Vehicle control device, vehicle control method and program

Abstract

To appropriately execute dead angle avoidance control for making one's own vehicle avoid from travelling in a dead angle area of a peripheral vehicle.SOLUTION: A vehicle control device 12 includes: an acquisition part 231 acquiring peripheral vehicle information and peripheral road environment information around an own vehicle 10; and a control part 232 having a first function executing dead angle avoiding control making the own vehicle 10 avoid from travelling in a dead angle area of a peripheral vehicle on the basis of the peripheral vehicle information. The control part 232 has at least one of a second function suppressing the dead angle avoiding control during the own vehicle 10 travels in a passing lane or a priority lane on the basis of the peripheral road environment information; and a third function suppressing the dead angle avoiding control during the own vehicle 10 travels in a merged section on the basis of the peripheral road environment information.SELECTED DRAWING: Figure 8

Description

[Technical Field]

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

[0002] Patent Document 1 describes a technology that automatically and actively reduces the time or probability that a vehicle is located in a blind spot of a driver of another vehicle. The technology described in Patent Document 1 adjusts the target speed of the vehicle based on the driving state of the other vehicle so as to reduce the time or probability that the vehicle is located in a blind spot of a driver of the other vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4045811 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, if blind spot avoidance control is executed to cause the host vehicle to avoid traveling in a blind spot area of ​​a nearby vehicle (another vehicle) while the host vehicle is traveling in an overtaking lane, etc., there is a risk that the host vehicle will not be able to overtake the nearby vehicle. Also, for example, if blind spot avoidance control (e.g., control to decelerate the host vehicle) is executed to cause the host vehicle to avoid traveling in a blind spot area of ​​a nearby vehicle traveling in a lane located on the opposite side of the merging lane across the merging lane while the host vehicle is traveling in a merging lane adjacent to the merging lane and the merging vehicle is traveling in the merging lane, there is a risk that the host vehicle will obstruct the merging vehicle's merging from the merging lane to the merging lane.

[0005] In view of the above, the present disclosure aims to provide a vehicle control device, a vehicle control method, and a program that can appropriately perform blind spot avoidance control to prevent a vehicle from traveling in a blind spot area of ​​a surrounding vehicle. [Means for solving the problem]

[0006] (1) One aspect of the present disclosure is a vehicle control device that includes an acquisition unit that acquires surrounding vehicle information and surrounding road environment information of a host vehicle, and a control unit that has a first function that executes blind spot avoidance control to cause the host vehicle to avoid traveling in a blind spot area of ​​a surrounding vehicle based on the surrounding vehicle information, wherein the control unit has at least one of a second function that suppresses the blind spot avoidance control while the host vehicle is traveling in an overtaking lane or a priority lane based on the surrounding road environment information, and a third function that suppresses the blind spot avoidance control while the host vehicle is traveling in a merging section based on the surrounding road environment information.

[0007] (2) In the vehicle control device of (1), the control unit may include an operation determination unit that determines whether or not to suppress the blind spot avoidance control, and a vehicle operation amount calculation unit that has at least the function of calculating the acceleration / deceleration of the vehicle to suppress the blind spot avoidance control.

[0008] (3) In the vehicle control device of (1) or (2), the control unit may have a function of determining whether the vehicle is traveling in the overtaking lane, the HOV lane, or the express lane based on at least one of the position information and map information of the vehicle obtained from a GPS unit and a map information unit provided in the vehicle, and image data of the surroundings of the vehicle obtained from a camera provided in the vehicle.

[0009] (4) In any of the vehicle control devices (1) to (3), the control unit may have a function of determining whether the vehicle is traveling in the merging section based on at least one of the position information and map information of the vehicle obtained from a GPS unit and a map information unit provided in the vehicle, and image data of the surroundings of the vehicle obtained from a camera provided in the vehicle.

[0010] (5) In any of the vehicle control devices (1) to (4), a zebra zone may exist between the merging lane and the to-be-merged lane, which is a lane including the to-be-merged section, and the to-be-merged section may be composed of a section between the hard nose and soft nose of the to-be-merged lane and a section between the soft nose and the end of the merging lane.

[0011] (6) In any of the vehicle control devices (1) to (5), there may be no zebra zone between the merged lane, which is a lane including the merged section, and the merging lane, and the merged section may be constituted by a section between a position in the merged lane that is a predetermined distance from the merging end and the merging end.

