Vehicle control device, vehicle control method, and program

Abstract

To provide a vehicle control device, a vehicle control method, and a program capable of responding appropriately when there occurs an event not dependent on operation by a driver.SOLUTION: A vehicle control device comprises: a deviation suppression controller for suppressing deviation of a vehicle from a traveling lane in which the vehicle travels; and a lane change controller for performing lane change control to cause the vehicle to autonomously make a lane change from the traveling lane to an adjacent lane adjacent to the traveling lane. The deviation suppression controller suppresses the deviation of the vehicle from the traveling lane when the vehicle moves in a direction opposite to the adjacent lane independently of operation by an occupant in the vehicle after the lane change control is started.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] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have been gaining momentum. To achieve this, efforts are being made to further improve traffic safety and convenience through research and development of automated driving technology. In this context, technology that autonomously changes lanes in response to simple driver operations is known. Patent Document 1 describes a method for canceling an autonomous lane change if the driver steers beyond an override threshold when the vehicle autonomously changes lanes. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-203121 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is a concern that conventional technology cannot respond to events that do not depend on the driver's operation.

[0005] The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a vehicle control device, a vehicle control method, and a program that can appropriately respond to an event that does not depend on the driver's operation, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0006] (1): A vehicle control device according to one aspect of the present invention includes a departure prevention control unit that prevents a vehicle from departing from a driving lane in which the vehicle is traveling, and a lane change control unit that performs lane change control to autonomously change the lane of the vehicle from the driving lane to an adjacent lane adjacent to the driving lane, and the lane change control is The lane change control When the reference time has elapsed since the start condition was met To cause the vehicle to change lanes to the adjacent lane Steering control of the vehicle is started, When the start condition is satisfied, the departure prevention control unit transitions to a specific state in which it is in an off state or a specific state in which it is in a one-sided operation mode in which departure prevention of the vehicle operates only for road dividing lines in the opposite direction to the direction of the adjacent lane and in which departure of the vehicle from the road dividing line in the opposite direction is prevented, and after transitioning to the specific state, Until the reference time has elapsed, before steering control of the vehicle is initiated to cause the vehicle to change lanes into the adjacent lane, When the vehicle moves in the opposite direction to the adjacent lane without any operation by the vehicle occupant, deviation of the vehicle from the driving lane is suppressed.

[0007] (2): A vehicle control device according to one aspect of the present invention includes a departure prevention control unit that prevents a vehicle from departing from a driving lane in which the vehicle is traveling, and a lane change control unit that performs lane change control to autonomously change the lane of the vehicle from the driving lane to an adjacent lane adjacent to the driving lane, and the lane change control is The lane change control When the reference time has elapsed since the start condition was met To cause the vehicle to change lanes to the adjacent lane The steering control of the vehicle is started, and the departure prevention control unit When the start condition is satisfied, the system transitions to a specific state in which the system is in an off state or a specific state in which the system is in a one-sided operation mode in which the system operates to suppress deviation of the vehicle only with respect to a road dividing line in the opposite direction to the direction of the adjacent lane, and the system is in a one-sided operation mode in which deviation of the vehicle from the road dividing line in the opposite direction is suppressed, and after the system transitions to the specific state, Until the reference time has elapsed, before steering control of the vehicle is initiated to cause the vehicle to change lanes into the adjacent lane, Regardless of the operation of the vehicle occupant When the vehicle comes into contact with a road dividing line in the opposite direction to the lane change , and suppresses deviation of the vehicle from the driving lane.

[0008] (3): In the above aspect (1), the departure prevention control unit When the start condition is satisfied, the control unit 100 transitions to an OFF state, and after steering control of the vehicle is started to change lanes of the vehicle to the adjacent lane, When the vehicle moves to the adjacent lane side, the signal is maintained in the OFF state.

