Vehicle control device, control method, and program

Abstract

To effectively prevent traveling of a rear vehicle from being hindered by an LCA of one's own vehicle.SOLUTION: In a vehicular control apparatus 10 for executing an LCA for automatically changing a lane of an own vehicle VH from a traveling lane L1 to an adjacent target lane L2, relative distance and relative speed between the own vehicle VH and a rear vehicle VO traveling behind the own vehicle VH are acquired, and as the relative distance is shorter and / or as the vehicle speed of the rear vehicle VO is higher than the vehicle speed of the own vehicle VH and the relative speed is higher, time from establishment of an execution permission condition to start of lane change is shortened.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] BACKGROUND ART There is known a vehicle control device that performs Lane Change Assist (LCA) control to automatically change the lane of a vehicle from the lane in which the vehicle is currently traveling to an adjacent target lane (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-097495 Summary of the Invention

[0004] Generally, a lane change (lateral movement) by LCA starts when a driver requests assistance and a certain time has elapsed since the LCA execution permission condition is met. However, if a lane change is started after the certain time has elapsed, for example, in a situation where another vehicle (hereinafter also referred to as a rear vehicle) traveling behind the host vehicle in the target lane where the host vehicle is to change lanes approaches the host vehicle, the rear vehicle may be obstructed from traveling. Specifically, after the host vehicle changes lanes, the distance between the host vehicle and the rear vehicle becomes shorter, forcing the rear vehicle to decelerate.

[0005] The technology of the present disclosure aims to effectively prevent the LCA of the host vehicle from interfering with the travel of a vehicle behind.

[0006] The device disclosed herein is a vehicle control device that performs lane change assist control to automatically change a host vehicle's lane from a lane in which the host vehicle is traveling to a target lane adjacent to the lane in which the host vehicle is traveling, a relative distance and a relative speed between the host vehicle and a vehicle traveling behind the host vehicle; The shorter the relative distance is, and / or the faster the vehicle speed of the rear vehicle is than the vehicle speed of the host vehicle and the greater the relative speed is, the shorter the time from when a specific condition for permitting execution of the lane change assist control is met to when the lane change is started is. It is characterized by: [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram showing a hardware configuration of a vehicle according to an embodiment of the present invention. [Figure 2] 1A is a schematic diagram showing the software configuration of a control device according to the present embodiment, and FIG. 1B is a schematic diagram illustrating an example of a target trajectory of an LCA. [Figure 3] 1A is a schematic diagram of the present embodiment in which anti-interference control is performed, and FIG. 1B is a schematic diagram of a comparative example in which anti-interference control is not performed. [Figure 4] FIG. 4 is a schematic diagram illustrating an example of a switching map according to the embodiment. [Figure 5] 4 is a flowchart illustrating a routine of an LCA process according to the present embodiment. [Figure 6] FIG. 10 is a schematic diagram illustrating another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, a vehicle control device, a control method, and a program according to this embodiment will be described with reference to the drawings.

[0009] [Hardware configuration] 1 is a schematic diagram showing the hardware configuration of a vehicle VH to which a control device according to this embodiment is applied. Hereinafter, the vehicle VH may also be referred to as the host vehicle when it is necessary to distinguish it from other vehicles.

[0010] The vehicle VH has an ECU (Electronic Control Unit) 10. The ECU 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, and an interface device 14. The CPU 11 is a processor that executes various programs stored in the ROM 12. The ROM 12 is a non-volatile memory that stores data and the like required for the CPU 11 to execute the various programs. The RAM 13 is a volatile memory that provides a working area into which the various programs are expanded when the CPU 11 executes them. The interface device 14 is a communication device for communicating with external devices.

[0011] The ECU 10 is a central device that performs driving assistance control such as LCA, adaptive cruise control (hereinafter referred to as ACC), and lane trace assist (hereinafter referred to as LTA). Driving assistance control is a concept that includes autonomous driving control. The ECU 10 is communicably connected to a drive unit 20, a steering unit 21, a braking unit 22, an internal sensor unit 30, an external sensor unit 40, an ACC operation unit 50, an LTA activation switch 55, a turn signal switch 61, turn signals 68L and 68R, a display unit 70, a speaker 75, and the like.