[0012] (7) In any of the vehicle control devices (1) to (6), when the control unit is executing the blind spot avoidance control and the host vehicle moves from outside the merging section into the merging section, the control unit executes speed increase suppression control of the host vehicle without executing deceleration control of the host vehicle to execute the blind spot avoidance control, and when the control unit is not executing the blind spot avoidance control and the host vehicle moves from outside the merging section into the merging section, the control unit may not start the blind spot avoidance control.

[0013] (8) One aspect of the present disclosure is a vehicle control method including: an acquisition step in which a vehicle control device acquires surrounding vehicle information and surrounding road environment information of the host vehicle; and a control step in which the vehicle control device executes blind spot avoidance control to cause the host vehicle to avoid traveling in a blind spot area of ​​a surrounding vehicle based on the surrounding vehicle information, wherein the control step includes at least one of the following: the vehicle control device suppressing the blind spot avoidance control based on the surrounding road environment information while the host vehicle is traveling in an overtaking lane or a priority lane; and the vehicle control device suppressing the blind spot avoidance control based on the surrounding road environment information while the host vehicle is traveling in a merging section.

[0014] (9) One aspect of the present disclosure is a program for causing a processor to execute an acquisition step of acquiring surrounding vehicle information and surrounding road environment information of the host vehicle, and a control step including executing blind spot avoidance control to cause the host vehicle to avoid traveling in a blind spot area of ​​a surrounding vehicle based on the surrounding vehicle information, wherein the control step includes at least one of suppressing the blind spot avoidance control based on the surrounding road environment information while the host vehicle is traveling in an overtaking lane or a priority lane, and suppressing the blind spot avoidance control based on the surrounding road environment information while the host vehicle is traveling in a merging section. [Effects of the Invention]

[0015] According to the present disclosure, it is possible to appropriately execute blind spot avoidance control that causes the host vehicle to avoid traveling in a blind spot area of ​​a surrounding vehicle. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a diagram showing an example of a schematic configuration of a host vehicle 10 to which a vehicle control device 12 according to a first embodiment is applied. [Figure 2] 10 is a diagram for explaining the reason why the operation determination unit 232A determines to suppress the blind spot avoidance control when the host vehicle 10 is traveling in the passing lane LN1. FIG. [Figure 3] 10 is a diagram for explaining the reason why the operation determination unit 232A determines to suppress the blind spot avoidance control when the host vehicle 10 is traveling in the merging lane LN2. FIG. [Figure 4] FIG. 10 is a diagram for explaining a first example of a method for determining whether or not the host vehicle 10 is traveling in the passing lane LN1. [Figure 5] FIG. 10 is a diagram for explaining a first example of a method for determining whether or not the host vehicle 10 is traveling in a merging section (restricted area) SA2. [Figure 6] FIG. 10 is a diagram for explaining a modification of the first example of the method for determining whether the vehicle 10 is traveling in a merging section (restricted area) SA2. [Figure 7]FIG. 10 is a diagram for explaining a third example of a method for determining whether or not the vehicle 10 is traveling in a merging section (restricted area) SA2. [Figure 8] 4 is a flowchart illustrating an example of blind spot avoidance control executed by the processor 23. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a program according to the present disclosure will be described with reference to the drawings.

[0018] First Embodiment FIG. 1 is a diagram showing an example of a schematic configuration of a host vehicle 10 to which a vehicle control device 12 according to the first embodiment is applied.

[0019] In the example shown in FIG. 1 , the host vehicle 10 is equipped with a camera 2, a radar 3, a LiDAR (Light Detection And Ranging) 4, and a vehicle control device 12. The camera 2 captures images showing vehicles surrounding the host vehicle 10 and the road environment around the host vehicle 10 (e.g., road structure, rules, etc.), generates image data showing the surrounding vehicles and the surrounding road environment, and transmits the image data to the vehicle control device 12. The radar 3 is, for example, a millimeter wave radar, a 24 GHz narrow band radar, etc., and detects the relative positions and relative speeds of the surrounding vehicles and the surrounding road structure with respect to the host vehicle 10, and transmits the detection results to the vehicle control device 12. The LiDAR 4 detects the relative positions and relative speeds of the surrounding vehicles and the surrounding road structure with respect to the host vehicle 10, and transmits the detection results to the vehicle control device 12. In another example, the host vehicle 10 may be equipped with a sonar (not shown). In this example, the sonar detects the distance between the host vehicle 10 and surrounding vehicles and surrounding road structures, and transmits the detection results to the vehicle control device 12.