[0009] (4): In the above aspect (3), the lane change control is canceled when a predetermined time has elapsed or the vehicle has moved a predetermined distance since the start of the lane change control, and the departure prevention control unit When the start condition is met, the device transitions to the OFF state. When the lane change control is canceled, The aforementioned It changes from an OFF state to an ON state.

[0010] (5): In the above aspect (1), the departure prevention control unit If the above start condition is not met , suppressing deviation of the vehicle from the driving lane with respect to road dividing lines on both sides of the driving lane; If the start condition is met, The vehicle is prevented from deviating from the driving lane with respect to the road dividing lines on both sides of the driving lane that are in the opposite direction to the adjacent lane.

[0011] (6): In the above aspect (1), the lane change control unit operates a turn signal when performing the lane change control. to flash the turn signal lamp. , the direction indicator is When the above start condition is met When the departure prevention control unit prevents the vehicle from departing from the driving lane due to the vehicle moving in the opposite direction to the adjacent lane without an operation by an occupant of the vehicle, The light is flashing will be stopped.

[0012] (7) A vehicle control method according to another aspect of the present invention is a vehicle control method in which a vehicle control device executes a process of suppressing deviation of a vehicle from a driving lane in which the vehicle is traveling, and a process of performing lane change control of autonomously changing the lane of the vehicle from the driving lane to an adjacent lane adjacent to the driving lane, wherein the lane change control includes: The lane change control When the reference time has elapsed since the start condition was met To cause the vehicle to change lanes to the adjacent lane Steering control of the vehicle is started, When the start condition is satisfied, the vehicle control device transitions to a specific state in which the process of suppressing departure is in an off state or a specific state which is a one-sided operation mode in which the suppression of departure of the vehicle operates only for road dividing lines in the opposite direction to the direction of the adjacent lane and suppresses departure of the vehicle from the road dividing line in the opposite direction, and after transitioning to the specific state, Until the reference time has elapsed, before steering control of the vehicle is initiated to cause the vehicle to change lanes into the adjacent lane, When the vehicle moves in the opposite direction to the adjacent lane without any operation by the vehicle occupant, deviation of the vehicle from the driving lane is suppressed.

[0013] (8) A program according to another aspect of the present invention is a program for causing a processor of a vehicle control device to execute a process for suppressing deviation of the vehicle from a driving lane in which the vehicle is traveling, and a process for performing lane change control for autonomously changing the lane of the vehicle from the driving lane to an adjacent lane adjacent to the driving lane, wherein the lane change control includes: The lane change control When the reference time has elapsed since the start condition was met To cause the vehicle to change lanes to the adjacent laneSteering control of the vehicle is started, The processor of the vehicle control device, when the start condition is satisfied, performs a process of transitioning to a specific state in which the process of suppressing departure is in an off state or a specific state which is a one-sided operation mode in which the suppression of departure of the vehicle operates only for road dividing lines in the opposite direction to the direction of the adjacent lane and which suppresses departure of the vehicle from the road dividing line in the opposite direction; and after transitioning to the specific state, Until the reference time has elapsed, before steering control of the vehicle is initiated to cause the vehicle to change lanes into the adjacent lane, When the vehicle moves in the opposite direction to the adjacent lane without any operation by the vehicle occupant, a process is executed to suppress deviation of the vehicle from the driving lane. [Effects of the Invention]

[0016] (1)~ (8) According to the above aspect, it is possible to appropriately respond to an event that does not depend on the driver's operation. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a diagram illustrating an example of the configuration and usage environment of a vehicle control device 100. FIG. [Figure 2] 10 is a diagram showing an example of the relationship between the force that the departure prevention control unit 110 causes the actuator to output depending on the distance between the reference point of the vehicle M and a road dividing line. FIG. [Figure 3] FIG. 3 is a diagram showing an example of the flow of processing executed by a lane change control unit 120 in the first embodiment. [Figure 4] FIG. 10 is a diagram showing an example of operation in a comparative example not having the function of the present invention. [Figure 5] FIG. 2 is a diagram illustrating an example of an operation of the vehicle control device 100 of the first embodiment. [Figure 6] FIG. 10 is a diagram showing an example of the flow of processing executed by a lane change control unit 120 in the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] 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.