[0012] The drive device 20 generates a drive force to be transmitted to the drive wheels of the vehicle VH. Examples of the drive device 20 include an electric motor and an engine. In this embodiment, the vehicle VH may be a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), an electric vehicle (BEV), or an engine vehicle. The steering device 21 applies a steering force to the wheels of the vehicle VH. The braking device 22 applies a braking force to the wheels of the vehicle VH.

[0013] The internal sensor device 30 is a group of sensors that detect the state of the vehicle VH. Specifically, the internal sensor device 30 includes a vehicle speed sensor 31, an accelerator sensor 32, a brake sensor 33, a steering angle sensor 34, a steering torque sensor 35, a yaw rate sensor 36, and the like.

[0014] The vehicle speed sensor 31 detects the traveling speed of the vehicle VH (hereinafter referred to as vehicle speed v). The accelerator sensor 32 detects the amount of operation of an accelerator pedal (not shown) by the driver. The brake sensor 33 detects the amount of operation of a brake pedal (not shown) by the driver. The steering angle sensor 34 detects the rotation angle of a steering wheel or steering shaft (not shown) of the vehicle VH, i.e., the steering angle. The steering torque sensor 35 detects the rotation torque of the steering wheel or steering shaft, i.e., the steering torque. The yaw rate sensor 36 detects the yaw rate of the vehicle VH. The internal sensor device 30 transmits the state of the vehicle VH detected by each of the sensors 31 to 36 to the ECU 10 at a predetermined interval.

[0015] The external sensor device 40 is a type of sensor that recognizes target information related to targets around the vehicle VH. Specifically, the external sensor device 40 includes a radar sensor 41, a camera sensor 42, etc. Examples of target information include nearby vehicles, pedestrians, traffic lights, white lines on the road, signs, fallen objects, etc.

[0016] The radar sensor 41 detects targets present around the vehicle VH. The radar sensor 41 includes a millimeter-wave radar and / or a lidar. The millimeter-wave radar emits millimeter-wave radio waves (millimeter waves) and receives millimeter waves (reflected waves) reflected by targets present within the emission range. The millimeter-wave radar acquires the relative distance and relative speed between the vehicle VH and the target based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, and the time from transmitting the millimeter waves to receiving the reflected waves. The lidar sequentially scans a pulsed laser beam with a wavelength shorter than that of millimeter waves in multiple directions and receives the reflected light reflected by the target to acquire the shape of the target detected ahead of the vehicle VH, the relative distance and relative speed between the vehicle VH and the target, etc.

[0017] The camera sensor 42 captures images of the surroundings of the vehicle VH and processes the captured image data to acquire target information about the surroundings of the vehicle VH. The camera sensor 42 may be, for example, a digital camera having an imaging element such as a CMOS or CCD. The target information represents the type of target detected around the vehicle VH, the relative distance between the vehicle VH and the target, the relative speed between the vehicle VH and the target, etc. The type of target may be recognized, for example, by machine learning such as pattern matching.

[0018] The external sensor device 40 repeatedly transmits the acquired target information to the ECU 10 every time a predetermined time period has elapsed. The ECU 10 determines the relative relationship between the vehicle VH and the target by combining the relative relationship between the vehicle VH and the target obtained by the radar sensor 41 and the relative relationship between the vehicle VH and the target obtained by the camera sensor 42. Note that the external sensor device 40 does not necessarily have to include both the radar sensor 41 and the camera sensor 42, and may include, for example, only the radar sensor 41 or only the camera sensor 42.

[0019] The ACC operation unit 50 includes, for example, a start switch that allows the driver to select whether to start or end the ACC, a setting switch that sets the target vehicle speed and target inter-vehicle distance for the ACC, a cancel switch that temporarily cancels the ACC, a resume switch that restarts the ACC, etc. The LTA operation unit 55 is an ON / OFF switch that allows the driver to select whether to start or end the LTA.