[0020] In the example shown in FIG. 1 , the vehicle 10 includes a GPS (Global Positioning System) unit 5 and a map information unit 6. The GPS unit 5 acquires location information indicating the current location of the vehicle 10 based on a GPS signal, and transmits the location information of the vehicle 10 to a vehicle control device 12. The map information unit 6 is formed in a storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) mounted on the vehicle 10. The map information stored in the map information unit 6 includes various information such as road structure (road location, road shape, lane structure, etc.), rules, etc. The camera 2, radar 3, LiDAR 4, GPS unit 5, map information unit 6, and vehicle control device 12 are connected via an in-vehicle network 13.

[0021] The host vehicle 10 also includes a steering actuator 14, a braking actuator 15, and a drive actuator 16. The steering actuator 14 has a function of steering the host vehicle 10. The steering actuator 14 includes, for example, a power steering system, a steer-by-wire steering system, a rear-wheel steering system, etc. The braking actuator 15 has a function of decelerating the host vehicle 10. The braking actuator 15 includes, for example, a hydraulic brake, a regenerative brake, etc. The drive actuator 16 has a function of accelerating the host vehicle 10. The drive actuator 16 includes, for example, an engine, an EV (electric vehicle) system, a hybrid system, a fuel cell system, etc.

[0022] 1, the vehicle control device 12 is configured by an automatic driving control ECU (Electronic Control Unit). The vehicle control device 12 (automatic driving control ECU) can control the host vehicle 10 at a driving control level of Level 3 defined by the Society of Automotive Engineers (SAE), that is, a driving control level that does not require the driver to operate the steering actuator 14, braking actuator 15, and drive actuator 16, and does not require monitoring of the surroundings of the host vehicle 10. Furthermore, the vehicle control device 12 can control the host vehicle 10 at a driving control level in which the driver is involved in driving the host vehicle 10, for example, at driving control levels 0 to 2 defined by the SAE.

[0023] The vehicle control device 12 is configured by a microcomputer including a communication interface (I / F) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 has an interface circuit for connecting the vehicle control device 12 to the in-vehicle network 13. The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores programs and various data used in the processing executed by the processor 23. The processor 23 has functions such as executing blind spot avoidance control to prevent the host vehicle 10 from traveling in a blind spot area of ​​a nearby vehicle (more specifically, a blind spot area of ​​the driver of the nearby vehicle). 1, the vehicle control device 12 includes one processor 23, but in other examples, the vehicle control device 12 may include multiple processors. Also, in the example shown in Fig. 1, the vehicle control device 12 (autonomous driving control ECU) is configured by one ECU, but in other examples, the vehicle control device 12 may be configured by multiple ECUs.

[0024] 1, the processor 23 includes an acquisition unit 231 and a control unit 232. The acquisition unit 231 includes a surrounding vehicle information acquisition unit 231A and a surrounding road environment information acquisition unit 231B.

[0025] The surrounding vehicle information acquisition unit 231A acquires surrounding vehicle information that is information indicating the positions, speeds, etc. of surrounding vehicles (other vehicles present around the host vehicle 10) of the host vehicle 10. Specifically, the surrounding vehicle information acquisition unit 231A has a function to recognize the positions, speeds, etc. of the surrounding vehicles based on image data indicating the surrounding vehicles transmitted from the camera 2. The surrounding vehicle information acquisition unit 231A also has a function to recognize the positions, speeds, etc. of the surrounding vehicles based on detection results of the relative positions and relative speeds of the surrounding vehicles with respect to the host vehicle 10 transmitted from the radar 3. The surrounding vehicle information acquisition unit 231A also has a function to recognize the positions, speeds, etc. of the surrounding vehicles based on detection results of the relative positions and relative speeds of the surrounding vehicles with respect to the host vehicle 10 transmitted from the LiDAR 4. In another example, the surrounding vehicle information acquisition unit 231A may have a function of recognizing the position, speed, etc. of the surrounding vehicle based on the detection result of the distance between the host vehicle 10 and the surrounding vehicle transmitted from the sonar.

[0026] 1, the surrounding road environment information acquisition unit 231B acquires surrounding road environment information, which is information indicating the road structure, rules, etc., around the vehicle 10. Specifically, the surrounding road environment information acquisition unit 231B has a function of recognizing the road structure, rules, etc., around the vehicle 10, based on image data indicating the road environment (road structure, rules, etc.) around the vehicle 10 transmitted from the camera 2. In addition, the surrounding road environment information acquisition unit 231B has a function of recognizing the road structure, rules, etc., around the vehicle 10, based on map information transmitted from the map information unit 6.

