for example, the switch group 6a) while the acceleration / deceleration assist is set. The acceleration / deceleration assist and the lane keeping assist are ended when the driver inputs an instruction to cancel the setting via the input device 6 (for example, the switch group 6a).

[0030] In the normal assistance mode, the driver is required to perform predetermined operations such as monitoring the surroundings and gripping the steering wheel (steering grip). If it is determined that the driver is not performing the predetermined operations based on the detection result of the in-vehicle detection unit 9b, a notification is sent via the information output device 5 to urge the driver to perform the predetermined operations.

[0031] When driving on a specific road begins during normal assistance mode, high-precision map information is acquired by the communication device 7c. If matching between the high-precision map information and the image captured by the front camera 8a is successful, the normal assistance mode automatically transitions to the extended assistance mode. A specific road is a road for which high-precision map information is provided, such as an expressway or a motorway. The high-precision map information includes not only standard information such as the route and location of the specific road, but also information regarding the detailed shape of the specific road, such as the presence or absence of curves, their curvature, the number of lanes, and gradients. When the normal assistance mode transitions to the extended assistance mode, the information output device 5 issues a notification indicating the transition to the extended assistance mode, for example, by changing the color of the light emitted by the display device 5a provided on the steering wheel ST.

[0032] In the extended assistance mode, acceleration / deceleration assistance (and lane keeping assistance) is performed in cooperation with highly accurate map information. For example, the controller 1 can perform more advanced acceleration / deceleration assistance than in the normal assistance mode, such as slowing down the vehicle V before a curve or before a point where the lane width decreases, or adjusting the speed of the vehicle V according to the curvature of the curve, based on the highly accurate map information. Note that in the extended assistance mode, the driver is also required to perform certain actions, such as monitoring the surroundings and holding the steering wheel, as in the normal assistance mode. If it is determined based on the detection result of the in-vehicle detection unit 9b that the driver is not performing the certain action, a notification is sent via the information output device 5 to urge the driver to perform the certain action.

[0033] Furthermore, in the extended assistance mode, lane change assistance can also be performed. In this embodiment, the lane change assistance includes system-driven lane change assistance (ALC: Auto Lane Changing), which automatically changes lanes based on the judgment of the controller 1, and driver-driven lane change assistance (ALCA: Active Lane Change Assist), which automatically changes lanes in response to an instruction input by the driver. In both system-driven lane change assistance (ALC) and driver-driven lane change assistance (ALCA), the driver is required to perform certain actions, such as monitoring the surroundings and holding the steering wheel, when lane change assistance is performed.

[0034] System-driven lane change assist (ALC) is initiated when the driver inputs an instruction to set ALC in the enhanced assistance mode via the input device 6 (e.g., the switch group 6a). While ALC is set, the controller 1 sequentially determines whether a lane change is necessary to arrive at a destination previously set by the driver, based on highly accurate map information (information on lane increases / decreases and branching), and automatically performs a lane change when it is determined that a lane change is necessary. While ALC is set, one or more lane changes can be performed depending on the determination of the controller 1. ALC ends when the destination is reached or when the specific road ends. ALC may also end when the driver inputs an instruction to cancel the setting via the input device 6 (e.g., the switch group 6a).

[0035] Driver-initiated lane change (ALCA) is a lane change performed in response to a driver's instruction input. It is executed when the driver inputs an instruction to execute ALCA via the input device 6 (e.g., the turn signal lever 6b) in the enhanced assistance mode. In ALCA, the driver can input an instruction for the direction of the lane change via the input device 6 (the turn signal lever 6b), and the controller 1 automatically changes the lane to an adjacent lane in the direction instructed by the driver. ALCA can also be executed while system-initiated lane change assistance (ALC) is set. The controller 1 provides a system-initiated automatic lane change function when an approval instruction is input by the driver via the input device 6 and map information matches image information captured by an imaging device. The controller 1 provides a driver-initiated lane change function when an approval instruction is not input or when map information does not match image information.

[0036] As an aid to ALCA, the state of the lanes on the left and right of the vehicle V may be constantly monitored, and the driver may be notified of lanes into which a lane change is possible. The driver may refer to this notification and, if necessary, operate the turn signal lever 6b or the like to instruct a lane change, and then execute the lane change based on the instruction. The notification may be made by displaying a predetermined icon on the display device 5a so that the driver can know whether the lane into which a lane change is possible is the left lane, the right lane, or both lanes.