[0020] The turn signal lever 60 is an operating device that allows the driver to flash the left and right turn signal indicators 68L, 68R. The turn signal indicator switch 61 detects the direction in which the driver operates the turn signal indicator lever 60. When the driver operates the turn signal indicator lever 60 a predetermined amount (for example, deeply), the turn signal indicator switch 61 transmits a flashing instruction signal to the ECU 10 according to the operating direction. Upon receiving the flashing instruction signal, the ECU 10 causes the turn signal indicators 68L, 68R to flash according to the operating direction of the turn signal indicator lever 60.

[0021] The turn signal lever 60 also serves as an operating device for the driver to request a lane change by LCA. Specifically, when the driver operates and holds the turn signal lever 60 a predetermined amount (for example, lightly), the turn signal switch 61 transmits to the ECU 10 an LCA request signal indicating that the driver is requesting a lane change to an adjacent lane (target lane) in the direction of operation of the turn signal lever 60, together with a flashing instruction signal according to the operation direction.

[0022] The display device 70 is, for example, a multi-information display, a head-up display, a display of a navigation system, or the like, and displays various images in response to commands from the ECU 10. The speaker 75 is, for example, a speaker of an audio system or a navigation system, and outputs warning sounds and the like in response to commands from the ECU 10.

[0023] [Software configuration] 2A is a schematic diagram showing the software configuration of the ECU 10 according to this embodiment. As shown in FIG. 2A, the ECU 10 includes, as functional elements, an ACC control unit 100, an LTA control unit 110, an LCA control unit 120, and the like. These functional elements 100 to 120 are realized by the CPU 11 of the ECU 10 reading out a program stored in a ROM 12 into a RAM 13 and executing the program. Note that all or part of the functional elements 100 to 120 may be provided in another ECU separate from the ECU 10, or in an information processing device in a facility (such as a management center) that can communicate with the vehicle VH.

[0024] The ACC control unit 100 executes ACC based on a target vehicle speed or a target inter-vehicle distance. ACC itself is well known, so it will be briefly explained below. ACC includes two types of control: constant speed cruise control and follow-up cruise control. Constant speed cruise control is control that causes the vehicle VH to cruise at a constant speed according to a target vehicle speed without the driver needing to operate the accelerator or brake. Follow-up cruise control is control that causes the host vehicle VH to follow the preceding vehicle so that the actual inter-vehicle distance between the preceding vehicle and the host vehicle VH becomes the target inter-vehicle distance without the driver needing to operate the accelerator or brake. The preceding vehicle is a vehicle that is located immediately in front of the host vehicle VH and in the area ahead of the host vehicle VH.

[0025] When the activation switch of the ACC operation unit 50 is turned ON, the ACC control unit 100 detects a preceding vehicle to be followed based on the detection results of the external sensor device 40. If there is no preceding vehicle, the ACC control unit 100 executes constant speed cruise control. In this case, the ACC control unit 100 controls the operation of the drive unit 20 and the brake unit 22 based on a target acceleration calculated from the deviation between the vehicle speed v and the target vehicle speed. The vehicle speed v may be obtained based on the detection results of the vehicle speed sensor 31. On the other hand, if there is a preceding vehicle, the ACC control unit 100 executes follow-up cruise control. In this case, the ACC control unit 100 controls the operation of the drive unit 20 and the brake unit 22 based on a target acceleration calculated from the deviation between the actual inter-vehicle distance and the target inter-vehicle distance. The actual inter-vehicle distance between the host vehicle VH and the preceding vehicle may be obtained based on the detection results of the external sensor device 40.