[0027] That is, the acquisition unit 231 has a function of recognizing objects (surrounding vehicles, surrounding road environment) present around the vehicle 10. Object recognition may be performed based on information from any one of the camera 2, radar, LiDAR 4, GPS unit 5, and map information unit 6, or may be performed by sensor fusion that combines several of them. In object recognition, the type of object, for example, whether the object is a moving object or a stationary object, is determined, and if it is a moving object, its position and speed are calculated. The position and speed of the moving object are calculated, for example, in a reference coordinate system with the vehicle 10 at the center, with the width direction of the vehicle 10 as the horizontal axis and the traveling direction as the vertical axis.

[0028] 1, the acquisition unit 231 has a surrounding vehicle detection function that detects a surrounding vehicle to be monitored from among objects recognized by the object recognition function. When a surrounding vehicle is traveling in a lane adjacent to the lane in which the host vehicle 10 is traveling and the host vehicle 10 is traveling in a blind spot area of ​​the surrounding vehicle, the surrounding vehicle detection function detects the surrounding vehicle as a surrounding vehicle to be monitored. Specifically, when the host vehicle 10 continues to travel in a blind spot area of ​​a surrounding vehicle traveling in an adjacent lane for, for example, a predetermined time or more, the surrounding vehicle detection function detects the surrounding vehicle as a surrounding vehicle to be monitored. The control unit 232 controls the steering actuator 14, the braking actuator 15, the drive actuator 16, etc. based on the information acquired by the acquisition unit 231.

[0029] The control unit 232 has a first function of executing blind spot avoidance control to cause the host vehicle 10 to avoid traveling in a blind spot area of ​​a surrounding vehicle, based on the surrounding vehicle information acquired by the surrounding vehicle information acquisition unit 231A. When a monitored surrounding vehicle is detected by the surrounding vehicle detection function, the control unit 232 can execute blind spot avoidance control to cause the host vehicle 10 to avoid traveling in a blind spot area of ​​the surrounding vehicle as the monitored surrounding vehicle.

[0030] The control unit 232 can perform blind spot avoidance control, such as control to decelerate the vehicle 10 by activating the brake actuator 15, or control to accelerate the vehicle 10 by activating the drive actuator 16, in order to prevent the vehicle 10 from traveling through the blind spot area of ​​a nearby vehicle that is the monitored nearby vehicle.

[0031] In addition, the control unit 232 has a second function of suppressing blind spot avoidance control while the vehicle 10 is traveling in either an overtaking lane, an HOV (High Occupancy Vehicle) lane as a priority lane, or an express lane as a priority lane, based on the surrounding road environment information acquired by the surrounding road environment information acquisition unit 231B. Furthermore, the control unit 232 has a third function of suppressing blind spot avoidance control while the vehicle 10 is traveling in the merging section SA2 (see Figure 5, etc.) based on the surrounding road environment information acquired by the surrounding road environment information acquisition unit 231B.

[0032] Specifically, the control unit 232 can, for example, stop the execution of the blind spot avoidance control in order to suppress the blind spot avoidance control. When the blind spot avoidance control is being executed by decelerating the host vehicle 10, the control unit 232 can reduce the operation amount of the brake actuator 15 that decelerates the host vehicle 10 in order to suppress the blind spot avoidance control. When the blind spot avoidance control is being executed by accelerating the host vehicle 10, the control unit 232 can reduce the operation amount of the drive actuator 16 that accelerates the host vehicle 10 in order to suppress the blind spot avoidance control.

[0033] 1 (first example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied), the control unit 232 has a first function, a second function, and a third function, but in a second example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the control unit 232 may have the first function and the second function but not the third function. In a third example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the control unit 232 may have the first function and the third function but not the second function.