[0019] First Embodiment 1 is a diagram showing an example of the configuration and usage environment of a vehicle control device 100. A vehicle M equipped with the vehicle control device 100 is equipped with, for example, an external sensor 10, a vehicle sensor 20, a blinker lever 30, a steering torque sensor 40, a direction indicator 50, the vehicle control device 100, a driving force output device 200, a brake device 210, and a steering device 220. The vehicle M may also be equipped with other components (such as an accelerator pedal and a brake pedal) that are naturally equipped in a general vehicle, but the following description will focus on the components related to the present invention.

[0020] The external sensor 10 includes, for example, some or all of a radar device, a camera, a LIDAR (Light Detection and Ranging), a sensor fusion device, etc. These devices have a detection range that covers the periphery (outside) of the vehicle M, and output information (signals, images, coordinates, etc.) that indicates objects present around the vehicle M to the vehicle control device 100.

[0021] The vehicle sensor 20 is a speed sensor, an acceleration sensor, a yaw rate sensor, a direction sensor, etc. The vehicle sensor 20 outputs the detection results to the vehicle control device 100.

[0022] The turn signal lever 30 is an operator that can be operated to indicate either the left or the right. The turn signal lever 30 is an operator for activating the turn signal, and also has a function of accepting a request to start lane change control. For example, the turn signal lever 30 can accept operations at multiple stages with different amounts of operation, and is configured so that when an operation at a predetermined stage is performed, not only the turn signal 50 is simply activated but also a request to start lane change control is output to the vehicle control device 100.

[0023] The steering torque sensor 40 detects the operating force applied to the steering wheel (steering operator) by the driver, and outputs the detection result to the vehicle control device 100.

[0024] The direction indicator 50 includes a plurality of lamps provided on the exterior of the vehicle M. The direction indicator 50 is controlled by the vehicle control device 100 or a dedicated control device (not shown) so that the lamps provided in the direction in which the turn signal lever 30 is operated flash. In addition, while lane change control is being executed, the direction indicator 50 is controlled by the vehicle control device 100 so that the lamps provided in the direction in which the vehicle M is to autonomously change lanes flash.

[0025] The function and configuration of the vehicle control device 100 will be described later.

[0026] The driving force output device 200 outputs a driving force (torque) to the driving wheels for driving the vehicle M. The driving force output device 200 includes, for example, a combination of an internal combustion engine, a driving motor, a transmission, etc., and an ECU (Electronic Control Unit) that controls these. The ECU controls the above components according to information input from the control device 100 or information input from a driving operator (not shown).

[0027] Brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from control device 100 or information input from a driving operator, so that a brake torque corresponding to a braking operation is output to each wheel. Brake device 210 may include a backup mechanism that transmits hydraulic pressure generated by operation of a brake pedal included in the driving operator to the cylinder via a master cylinder. Note that brake device 210 is not limited to the configuration described above, and may also be an electronically controlled hydraulic brake device that controls an actuator according to information input from control device 100 to transmit hydraulic pressure from a master cylinder to the cylinder.

[0028] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor changes the direction of the steered wheels by applying a force to, for example, a rack and pinion mechanism. The steering ECU drives the electric motor to change the direction of the steered wheels in accordance with information input from the control device 100 or information input from a driving operator.

[0029] The vehicle control device 100 includes, for example, a departure prevention control unit 110 and a lane change control unit 120. These components are realized by, for example, one or more hardware processors, such as a CPU (Central Processing Unit), executing a program (software). Some or all of these components may be realized by hardware (including circuitry), such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium), such as an HDD (Hard Disk Drive) or flash memory, or may be stored in a removable storage medium (a non-transitory storage medium), such as a DVD or CD-ROM, and installed by inserting the storage medium into a drive device. The vehicle control device 100 may be configured such that multiple processors operate in a distributed environment.