[0026] The LTA control unit 110 executes LTA, which automatically changes the steering angle (the steering angle of the steered wheels) so that the lateral position of the host vehicle VH is maintained near a target driving line within the driving lane. Here, the lateral position of the host vehicle VH refers to the position of the host vehicle VH in the lane width direction relative to the road (e.g., the position of the center of gravity). Since LTA itself is well known, it will be briefly explained below. When the LTA activation switch 55 is turned on while ACC is being performed by the ACC control unit 100, the LTA control unit 110 sets a target driving line for the host vehicle VH based on either or both of a white line or the like recognized by the external sensor device 40 and the driving trajectory of a vehicle to be followed by ACC (i.e., a preceding vehicle) (hereinafter referred to as a preceding vehicle trajectory). The preceding vehicle trajectory may be acquired based on target object information transmitted from the external sensor device 40. The LTA control unit 110 changes the steering angle of the host vehicle VH by controlling the operation of the steering device 21 so that the lateral position of the host vehicle VH is maintained near the target driving line within the driving lane.

[0027] The LCA control unit 120 controls the operation of the steering device 21 so that the host vehicle VH moves from the lane in which it is currently traveling (hereinafter referred to as the original lane) to a lane adjacent to the host vehicle lane (hereinafter referred to as the target lane), thereby performing LCA to assist the driver's steering operation. LCA itself is well known, so it will be briefly explained below. Like LTA, LCA controls the lateral position of the host vehicle VH relative to the lane, and is performed in place of LTA when an assistance request is received from the driver while LTA and ACC are being performed. The LCA control unit 120 performs LCA, for example, when the following execution permission conditions (one example of the specific conditions of the present disclosure) are met. (1) An LCA request signal is received from the turn signal switch 61. (2) The ACC start switch and LTA start switch 55 are turned ON. (3) The white line that marks the boundary between the original lane and the target lane is broken. (4) The external sensor device 40 does not detect any obstacles, such as other vehicles, in the target lane that may hinder lane changing. (5) The vehicle speed v of the host vehicle VH is within a predetermined permitted speed range. The execution permission conditions (1) to (5) are merely examples, and some of the conditions may not be included, or other conditions (for example, the type of road, such as a highway for exclusive use by motor vehicles) may be included.

[0028] When the state in which all of the execution permission conditions (1) to (5) are satisfied continues for a predetermined standard threshold time Tv, the LCA control unit 120 determines that the conditions for starting a lane change (lateral movement) are satisfied. When the conditions for starting are satisfied, the LCA control unit 120 transmits an LCA start guidance display command to the display device 70. As a result, the LCA start guidance is displayed on the display device 70.

[0029] The LCA control unit 120 calculates a target trajectory function that determines a target trajectory of the host vehicle VH. The target trajectory Tt has a shape, for example, as shown in FIG. 2B, and is a trajectory that moves the host vehicle VH from the original lane L1 to the widthwise center position CL2 of the target lane L2 (hereinafter referred to as the final target lateral position) over the target lane change time TL. Note that times t1 to t2 in FIG. 2B indicate a period during which all of the execution permission conditions (1) to (5) are satisfied. The target trajectory function is a function that calculates the target lateral position y, target lateral velocity vy, and target lateral acceleration ay of the host vehicle VH corresponding to the elapsed time from the start of the lane change (i.e., time t2, when the start condition is satisfied) using the lane center line CL1 of the original lane L1 as a reference. The target lane change time LT is set based on the target lateral distance required to move the host vehicle VH laterally from the start position of the lane change to the final target lateral position CL2.

[0030] When the standard threshold time Tv elapses and the lane change start condition is met at time t2, the LCA control unit 120 calculates the current target lateral position y, target lateral velocity vy, and target lateral acceleration ay based on the target trajectory function and the elapsed time. The LCA control unit 120 also calculates the current target yaw angle θy, target yaw rate γ, and target curvature Cu based on the current vehicle speed v, target lateral velocity vy, and target lateral acceleration ay, and calculates the target steering angle θ based on the target lateral position y, target yaw angle θy, target yaw rate γ, and target curvature Cu. The LCA control unit 120 then controls the operation of the steering device 21 based on the calculated target steering angle θ to change the steering angle of the host vehicle VH. When the host vehicle VH reaches the final target lateral position CL2 in the target lane L2, as shown at time t3 in FIG. 2B, the LCA control unit 120 transmits an LCA end guidance display command to the display device 70. This causes the display device 70 to display a message informing the user that the LCA has ended.