[0037] [Vehicle control processing] Fig. 3 is a flowchart showing the procedure of the vehicle control process executed in the embodiment, and Fig. 4 and Fig. 5 are diagrams explaining the vehicle control process of the embodiment. The vehicle control process is applicable when traveling in the extended assistance mode on a specific road inside or under a specific road structure. Here, the specific road structure includes, for example, a tunnel, an overpass, a bridge, etc.

[0038] 6 is a diagram illustrating a tunnel as a specific road structure, showing a state in which a vehicle V is traveling in the direction of the arrow on a lane (traveling lane LN1) of a specific road 600. TL1 indicates the entrance of tunnel TL, TL2 indicates the exit of tunnel TL, and the total length of tunnel TL is L3. LN2 to LN5 are branch lanes that branch off from traveling lane LN1 on the left side of the traveling direction of vehicle V.

[0039] LN2 is a branch lane that branches off from driving lane LN1 just before the entrance TL1 of tunnel TL. LN3 is a branch lane that branches off from driving lane LN1 just after the entrance TL1 of tunnel TL. LN4 is a branch lane that branches off from driving lane LN1 near the center of the interior of tunnel TL. And LN5 is a branch lane that branches off from driving lane LN1 just after the exit TL2 of tunnel TL.

[0040] As described in Figures 1 and 2, the controller 1 can perform driving assistance for the vehicle V in multiple modes, including a manual driving mode, a normal assistance mode, and an enhanced assistance mode. The controller 1 compares (matches) high-precision map information with an image (image information) captured by the front camera 8a, and if the matching is successful, the controller 1 automatically transitions the driving assistance mode from the normal assistance mode to the enhanced assistance mode. In the enhanced assistance mode, acceleration / deceleration assistance, lane keeping assistance, and lane change assistance can be performed in conjunction with high-precision map information.

[0041] (Lane change assist) As lane change assistance, the controller 1 sets areas where automated lane changes are restricted and areas where automated lane changes are permitted (areas where automated lane changes are not restricted) based on highly accurate map information and image information captured by an imaging device in an actual driving environment.

[0042] The controller 1 controls the speed and steering of the vehicle V traveling in the driving lane to perform an automated lane change to a branch lane branching off from the driving lane. The lane change assistance (automated lane change) in this embodiment includes system-driven lane change assistance (ALC), which automatically performs lane changes based on the judgment of the controller 1, and driver-driven lane change assistance (ALCA), which automatically performs lane changes in response to instructions input by the driver. In system-driven lane change assistance (ALC), the controller 1 determines whether or not it is necessary to perform a lane change to a branch lane in order to arrive at a destination set based on highly accurate map information, and if it determines that a lane change is necessary, it determines the branch lane to which the lane change should be made.

[0043] (Area setting based on map information) The controller 1 sets, based on map information, a restricted area in which a specific road structure existing on the driving lane restricts an automated lane change, and a permitted area in which an automated lane change is permitted.

[0044] In step S310, the controller 1 sets a restricted area where automated lane changing is restricted and a permitted area where automated lane changing is permitted based on the map information as an area setting based on the map information. Based on the map information acquired in advance, the controller 1 sets an area immediately after the entrance (e.g., R1 in FIG. 4) and an area immediately after the exit (e.g., R2 in FIG. 4) of a specific road structure (e.g., tunnel TL in FIG. 6) present ahead on the specific road on which the vehicle is traveling as an area (restricted area) where automated lane changing (ALC, ALCA) is restricted.

[0045] 4, the controller 1 sets a first region R1 having a length of a first distance L1 in the road longitudinal direction based on the start point (entrance TL1) of a specific road structure. The controller 1 also sets a second region R2 having a length of a second distance L2 in the road longitudinal direction based on the end point (exit TL2) of the specific road structure.

[0046] In the first region R1 immediately after the entrance to a specific road structure and the second region immediately after the exit, the difference in brightness between the inside (dark) and outside (light) of the road structure may affect the external recognition characteristics of the front camera 8a (image capture device). In such areas where the road structure may affect the external recognition characteristics, the area is set as an area (restriction area) where automatic lane changing (ALC, ALCA) is restricted.