[0034] 1, the control unit 232 includes an operation determination unit 232A and a vehicle operation amount calculation unit 232B. The operation determination unit 232A determines whether or not to suppress blind spot avoidance control that causes the host vehicle 10 to avoid traveling in a blind spot area of ​​a surrounding vehicle. 1 (first example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied), the operation determination unit 232A determines to suppress the blind spot avoidance control when the host vehicle 10 is traveling in an overtaking lane, an HOV lane as a priority lane, or an express lane as a priority lane for road operations. Furthermore, the operation determination unit 232A determines to suppress the blind spot avoidance control when the host vehicle 10 is traveling in a merging section. In a second example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the operation determination unit 232A determines to suppress the blind spot avoidance control while the host vehicle 10 is traveling in any of an overtaking lane, an HOV lane as a priority lane, and an express lane as a priority lane for road operations. On the other hand, while the host vehicle 10 is traveling in a merging section, the operation determination unit 232A does not determine whether to suppress the blind spot avoidance control. In a third example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the operation determination unit 232A determines to suppress the blind spot avoidance control while the host vehicle 10 is traveling in a merging section. On the other hand, while the host vehicle 10 is traveling in an overtaking lane, an HOV lane as a priority lane, or an express lane as a priority lane for road operations, the operation determination unit 232A does not determine whether to suppress the blind spot avoidance control.

[0035] 1, the vehicle operation amount calculation unit 232B has a function of calculating the operation amounts of the steering actuator 14, the braking actuator 15, the drive actuator 16, etc. of the host vehicle 10. Specifically, the vehicle operation amount calculation unit 232B has at least a function of calculating the acceleration / deceleration of the host vehicle 10 for suppressing the blind spot avoidance control. In other words, when the operation determination unit 232A determines that the blind spot avoidance control should be suppressed, the vehicle operation amount calculation unit 232B calculates the acceleration / deceleration of the host vehicle 10 for suppressing the blind spot avoidance control.

[0036] Fig. 2 is a diagram for explaining the reason why the operation determination unit 232A determines to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the overtaking lane LN1. In detail, Fig. 2 shows an example of a situation in which the host vehicle 10 is traveling in the overtaking lane LN1 and is traveling in the blind spot area of ​​a nearby vehicle V1 traveling in a lane LN2 adjacent to the overtaking lane LN1. In the example shown in Fig. 2, the surrounding vehicle V1 is traveling at, for example, 80 km / h, and the host vehicle 10 is traveling in the blind spot area of ​​the surrounding vehicle V1 at, for example, 100 km / h and is overtaking the surrounding vehicle V1. In the situation shown in Fig. 2, if blind spot avoidance control of the host vehicle 10 is executed and the host vehicle 10 is decelerated, the host vehicle 10 will not be able to overtake the surrounding vehicle V1. In other words, if blind spot avoidance control of the host vehicle 10 is executed, smooth traffic of the host vehicle 10 may be disrupted.

[0037] 1 (first example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied), while the host vehicle 10 is traveling in the passing lane, the operation determination unit 232A determines to suppress the blind spot avoidance control that is executed when the host vehicle 10 travels in the blind spot area of ​​the surrounding vehicle V1. Furthermore, the vehicle operation amount calculation unit 232B calculates the acceleration / deceleration of the host vehicle 10 to suppress the blind spot avoidance control. In an example where, for example, control to decelerate the host vehicle 10 is executed as blind spot avoidance control to prevent the host vehicle 10 from traveling in a blind spot area of ​​the surrounding vehicle V1, the control unit 232 executes, for example, control to stop the execution of the blind spot avoidance control, control to reduce the operation amount of the brake actuator 15 that decelerates the host vehicle 10 (for example, control not to reduce the vehicle speed of the host vehicle 10 to the vehicle speed of the surrounding vehicle V1), etc., in order to suppress the blind spot avoidance control. As a result, the host vehicle 10 can overtake the surrounding vehicle V1.

[0038] 1 (first example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied), while the host vehicle 10 is traveling in an HOV lane (not shown) that serves as a priority lane, the operation determination unit 232A determines to suppress blind spot avoidance control that is executed when the host vehicle 10 travels in a blind spot area of ​​a nearby vehicle (not shown) traveling in a lane (not shown) adjacent to the HOV lane. Furthermore, the vehicle operation amount calculation unit 232B calculates the acceleration / deceleration of the host vehicle 10 to suppress the blind spot avoidance control. When, for example, control to decelerate the host vehicle 10 is executed as blind spot avoidance control to prevent the host vehicle 10 from traveling in a blind spot area of ​​a surrounding vehicle traveling in a lane adjacent to the HOV lane, the control unit 232 suppresses the blind spot avoidance control by, for example, executing control to stop the execution of the blind spot avoidance control or control to reduce the operation amount of the brake actuator 15 that decelerates the host vehicle 10. As a result, the host vehicle 10 can achieve traveling in line with the purpose of the HOV lane.