[0031] The LCA control unit 120 stops the LCA being executed when the following stop conditions (1) to (5) are met during the execution of the LCA. (1) A steering torque input greater than a predetermined value due to driver operation is detected. (2) The driver's braking operation was detected. (3) When the driver turns off the LCA by operating the turn signal lever 60. (4) The white line that separates the original lane from the target lane is no longer a broken line. (5) Another vehicle traveling in the target lane approaches the vehicle VS, making it impossible to maintain a safe distance between the vehicles. When any of the cancellation conditions (1) to (5) is met, the LCA control unit 120 cancels the LCA being executed. When the LCA cancellation condition is met, the LCA control unit 120 transmits an LCA cancellation notice display command to the display device 70. As a result, the LCA cancellation notice is displayed on the display device 70.

[0032] 3(B), consider a situation in which another vehicle VO traveling in a target lane L2 approaches the host vehicle VH from behind, and the host vehicle VH changes lanes from the original lane L1 to the target lane L2 by LCA. Hereinafter, the other vehicle VO approaching from behind will be referred to as the "rear vehicle."

[0033] As described above, a lane change by LCA is initiated when all of the execution permission conditions (1) to (5) remain satisfied for the standard threshold time Tv (see times t1 to t2 in FIG. 3B). However, if the standard threshold time Tv is set constant (a fixed value), for example, even if the execution permission condition (4) described above is satisfied, if the vehicle speed of the following vehicle VO is faster than the vehicle speed v of the host vehicle VH and the relative speed with respect to the host vehicle VH is large, or if the inter-vehicle distance is short, the host vehicle VH's lane change may impede the travel of the following vehicle VO. Specifically, during or after the host vehicle VH has changed lanes to the target lane L2 (see time t3 in FIG. 3B), the driver of the following vehicle VO may be forced to brake (or, if the following vehicle VO is executing ACC, to decelerate using adaptive cruise control) because a sufficient inter-vehicle distance cannot be maintained between the host vehicle VH and the following vehicle VO.

[0034] Therefore, in the case where the following vehicle VO traveling in the target lane L2 approaches the host vehicle VH, the LCA control unit 120 of this embodiment executes interference prevention control to prevent interference with the traveling of the following vehicle VO by changing the timing to start changing lanes and the target lateral speed vy (or the target lane-changing time TL). Details of the interference prevention control will be described below.

[0035] 4 is a schematic diagram illustrating an example of a switching map M according to this embodiment. The switching map M is a map for switching the timing at which a lane change is initiated by the LCA and the target lateral velocity vy, and is stored in advance in the ROM 12 of the ECU 10. The switching map M sets the timing at which a lane change is initiated and the lateral velocity that change depending on the inter-vehicle distance dr between the host vehicle VH and the following vehicle VO and the relative velocity vr. The relative velocity vr here refers to the case where the vehicle velocity v of the host vehicle VH is slower than the vehicle velocity v2 of the following vehicle VO, and is the value obtained by subtracting the vehicle velocity v of the host vehicle VH from the vehicle velocity v2 of the following vehicle VO (vr = v2 - v).

[0036] In the example shown in FIG. 4, the horizontal axis of the switching map M represents relative speed vr, and the vertical axis represents inter-vehicle distance dr. The switching map M has a plurality of regions A to D. The number of regions is not limited to four as shown in the example, but may be two or three, or may be five or more. The horizontal and vertical axes may be interchanged. The boundaries of each of the regions A to D are shown as straight lines, but these boundaries may also be curved lines.

[0037] Region D corresponds to a region where the relative speed vr is relatively small but the inter-vehicle distance dr is short, or where the inter-vehicle distance dr is relatively long but the relative speed vr is large, and the aforementioned execution permission condition (4) is not met.