[0047] In Figure 4, by setting the first region R1 as the region where automatic lane changes are suppressed, automatic lane changes to branch lane LN3 immediately after entrance TL1 are suppressed. Also, by setting the second region R2 as the region where automatic lane changes are suppressed, automatic lane changes to branch lane LN5 immediately after exit TL2 are suppressed. In Figure 4, lane change suppression is indicated by an "x".

[0048] Furthermore, the controller 1 sets the internal region R3 of the road structure as a possible region where lane changes are possible based on the map information. Because the internal region R3 of the specific structure is in a (dark) state, there is no difference in brightness between the inside of the road structure (dark) and the outside of the road structure (light). Therefore, lane changes are possible within the internal region R3 of the specific structure up until just before the end point (exit TL2).

[0049] Even in the branch lane LN4, if the driving environment is in a (dark) state, there is no difference in brightness between the internal region R3 of the specific structure and the branch lane LN4, such as the difference between the inside (dark) of the road structure and the outside (light) of the road structure. Therefore, it is set as possible to change lanes automatically from the driving lane LN1 to the branch lane LN4 within the internal region R3 of the specific structure. In Figure 4, the possibility of lane changes is indicated by "○".

[0050] Furthermore, in the branch lane LN2, if the driving environment is in a (light) state, there is no difference in brightness between the outside (light) of the road structure and the branch lane LN2, as there is between the inside (dark) of the road structure and the outside (light) of the road structure. Therefore, based on the map information, the controller 1 sets the area R4 before the start point of the road structure as an area where automated lane changes are possible (possible area). In the area R4 (distance L4 before the start point) before the start point (entrance TL1) of the specific structure, it is set as possible to change lanes from the driving lane LN1 to the branch lane LN2. In Figure 4, the possibility of lane changes is indicated by "○".

[0051] (Area setting based on image information) In step S320, the front camera 8a (image capturing device) captures an image of the area in front of the vehicle V, and inputs the captured image to the controller 1.

[0052] In step S330, the processor of the controller 1 performs predetermined image processing on the input captured image to extract the image area of ​​the driving lane LN1 and the image area of ​​the branching lane branching off from LN1, and obtains the distribution of image information within the extracted image area. Here, the image information includes, for example, parameters such as pixel brightness value (or pixel value) and lightness.

[0053] The controller 1 performs image processing to acquire the luminance value (pixel value) of each pixel in the captured image as a two-dimensional distribution of a predetermined gradation (e.g., 0 to 255). Note that the predetermined gradation is merely an example and may vary depending on the bit rate of the image captured by the front camera 8a (image capture device). FIG. 7 is a diagram illustrating a two-dimensional distribution of luminance values ​​(pixel values). In the two-dimensional distribution, an image area 701 shows the distribution of luminance values ​​(pixel values) corresponding to the image area of ​​the driving lane LN1 ahead of the vehicle V. Furthermore, an image area 702 shows the distribution of luminance values ​​(pixel values) corresponding to the image area of ​​a branching lane branching off to the left in the driving direction (e.g., areas R5 and R6 in FIG. 4).

[0054] In step S340, the controller 1 acquires the difference in image information. Based on the image information (brightness values ​​(pixel values)) acquired in the previous step S330, the controller 1 acquires the average value of the brightness values ​​(pixel values) for each image region. The controller 1 acquires the average value of the brightness values ​​(pixel values) of each pixel in the image region 701 (first region brightness average value) and the average value of the brightness values ​​(pixel values) of each pixel in the image region 702 (second region brightness average value), and acquires the difference (absolute value) between the first region brightness average value and the second region brightness average value.

[0055] In step S350, the controller 1 determines whether the difference is equal to or less than the threshold value, and if the difference is equal to or less than the threshold value (S350-YES), the process proceeds to step S360.

[0056] Then, in step S360, the controller 1 sets the area for which the image information has been acquired as an area where an automated lane change is possible to the branch lane. For example, if the difference between the average brightness values ​​(pixel values) of the area R4 (bright) and the area R6 (bright) in FIG. 4 is equal to or less than a threshold, the controller 1 sets the area for which the image information has been acquired as an area where an automated lane change is possible to the branch lane LN2. In this case, the lane change possible "○" setting that was set based on the map information is maintained.

[0057] 4, if the difference in the average values ​​of the luminance values ​​(pixel values) is equal to or less than the threshold, the controller 1 sets the area from which the image information is acquired as an area where an automated lane change is possible to the branch lane LN4. In this case, the lane change possible "○" setting set based on the map information is maintained.