[0030] One or both of the departure prevention control unit 110 and the lane change control unit 120, or a functional unit of the vehicle control device 100 other than these, has a function of recognizing the surrounding environment of the vehicle M based on the output of the external sensor 10 (hereinafter, this will be referred to as the "recognition unit"). The recognition unit recognizes the position, speed, acceleration, and other conditions of objects around the vehicle M. The position of an object is recognized as a position on an absolute coordinate system with a representative point of the vehicle M (such as the center of gravity or the center of the drive shaft) as the origin, and is used for control. The position of an object may be represented by a representative point such as the center of gravity or a corner of the object, or may be represented by an area. The "state" of an object may include the acceleration or jerk of the object, or the "behavioral state" (for example, whether or not the object is changing lanes or is about to change lanes).

[0031] The recognition unit also recognizes, for example, the lane in which the vehicle M is traveling (the driving lane), adjacent lanes adjacent to the driving lane, and the road dividing lines that separate them. For example, the recognition unit recognizes the driving lane by comparing the pattern of road dividing lines (e.g., an arrangement of solid and dashed lines) obtained from map information with the pattern of road dividing lines around the vehicle M recognized from an image captured by a camera. Note that the recognition unit may recognize the driving lane by recognizing road boundaries (road boundaries) including not only road dividing lines but also road dividing lines, shoulders, curbs, medians, guardrails, etc. When recognizing the driving lane, the recognition unit recognizes the position and orientation of the vehicle M with respect to the driving lane. For example, the recognition unit may recognize the deviation of the reference point of the vehicle M from the center of the lane and the angle it forms with a line connecting the lane centers in the direction of travel of the vehicle M as the relative position and orientation of the vehicle M with respect to the driving lane. Alternatively, the recognition unit may recognize the position of the reference point of the vehicle M relative to either side edge of the travel lane (a road dividing line or a road boundary) as the relative position of the vehicle M relative to the travel lane.

[0032] The departure prevention control unit 110 performs control to prevent the vehicle M from departing from its travel lane. For example, the shorter the distance between a reference point of the vehicle M (such as the position of the wheel closest to the lane marking) and the lane marking, the more the departure prevention control unit 110 outputs to the steering device 220 a steering force in the direction opposite to the lane marking or an operation reaction force to the steering wheel. FIG. 2 is a diagram showing an example of the relationship between the force that the departure prevention control unit 110 causes the actuator to output depending on the distance between the reference point of the vehicle M and the lane marking. In the diagram, Y is the distance between the reference point of the vehicle M and the lane marking, and F is the force that the actuator is caused to output.

[0033] When the driver performs a predetermined operation (start operation) on the turn signal lever 30, the lane change control unit 120 starts lane change control if the following conditions are met (when a trigger to start lane change control occurs): (1) no other vehicles are present in the area including the side of the vehicle M in the adjacent lane corresponding to the direction in which the operation was performed, (2) the speed of the vehicle M is within a certain range (for example, approximately 60 to 100 km / h), and (3) lane keeping control (control that supports driving in the center of the traveling lane, different from the control of the departure prevention control unit 110) is being performed by a vehicle control device. When the lane change control starts, the lane change control unit 120 waits for a reference time to elapse, and then controls the steering device 220 to output a steering force for causing the vehicle M to autonomously change lanes. At this time, the lane change control unit 120 instructs the driving force output device 200 to maintain the speed of the vehicle M appropriately.

[0034] 3 is a diagram showing an example of the flow of processing executed by the lane change control unit 120 of the first embodiment. First, the lane change control unit 120 determines whether or not the driver has performed a start operation on the turn signal lever 30 (step S1). When it is detected that the driver has performed a start operation on the turn signal lever 30, the lane change control unit 120 determines whether or not a start condition for lane change control is met (step S2). When a negative determination result is obtained in either step S1 or S2, the processing returns to step S1. When the turn signal lever 30 is started, the direction indicator 50 starts operating in conjunction with the start operation.