[0038] Region A is a region where the relative speed dr is smaller than that of region D even if the inter-vehicle distance dr is the same; in other words, a region where the inter-vehicle distance dr is longer than that of region D even if the relative speed vr is the same. In other words, region A is a region where the vehicle VO behind will be hindered unless the lane change is started early or the lateral speed during the lane change is increased. In region A, the start timing is set to a first threshold time Tv1 that is shorter than the standard threshold time Tv (Tv>Tv1). Also, in region A, the lateral speed is set to a first lateral speed vy1 that is faster than the target lateral speed vy (vy <vy1)。

[0039] Region B is a region where the relative speed vr is small compared to region A even if the inter-vehicle distance dr is the same; in other words, it is a region where the inter-vehicle distance dr is long compared to region A even if the relative speed vr is the same. That is, region B is a region where, although not as severe as region A, the vehicle VO behind will be hindered from traveling unless the lane change is started early or the lateral speed during the lane change is increased. In region B, the start timing is set to a second threshold time Tv2 that is shorter than the standard threshold time Tv and longer than the first threshold time Tv1 (Tv>Tv2>Tv1). Also, in region B, the lateral speed is set to a second lateral speed vy2 that is faster than the target lateral speed vy and slower than the first lateral speed vy1 (vy <vy2<vy1)。

[0040] Area C is an area where the relative speed vr is small compared to areas A and B, even if the inter-vehicle distance dr is the same. In other words, area C is an area where the inter-vehicle distance dr is long compared to areas A and B, even if the relative speed vr is the same. In other words, area C is an area where it is not necessary to start a lane change as early as areas A and B, and the lateral speed during the lane change does not need to be as fast as areas A and B. In area C, the start timing is set to a second threshold time Tv2 that is shorter than the standard threshold time Tv and longer than the second threshold time Tv2 (Tv>Tv3>Tv2>Tv1). Also, in area C, the lateral speed is set to a third lateral speed vy3 that is faster than the target lateral speed vy and slower than the second lateral speed vy2 (vy <vy3<vy2<vy1)。

[0041] When all of the LCA execution permission conditions (1) to (5) are met, the LCA control unit 120 detects a rear vehicle VO traveling in the target lane L2 based on the detection results of the external sensor device 40. If there is no rear vehicle VO, the LCA control unit 120 starts a lane change based on the standard threshold time Tv and executes LCA based on the target lateral speed vy. On the other hand, if there is a rear vehicle VO, the LCA control unit 120 sets threshold times Tv1 to Tv3 for determining the start of a lane change and lateral speeds vy1 to vy3 during the lane change by referring to a switching map M based on the relative speed vr with respect to the rear vehicle VO and the inter-vehicle distance dr obtained from the detection results of the external sensor device 40.

[0042] That is, as shown in FIG. 3A, when a rear vehicle VO is present, the timing of starting the lane change by LCA is advanced (see times t1 to t2) compared to the case of FIG. 2B where the rear vehicle VO is not present, and furthermore, the lateral speed during the lane change is increased (see times t2 to t3). As a result, after the host vehicle VH changes lanes, a sufficient inter-vehicle distance dr from the rear vehicle VO is ensured (see time t3). As a result, it is possible to effectively prevent the rear vehicle VO from being obstructed by the host vehicle VH's lane change, for example by forcing the rear vehicle VO to decelerate. Furthermore, by increasing the lateral speed during the lane change, it is possible to effectively prevent the aforementioned cancellation condition (5) from being satisfied while the LCA is being performed.

[0043] Next, a routine for processing the LCA by the CPU 11 of the ECU 10 will be described with reference to Fig. 5. This routine is started, for example, when the ACC and LTA are activated.

[0044] In step S100, the ECU 10 determines whether an LCA request signal has been received from the turn signal switch 61, i.e., whether the LCA execution permission condition (1) is met. If the LCA execution permission condition (1) is met (Yes), the ECU 10 proceeds to processing in step S110. On the other hand, if the LCA execution permission condition (1) is not met (No), the ECU 10 returns from this routine.