[0058] On the other hand, if it is determined in step S350 that the difference exceeds the threshold value (S350-NO), the controller 1 advances the process to step S370.

[0059] Then, in step S370, the controller 1 changes the setting of the area based on the map information when the image information captured by the front camera 8a (imaging device) exceeds a predetermined threshold. For example, the controller 1 changes the setting of the possible area to a prohibited area when the image information exceeds a predetermined threshold. As a specific example, the controller 1 changes the setting of the possible area to a prohibited area when, in the possible area where an automated lane change is possible, the difference between the average pixel values ​​corresponding to the image area of ​​the driving lane, acquired from the image information captured by the front camera 8a (imaging device), and the average pixel values ​​corresponding to the image area of ​​the diverging lane exceeds a threshold. The controller 1 sets the area for which image information has been acquired as an area where an automated lane change to the diverging lane is prohibited.

[0060] For example, based on the image information, the controller 1 changes the setting of the possible area to the suppression area when the difference between the average pixel values ​​corresponding to the image area of ​​the driving lane and the average pixel values ​​corresponding to the image area of ​​the branching lane exceeds a threshold in the area R4 before the starting point or the internal area R3 of the specific structure.

[0061] If the difference in the average brightness values ​​(pixel values) between region R4 (bright) and region R6 (dark) in Fig. 5 exceeds a threshold, the controller 1 sets the region from which image information is acquired as a region in which an automated lane change to branch lane LN2 is suppressed. In this case, the lane change permitted "○" setting (Fig. 4) set based on the map information is changed to a lane change suppressed "×" setting.

[0062] 5, if the difference in the average luminance values ​​(pixel values) between region R3 (dark) and region R5 (bright) exceeds a threshold, the controller 1 sets the region from which image information is acquired as a region where an automated lane change to branch lane LN4 is suppressed. In this case, the lane change possible "○" setting (FIG. 4) that was set based on the map information is changed to a lane change suppressed "×" setting.

[0063] When the setting of lane change possibility (possible area) set based on map information is changed to the setting of lane change suppression (suppression area) based on image information, the controller 1 issues an advance notification at a position a predetermined distance before the position where the branch of the branch lane where the automated lane change was scheduled (decided) starts, terminates the driving assistance providing the automated lane change (for example, the extended assistance mode), and transitions to the manual driving mode. For example, in Fig. 5, when an automated lane change to the branch lane LN4 is scheduled to arrive at the destination, the controller 1 issues an advance notification at a position a predetermined distance before the position where the branch of the branch lane LN4 starts (for example, the position of L5), and terminates the driving assistance providing the automated lane change.

[0064] Furthermore, when the difference in the average values ​​of the luminance values ​​(pixel values) in the suppression region, acquired based on the image information, is equal to or smaller than a threshold value, the controller 1 shortens the first distance L1 and the second distance L2 shown in Figures 4 and 5. The controller 1 shortens the first distance L1 and the second distance L2 according to the ratio α of the difference with respect to the threshold value. For example, when the ratio α of the difference in the average values ​​of the luminance values ​​(pixel values) with respect to the reference threshold value is α=0.7, the controller 1 multiplies the first distance L1 and the second distance L2 by the ratio α to shorten them to the first distance L1·α and the second distance L2·α.

[0065] Even when an area where lane changes are restricted is set based on map information, the difference between light and dark may be reduced (the difference may be below a threshold) depending on the time of day, such as at night or in the evening. In such cases, by restricting lane changes while reducing the restriction distance and expanding the area where lane changes are permitted, it is possible to improve traffic safety and prevent a decrease in traffic smoothness.

[0066] (Summary of the embodiment) The above-described embodiments disclose at least the following vehicle control device, a vehicle having the vehicle control device, and a vehicle control method.

[0067] Configuration 1. The vehicle control device of the above embodiment is a vehicle control device in a vehicle, A control means (1) is provided for controlling the speed and steering of the vehicle traveling in a driving lane to perform an automatic lane change to a branch lane branching from the driving lane, The control means (1) Based on map information, a suppression area (e.g., R1, R2) that suppresses the lane change due to a specific road structure (e.g., TL) existing on the driving lane, and a possible area (e.g., R3, R4 in Figure 4) that enables the lane change are set, and when the image information captured by the imaging means exceeds a predetermined threshold, the setting of the area based on the map information is changed.