[0035] When the conditions for starting lane change control are met, the lane change control unit 120 starts lane change control (step S3). The lane change control unit 120 also instructs the departure prevention control unit 110 to turn off (step S4). Note that this processing may be performed autonomously by the departure prevention control unit 110 by monitoring the state of the lane change control unit 120.

[0036] Next, the lane change control unit 120 determines whether the vehicle M has moved in the opposite direction to the lane change side without the driver's operation (step S5). At this point, the steering force for the lane change has not yet been output, and the vehicle M may move in the opposite direction to the lane change side due to disturbances such as crosswinds, road inclination (cant), and unevenness.

[0037] The determination that "vehicle M has moved in the opposite direction to the lane change direction without driver operation" is made based on the following determination conditions. For example, in a state where steering torque sensor 40 does not detect torque of a predetermined value or more in the opposite direction to the lane change direction, lane change control unit 120 may determine that "vehicle M has moved in the opposite direction to the lane change direction" (A) when the reference point of vehicle M comes into contact with a road dividing line in the opposite direction to the lane change direction, or (B) when the distance between the reference point of vehicle M and the road dividing line in the opposite direction to the lane change direction is less than a determination distance, or (C) when the TTC (Time To Collision) between the reference point of vehicle M and the road dividing line in the opposite direction to the lane change direction is less than a threshold, or may make the determination using other methods similar to these. If the steering torque sensor 40 detects a torque equal to or greater than a predetermined value, it is determined that an override operation has been performed by the driver, and the lane change control itself is canceled.

[0038] If the vehicle M is moving in the opposite direction to the lane change side, the process proceeds to step S10, which will be described later. If the vehicle M is not moving in the opposite direction to the lane change side, the lane change control unit 120 determines whether a reference time has elapsed since the lane change control was started (step S6). If the reference time has not elapsed since the lane change control was started, the process returns to step S5.

[0039] When a reference time has elapsed since the start of lane change control, the lane change control unit 120 causes the steering device 220 to output a steering force for changing lanes (step S7). For example, the lane change control unit 120 generates a plan for a target lateral position for a smooth lane change, and causes the steering device 220 to output a steering force calculated as a result of feedback control for the vehicle M to reach the target lateral position on time.

[0040] Next, the lane change control unit 120 determines whether a cancellation condition for the lane change control is met (step S8). The cancellation condition is, for example, that a predetermined time has elapsed or that the vehicle M has moved a predetermined distance since the start of the lane change control. If the cancellation condition is met, the process proceeds to step S10.

[0041] If the cancellation condition is not satisfied, the lane change control unit 120 determines whether the lane change is complete (step S9). The lane change control unit 120 determines that the lane change is complete, for example, when the entire vehicle M or the center of gravity thereof has moved to an adjacent lane. If it is determined that the lane change is complete, the vehicle control device 100 returns to the state at the start of this flowchart.

[0042] If it is determined in step S5 that vehicle M has moved in the opposite direction to the lane change side, and if it is determined in step S8 that the cancellation condition is met, lane change control unit 120 instructs departure prevention control unit 110 to switch to the ON state (step S10). Note that this processing may be performed autonomously by departure prevention control unit 110 monitoring the state of lane change control unit 120. Then, lane change control unit 120 stops lane change control and stops the operation of direction indicator 50 (step S11).