[0045] In step S110, the ECU 10 determines whether the LCA execution permission conditions (2) to (5) are met. If the LCA execution permission conditions (2) to (5) are met, the ECU 10 proceeds to the processing of step S120. On the other hand, if the LCA execution permission conditions (2) to (5) are not met (No), the ECU 10 returns from this routine.

[0046] In step S120, the ECU 10 determines whether or not a rear vehicle VO traveling in the target lane L2 exists based on the detection result of the external sensor device 40. If a rear vehicle VO exists (Yes), the ECU 10 proceeds to processing of step S130. On the other hand, if a rear vehicle VO does not exist (No), the ECU 10 proceeds to processing of step S180.

[0047] In step S180, the ECU 10 determines whether the state in which all of the LCA execution conditions (1) to (5) are satisfied has continued for the standard threshold time Tv. If the execution conditions (1) to (5) have continued for the standard threshold time Tv (Yes), the ECU 10 proceeds to the processing of step S182. On the other hand, if at least one of the execution conditions (1) to (5) becomes unsatisfied before the standard threshold time Tv has elapsed (No), the ECU 10 proceeds to the processing of step S190, where the LCA is stopped, and the ECU 10 returns from this routine.

[0048] In step S182, the ECU 10 transmits an LCA start guidance display command to the display device 70 and starts a lane change based on the target lateral velocity vy. Next, in step S184, the ECU 10 determines whether any of the LCA stop conditions (1) to (5) is satisfied. If any of the stop conditions (1) to (5) is satisfied (Yes), the ECU 10 proceeds to the processing of step S190, stops the currently executing LCA, and returns from this routine. At this time, the ECU 10 transmits an LCA stop guidance display command to the display device 70. On the other hand, if none of the stop conditions (1) to (5) is satisfied (No), the ECU 10 proceeds to the processing of step S188.

[0049] In step S188, the ECU 10 determines whether the host vehicle VH has reached the final target lateral position CL2. If the host vehicle VH has reached the final target lateral position CL2 (Yes), the ECU 10 proceeds to the processing of step S195, terminates the LCA, and returns from this routine. At this time, the ECU 10 transmits an LCA termination guidance display command to the display device 70. On the other hand, if the host vehicle VH has not reached the final target lateral position CL2 (No), the ECU 10 returns to the processing of step S184.

[0050] If the determination in the aforementioned step S120 is affirmative (Yes), that is, if a rear vehicle VO is present, the ECU 10 proceeds to the processing of step S130, and acquires the relative speed vr to the rear vehicle VO and the inter-vehicle distance dr based on the detection results of the external sensor device 40.

[0051] Next, in step S140, ECU10 sets threshold times Tv1 to Tv3 for determining the start of a lane change and lateral speeds vy1 to vy3 during the lane change by referring to the switching map M based on the relative speed vr with respect to the rear vehicle VO and the inter-vehicle distance dr.

[0052] In step S150, ECU 10 determines whether the state in which all of the LCA execution permission conditions (1) to (5) are satisfied continues for the threshold times Tv1 / Tv2 / Tv3 set in step S140 or more. If the determination result is Yes, ECU 10 proceeds to the process of step S160. On the other hand, if the determination result is No, ECU 10 proceeds to the process of step S170, where ECU 10 stops LCA and returns from this routine.

[0053] In step S160, the ECU 10 transmits an LCA start guidance display command to the display device 70, and starts a lane change based on the lateral velocities vy1 / vy2 / vy3 set in step S140. Next, in step S162, the ECU 10 determines whether any of the LCA cancellation conditions (1) to (5) is satisfied. If any of the cancellation conditions (1) to (5) is satisfied (Yes), the ECU 10 proceeds to processing in step S170, cancels the currently executing LCA, and returns from this routine. At this time, the ECU 10 transmits an LCA cancellation guidance display command to the display device 70. On the other hand, if none of the cancellation conditions (1) to (5) is satisfied (No), the ECU 10 proceeds to processing in step S166.