[0068] Configuration 2: The control means (1) changes the setting of the possible area to the suppression area when the difference between the average pixel value corresponding to the image area of ​​the driving lane, obtained from image information captured by the imaging means, and the average pixel value corresponding to the image area of ​​the branching lane, in the possible area exceeds a threshold value.

[0069] According to the vehicle control device of configuration 1 and configuration 2, it is possible to set a restricted area that restricts automated lane changing and a permitted area that allows automated lane changing, based on map information and image information.

[0070] Configuration 3: The control means (1) determines whether or not it is necessary to perform a lane change to a branch lane in order to arrive at a destination set based on map information, and if it determines that it is necessary to perform a lane change, determines the branch lane to which the automated lane change will be performed.

[0071] According to the vehicle control device of configuration 3, by determining the branch lane based on map information, it becomes possible to smoothly change lanes from the driving lane to the branch lane.

[0072] Configuration 4. When the possible area set based on the map information is changed to the restricted area based on the image information, the control means (1) At a position a predetermined distance (e.g., L5) before the start of the branch of the determined branch lane (e.g., LN4 in Figure 5), an advance warning is given and the driving assistance that provides the automatic lane change is terminated.

[0073] According to the vehicle control device of configuration 4, by providing advance notification, it is possible to reduce the discomfort felt by vehicle occupants regarding the operation to terminate driving assistance, and to smoothly transition to manual driving mode following the termination of driving assistance.

[0074] Configuration 5. The control means (1) Based on the map information, the inhibition area is set to a first area having a length of a first distance in the longitudinal direction of the driving lane, based on the start point of the road structure, and a second area having a length of a second distance in the longitudinal direction, based on the end point of the specific road structure.

[0075] According to the vehicle control device of configuration 5, it is possible to set in advance a suppression area that suppresses lane changes due to specific road structures that exist on the driving lane and that can be grasped based on map information.

[0076] Configuration 6: The control means (1) shortens the first distance or the second distance in the suppression region when the difference acquired based on the image information is equal to or smaller than a threshold value.

[0077] According to the vehicle control device of configuration 6, even when an area where automatic lane changing is suppressed is set based on map information, the difference between light and dark may be reduced (the difference may be equal to or less than a threshold) depending on the time of day of travel. In such cases, by suppressing automatic lane changing while reducing the suppression distance and expanding the allowable area, it is possible to improve traffic safety and suppress a decrease in traffic smoothness.

[0078] Configuration 7: The control means (1) sets the area before the start point of the road structure and the internal area within the road structure as the possible area based on the map information.

[0079] According to the vehicle control device of configuration 7, it is possible to set in advance a feasible area where an automated lane change is possible due to a specific road structure existing on the driving lane that can be grasped based on map information.

[0080] Configuration 8. The control means (1) Based on the image information, in the area before the start point or the internal area, If the difference between the average pixel values ​​corresponding to the image area of ​​the driving lane and the average pixel values ​​corresponding to the image area of ​​the branching lane exceeds a threshold, the setting of the possible area is changed to the suppression area.

[0081] According to the vehicle control device of configuration 8, even if an area where automatic lane changing is possible is set based on map information, the difference may exceed the threshold in the actual driving environment. In such cases, by reflecting the actual driving environment in the control of automatic lane changing, it is possible to improve traffic safety while suppressing a decrease in traffic smoothness.

[0082] Configuration 9. The specific road structure includes at least one of a tunnel, an overpass, and a bridge.

[0083] According to the vehicle control device of configuration 9, in a driving environment where map information can be acquired, it is possible to set a restricted area that restricts automated lane changing and a permitted area that allows the automated lane changing.

[0084] Configuration 10. The control means (1) has, as the functions for performing the automated lane change, a function for performing automatic lane changes initiated by the system (e.g., ALC), a function for performing driver-initiated lane changes that automatically change lanes for each instruction input by the driver (e.g., ALCA), and a function for the vehicle's system to monitor the status of the lanes on the left and right of the vehicle, notify the driver of lanes into which a lane change is possible, and perform the lane change based on the driver's operation.

[0085] Configuration 11: The control means determines whether or not the automated lane change can be performed based on the presence or absence of the map information.

[0086] Configuration 12. A vehicle (e.g., V) includes the vehicle control device (e.g., CNT) according to configuration 1.