[0043] FIG. 4 is a diagram showing an example of the operation of a comparative example that does not have the function of the present invention. The comparative example vehicle m does not have the function of "suppressing vehicle departure from the driving lane when the vehicle moves in the opposite direction to the adjacent lane to which the lane change destination is made without driver operation." The departure prevention control is set to be in the OFF state from the time lane change control is initiated until it is canceled. In the figure, Dm is the traveling direction of the comparative example vehicle m, L1 is the driving lane, and L2 is the adjacent lane. At point X1, the driver performs a start operation on the turn signal lever, and at point X2, the start condition is met. At point X3, vehicle m begins to experience an external disturbance, and at point X4, it comes into contact with a road dividing line in the opposite direction to the lane change direction. Since no special measures are taken in the comparative example vehicle m, lane change control continues, and the external disturbance causes a delay in lane change control, so the cancellation condition is finally met at point X5, and lane change control is stopped. When such control is performed, there is a concern that the driver will feel uncomfortable because the lane change will not actually occur even though the lane change control has been performed for a long time. There is also a concern that the driver will be confused by the driver of nearby vehicles because the turn signal will continue to operate even though the lane change will not occur.

[0044] In contrast, FIG. 5 is a diagram showing an example of the operation of the vehicle control device 100 of the first embodiment. In the diagram, DM is the traveling direction of the vehicle M of the embodiment. At point X11, the driver performs a start operation on the turn signal lever, and at point X12, the start condition is met. At point X13, the vehicle M begins to be affected by an external disturbance, and at point X14, the vehicle M comes into contact with a road dividing line in the direction opposite to the lane change direction. At this time, the departure prevention control unit 110 returns to the on state as described above, and lane change control is stopped, so the vehicle control device 100 can quickly return to the state before the start of lane change control. As a result, it is possible to appropriately respond to the occurrence of an event that is not dependent on the driver's operation.

[0045] According to the first embodiment described above, it is possible to appropriately respond to an event that does not depend on the driver's operation.

[0046] Second Embodiment A second embodiment will be described below. When lane change control is initiated in a vehicle control device 100 of the second embodiment, the departure prevention control unit 110 does not enter an off state, but instead transitions to a one-way operation mode in which it operates only with respect to the road dividing lines on both sides of the driving lane that are in the opposite direction to the adjacent lane to which the vehicle is changing lanes. In other words, when lane change control is not being performed, the departure prevention control unit 110 operates with respect to the road dividing lines on both sides of the driving lane (normal mode), and when lane change control is being performed, it operates only with respect to the road dividing lines on both sides of the driving lane that are in the opposite direction to the adjacent lane to which the vehicle is changing lanes.

[0047] 6 is a diagram showing an example of the flow of processing executed by the lane change control unit 120 of the second embodiment. First, the lane change control unit 120 determines whether or not the driver has performed a start operation on the turn signal lever 30 (step S21). When it is detected that the driver has performed a start operation on the turn signal lever 30, the lane change control unit 120 determines whether or not a start condition for lane change control is met (step S22). When a negative determination result is obtained in either step S21 or S22, the processing returns to step S21. Note that when the turn signal lever 30 is started, the direction indicator 50 starts operating in conjunction with it.

[0048] If the conditions for starting lane change control are met, the lane change control unit 120 starts lane change control (step S23). Furthermore, the lane change control unit 120 instructs the departure prevention control unit 110 to transition to one-side operation mode (step S24). Note that this processing may be performed autonomously by the departure prevention control unit 110 by monitoring the state of the lane change control unit 120.

[0049] Next, the lane change control unit 120 determines whether or not the vehicle M has moved in the opposite direction to the lane change side without the driver's operation (step S25). At this point, the steering force for the lane change has not yet been output, and the vehicle M may move in the opposite direction to the lane change side due to disturbances such as crosswinds, road inclination (cant), and unevenness. The determination of "the vehicle M has moved in the opposite direction to the lane change side without the driver's operation" is the same as in the first embodiment.

[0050] If the vehicle M is moving in the opposite direction to the lane change side, the process proceeds to step S30, which will be described later. If the vehicle M is not moving in the opposite direction to the lane change side, the lane change control unit 120 determines whether a reference time has elapsed since the lane change control was started (step S26). If the reference time has not elapsed since the lane change control was started, the process returns to step S25.