[0054] In step S166, the ECU 10 determines whether the host vehicle VH has reached the final target lateral position CL2. If the host vehicle VH has reached the final target lateral position CL2 (Yes), the ECU 10 proceeds to the processing of step S175, terminates the LCA, and returns from this routine. At this time, the ECU 10 transmits an LCA termination guidance display command to the display device 70. On the other hand, if the host vehicle VH has not reached the final target lateral position CL2 (No), the ECU 10 returns to the processing of step S162.

[0055] The above describes the vehicle control device, control method, and program according to this embodiment, but the present disclosure is not limited to the above embodiment, and various modifications are possible as long as they do not deviate from the purpose of the present disclosure.

[0056] For example, in the above embodiment, as shown in Fig. 5, the lateral velocities vy1 to vy3 are set in step S140, and lane changes are executed from step S160 onwards based on the lateral velocities vy1 to vy3 set in step S140. However, the lateral velocities vy1 to vy3 may be changed appropriately during lane changes by referring to the switching map M at a predetermined interval from step S160 onwards. The switching map M may also be a map that is referred to based on either the relative velocity vr with respect to the rear vehicle VO or the inter-vehicle distance dr.

[0057] In the above embodiment, the target of the interference prevention control has been described as a following vehicle VO traveling in the target lane L2, which is the lane change destination. However, as shown in FIG. 6, when the host vehicle VH changes lanes, for example, from an overtaking lane L1' to a driving lane L2', the target of the interference prevention control can also be a following vehicle VO2 approaching the host vehicle VH from behind in the overtaking lane L1'. In this case, too, the host vehicle VH can quickly complete the lane change before the following vehicle VO2 approaches abnormally close, thereby effectively preventing interference with the following vehicle VO2. The technology of the present disclosure can also be applied to autonomous vehicles that perform some or all of their driving operations automatically.

Claims

1. A vehicle control device that performs lane change assist control to automatically change a lane from a lane in which the vehicle is currently traveling to a target lane adjacent to the lane, a relative distance and a relative speed between the host vehicle and a vehicle traveling behind the host vehicle; The shorter the relative distance is, and / or the faster the vehicle speed of the rear vehicle is than the vehicle speed of the host vehicle and the greater the relative speed is, the shorter the time from when a specific condition for permitting execution of the lane change assist control is met to when the lane change is started is. Vehicle control device.

2. The vehicle control device according to claim 1, The shorter the relative distance is, and / or the faster the vehicle speed of the rear vehicle is than the vehicle speed of the host vehicle and the greater the relative speed is, the faster the lateral speed, which is the moving speed in the lane width direction during the lane change, is made. Vehicle control device.

3. The vehicle control device according to claim 1 or 2, The rear vehicle is a vehicle traveling in the target lane behind the host vehicle. Vehicle control device.

4. A vehicle control method for performing lane change assist control to automatically change a host vehicle from a lane in which the host vehicle is traveling to a target lane adjacent to the lane, comprising: a relative distance and a relative speed between the host vehicle and a vehicle traveling behind the host vehicle; The shorter the relative distance is, and / or the faster the vehicle speed of the rear vehicle is than the vehicle speed of the host vehicle and the greater the relative speed is, the shorter the time from when a specific condition for permitting execution of the lane change assist control is met to when the lane change is started is. How to control the vehicle.

5. A processor of a vehicle control device that performs lane change assist control to automatically change the lane of a vehicle from a lane in which the vehicle is currently traveling to a target lane adjacent to the lane in which the vehicle is currently traveling, A process of acquiring a relative distance and a relative speed between the host vehicle and a rear vehicle traveling behind the host vehicle; and executing a process of shortening the time from the establishment of a specific condition permitting execution of the lane change assist control to the start of the lane change, as the relative distance becomes shorter, and / or as the vehicle speed of the rear vehicle becomes faster than the vehicle speed of the host vehicle and the relative speed becomes greater. program.

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