[0087] According to the vehicle of configuration 12, a vehicle can be provided that is equipped with a vehicle control device that can set a suppression area that suppresses automated lane changing and a possible area that enables automated lane changing based on map information and image information.

[0088] Configuration 13. The vehicle control method of the above embodiment is a vehicle control method for a vehicle control device in a vehicle, a control step (S310-S370) of controlling the speed and steering of the vehicle traveling in a driving lane to perform an automated lane change to a branch lane branching from the driving lane; In the control step, Based on map information, a restriction area in which the vehicle lane change is restricted by a specific road structure existing on the driving lane and a possible area in which the vehicle lane change is permitted are set (S310); If the image information captured by the imaging means exceeds a predetermined threshold, the area setting based on the map information is changed (S370).

[0089] According to the vehicle control method of configuration 13, it is possible to set a restricted area that restricts lane changing and a permitted area that allows lane changing, based on map information and image information.

[0090] Configuration 14. A storage medium stores a program that causes a computer to execute the vehicle control method according to configuration 13.

[0091] Configuration 15. A program causes a computer to execute the vehicle control method according to configuration 13.

[0092] According to the storage medium of configuration 14, it is possible to provide a storage medium storing a program that causes a computer to execute the vehicle control method described in configuration 13, and according to the program of configuration 15, it is possible to provide a program that causes a computer to execute the vehicle control method described in configuration 13.

[0093] (Other embodiments) The present invention also makes it possible to supply a program that realizes the functions of the above-described embodiments to a system or a vehicle control device that constitutes the system via a network or a storage medium, and have one or more processors in the computer of the vehicle control device read the program and execute the processing of the vehicle control device.

[0094] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0095] 1: Controller, 8a-8b: Surrounding detection unit (8a: Front camera (imaging device), 8b: Radar)

Claims

1. A vehicle control device in a vehicle, a control means for controlling a speed and steering of the vehicle traveling in a driving lane to perform an automatic lane change to a branch lane branching from the driving lane; The control means Based on map information, a first inhibition area is set, the first inhibition area being located on the driving lane and having a length of a first distance in the longitudinal direction of the road along the driving lane, with the start point of a specific road structure that the vehicle can pass through as a reference, and a second inhibition area being located on the driving lane and having a length of a second distance in the longitudinal direction of the road, with the end point of the road structure as a reference, an imaging means mounted on the vehicle captures an image of a scene ahead of the vehicle; A vehicle control device characterized by changing the area setting based on the map information so as to reduce the first inhibition area or the second inhibition area when the difference between the brightness value of the driving lane area in the first inhibition area or the second inhibition area and the brightness value of the branch lane area in the first inhibition area or the second inhibition area is below a predetermined threshold.

2. 2. The vehicle control device according to claim 1, wherein the control means determines whether or not it is necessary to perform a lane change to a branch lane in order to arrive at a destination set based on map information, and if it determines that it is necessary to perform a lane change, determines a branch lane to which the automated lane change will be performed.

3. 3. The vehicle control device according to claim 1, wherein the specific road structure includes at least one of a tunnel, an overpass, and a bridge.

4. The control means includes the following functions for performing the automated lane change: The system has the ability to automatically change lanes, A driver-initiated lane change function that automatically changes lanes according to driver input, and 2. The vehicle control device according to claim 1, further comprising:

5. A vehicle comprising the vehicle control device according to claim 1.

6. A vehicle control method for a vehicle control device in a vehicle, comprising: a control step of controlling a speed and steering of the vehicle traveling in a driving lane to perform an automated lane change to a branch lane branching from the driving lane, In the control step, Based on map information, a first inhibition area is set, the first inhibition area being located on the driving lane and having a length of a first distance in the longitudinal direction of the road along the driving lane, with the start point of a specific road structure that the vehicle can pass through as a reference, and a second inhibition area being located on the driving lane and having a length of a second distance in the longitudinal direction of the road, with the end point of the road structure as a reference, an imaging means mounted on the vehicle captures an image of a scene ahead of the vehicle; A vehicle control method characterized by changing the area setting based on the map information so as to reduce the first inhibition area or the second inhibition area when the difference between the brightness value of the driving lane area in the first inhibition area or the second inhibition area and the brightness value of the branch lane area in the first inhibition area or the second inhibition area is below a predetermined threshold.

7. A storage medium storing a program for causing a computer to execute the vehicle control method according to claim 6.

8. A program that causes a computer to execute the vehicle control method according to claim 6.

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