[0051] When a reference time has elapsed since the start of lane change control, the lane change control unit 120 causes the steering device 220 to output a steering force for changing lanes (step S27). For example, the lane change control unit 120 generates a plan for a target lateral position for a smooth lane change, and causes the steering device 220 to output a steering force calculated as a result of feedback control for the vehicle M to reach the target lateral position on time.

[0052] Next, the lane change control unit 120 determines whether a cancellation condition for the lane change control is met (step S28). The cancellation condition is, for example, that a predetermined time has elapsed or that the vehicle M has moved a predetermined distance since the start of the lane change control. If the cancellation condition is met, the process proceeds to step S30.

[0053] If the cancellation condition is not satisfied, the lane change control unit 120 determines whether the lane change is complete (step S29). The lane change control unit 120 determines that the lane change is complete, for example, when the entire vehicle M or the center of gravity thereof has moved to an adjacent lane. If it is determined that the lane change is complete, the vehicle control device 100 returns to the state at the start of this flowchart. The departure prevention control unit 110 also transitions to the normal mode.

[0054] If it is determined in step S25 that the vehicle M has moved in the opposite direction to the lane change side, and if it is determined in step S28 that the cancellation condition is met, the lane change control unit 120 stops the lane change control and stops the operation of the direction indicator 50 (step S30). Thereafter, the departure prevention control unit 110 transitions to the normal mode.

[0055] According to the second embodiment described above, it is possible to achieve the same effects as the first embodiment.

[0056] The above-described embodiment can be expressed as follows. a storage medium for storing computer-readable instructions; one or more processors coupled to the storage medium; The one or more processors execute the computer-readable instructions to: performing lane change control to autonomously change the lane of the vehicle from the driving lane in which the vehicle is traveling to an adjacent lane adjacent to the driving lane; After the lane change control is initiated, if the vehicle moves in a direction opposite to the adjacent lane without an operation by an occupant of the vehicle, deviation of the vehicle from the driving lane is suppressed. Vehicle control device.

[0057] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0058] 10 External Sensors 20 Vehicle Sensors 30 Turn signal lever 40 Steering torque sensor 50 Turn signal 100 Vehicle control device 110 Departure prevention control unit 120 Lane change control unit 220 Steering device

Claims

1. a departure prevention control unit that prevents the vehicle from departing from a lane in which the vehicle is traveling; a lane change control unit that performs lane change control to autonomously change the vehicle from the driving lane to an adjacent lane adjacent to the driving lane; Equipped with the lane change control is a control in which steering of the vehicle is started to change lanes to the adjacent lane at a timing when a reference time has elapsed since a timing when a start condition for the lane change control is satisfied, The departure prevention control unit When the start condition is satisfied, the system transitions to a specific state that is an off state or a one-sided operation mode in which deviation suppression of the vehicle operates only for road dividing lines in the opposite direction to the direction of the adjacent lane, and deviation of the vehicle from the road dividing line in the opposite direction is suppressed, after transitioning to the specific state and before the reference time has elapsed, if the vehicle moves in a direction opposite to the adjacent lane without an operation by an occupant of the vehicle before steering control of the vehicle is started to cause the vehicle to change lanes to the adjacent lane, deviation of the vehicle from the driving lane is suppressed. Vehicle control device.

2. a departure prevention control unit that prevents the vehicle from departing from a lane in which the vehicle is traveling; a lane change control unit that performs lane change control to autonomously change the vehicle from the driving lane to an adjacent lane adjacent to the driving lane; Equipped with the lane change control is a control in which steering of the vehicle is started to change lanes to the adjacent lane at a timing when a reference time has elapsed since a timing when a start condition for the lane change control is satisfied, The departure prevention control unit When the start condition is satisfied, the system transitions to a specific state that is an off state or a one-sided operation mode in which deviation suppression of the vehicle operates only for road dividing lines in the opposite direction to the direction of the adjacent lane, and deviation of the vehicle from the road dividing line in the opposite direction is suppressed, After the transition to the specific state, before the reference time has elapsed, if the vehicle comes into contact with a road dividing line in a direction opposite to the lane change direction without an operation by an occupant of the vehicle, the deviation of the vehicle from the driving lane is suppressed. Vehicle control device.

3. the departure prevention control unit transitions to an off state when the start condition is satisfied, and is maintained in the off state when the vehicle moves toward the adjacent lane after steering control of the vehicle is started to cause the vehicle to change lanes to the adjacent lane. The vehicle control device according to claim 1.

4. The lane change control is canceled when a predetermined time has elapsed or the vehicle has moved a predetermined distance since the start of the lane change control, the departure prevention control unit transitions from the off state to the on state when the lane change control is canceled after transitioning to the off state when the start condition is satisfied, The vehicle control device according to claim 3.

5. The departure prevention control unit If the start condition is not satisfied, the vehicle is prevented from departing from the driving lane with respect to road dividing lines on both sides of the driving lane; When the start condition is satisfied, the deviation of the vehicle from the driving lane is suppressed for road dividing lines on both sides of the driving lane that are in the opposite direction to the adjacent lane. The vehicle control device according to claim 1.

6. the lane change control unit operates a turn signal to flash a lamp of the turn signal when performing the lane change control, When the start condition is satisfied, if the departure prevention control unit prevents the vehicle from departing from the driving lane due to the vehicle moving in the opposite direction to the adjacent lane without an operation by an occupant of the vehicle, the blinking of the lamp of the turn signal is stopped. The vehicle control device according to claim 1.

7. The vehicle control device A process for suppressing deviation of a vehicle from a lane in which the vehicle is traveling; and performing a lane change control process for autonomously changing the vehicle from the driving lane to an adjacent lane adjacent to the driving lane, the lane change control is a control in which steering of the vehicle is started to change lanes to the adjacent lane at a timing when a reference time has elapsed since a timing when a start condition for the lane change control is satisfied, The vehicle control device When the start condition is satisfied, a transition is made to a specific state in which the departure suppression processing is in an OFF state, or a specific state which is a one-sided operation mode in which departure suppression of the vehicle operates only for road dividing lines in the opposite direction to the direction of the adjacent lane, and which suppresses departure of the vehicle from the road dividing line in the opposite direction; after transitioning to the specific state and before the reference time has elapsed, if the vehicle moves in a direction opposite to the adjacent lane without an operation by an occupant of the vehicle before steering control of the vehicle is started to cause the vehicle to change lanes to the adjacent lane, deviation of the vehicle from the driving lane is suppressed. Vehicle control method.

8. A processor of the vehicle control device A process for suppressing deviation of a vehicle from a lane in which the vehicle is traveling; and performing a process of performing lane change control to autonomously change the vehicle from the driving lane to an adjacent lane adjacent to the driving lane, the lane change control is a control in which steering of the vehicle is started to change lanes to the adjacent lane at a timing when a reference time has elapsed since a timing when a start condition for the lane change control is satisfied, A processor of the vehicle control device a process of transitioning to a specific state in which the process of suppressing departure is off when the start condition is satisfied, or a specific state which is a one-sided operation mode in which the process of suppressing departure of the vehicle operates only for road-dividing lines in the opposite direction to the direction of the adjacent lane, and which suppresses departure of the vehicle from the road-dividing line in the opposite direction; a process of suppressing deviation of the vehicle from the driving lane when the vehicle moves in a direction opposite to the adjacent lane without an operation by an occupant of the vehicle before steering control of the vehicle is started to change lanes of the vehicle to the adjacent lane during the period from the transition to the specific state until the reference time has elapsed; A program to execute.

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