[0039] 1 (first example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied), while the host vehicle 10 is traveling in an express lane (not shown) serving as a priority lane, the operation determination unit 232A determines to suppress blind spot avoidance control that is executed when the host vehicle 10 travels in a blind spot area of ​​a nearby vehicle (not shown) traveling in a lane (not shown) adjacent to the express lane. Furthermore, the vehicle operation amount calculation unit 232B calculates the acceleration / deceleration of the host vehicle 10 for suppressing the blind spot avoidance control. When, for example, control to decelerate the vehicle 10 is executed as blind spot avoidance control to prevent the vehicle 10 from traveling in a blind spot area of ​​a surrounding vehicle traveling in a lane adjacent to the express lane, the control unit 232 suppresses the blind spot avoidance control by, for example, executing control to stop the execution of the blind spot avoidance control or control to reduce the operation amount of the brake actuator 15 that decelerates the vehicle 10. As a result, the vehicle 10 can travel in accordance with the purpose of the express lane.

[0040] In a fourth example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, while the host vehicle 10 is traveling in the passing lane, the operation determination unit 232A determines whether or not to suppress the blind spot avoidance control that causes the host vehicle 10 to avoid traveling in the blind spot area of ​​a surrounding vehicle, but while the host vehicle 10 is traveling in the HOV lane, the operation determination unit 232A does not determine whether or not to suppress the blind spot avoidance control, and while the host vehicle 10 is traveling in the express lane, the operation determination unit 232A does not have to determine whether or not to suppress the blind spot avoidance control. In a fifth example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the operation determination unit 232A determines whether or not to suppress the blind spot avoidance control when the host vehicle 10 is traveling in the HOV lane, which is a priority lane, but the operation determination unit 232A does not determine whether or not to suppress the blind spot avoidance control when the host vehicle 10 is traveling in the overtaking lane, and the operation determination unit 232A does not have to determine whether or not to suppress the blind spot avoidance control when the host vehicle 10 is traveling in the express lane. In a sixth example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the operation determination unit 232A determines whether or not to suppress the blind spot avoidance control when the host vehicle 10 is traveling in the express lane, which is a priority lane, but the operation determination unit 232A does not determine whether or not to suppress the blind spot avoidance control when the host vehicle 10 is traveling in the overtaking lane, and the operation determination unit 232A does not have to determine whether or not to suppress the blind spot avoidance control when the host vehicle 10 is traveling in the HOV lane.

[0041] In the seventh example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the operation determination unit 232A determines whether or not to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the overtaking lane, and the operation determination unit 232A determines whether or not to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the HOV lane which is the priority lane, but the operation determination unit 232A does not have to determine whether or not to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the express lane. In the eighth example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the operation determination unit 232A determines whether or not to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the passing lane, and the operation determination unit 232A determines whether or not to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the express lane which is the priority lane, but the operation determination unit 232A does not have to determine whether or not to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the HOV lane. In the ninth example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the operation determination unit 232A determines whether or not to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the HOV lane, which is the priority lane, and the operation determination unit 232A determines whether or not to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the express lane, which is the priority lane, but the operation determination unit 232A does not have to determine whether or not to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the overtaking lane.

[0042] 3 is a diagram for explaining the reason why the operation determination unit 232A determines to suppress the blind spot avoidance control while the host vehicle 10 is traveling in the to-be-merged lane LN2 (more specifically, the to-be-merged section (restriction area) SA2 (see FIG. 5, etc.) of the to-be-merged lane LN2). In detail, FIG. 3 shows an example of a situation in which the host vehicle 10 is traveling in the to-be-merged lane LN2 and in the blind spot area of ​​a nearby vehicle V2 traveling in an overtaking lane LN1 adjacent to the to-be-merged lane LN2. In the example shown in Fig. 3, a nearby vehicle V2 is traveling at, for example, 80 km / h, the host vehicle 10 is traveling at, for example, 80 km / h, and a merging vehicle (surrounding vehicle) V3 is traveling at, for example, 40 km / h in a merging lane MLN adjacent to the merged lane LN2, and is attempting to merge from the merging lane MLN into the merged lane LN2. In the situation shown in Fig. 3, if blind spot avoidance control of the host vehicle 10 is executed and the host vehicle 10 is decelerated, the host vehicle 10 will be traveling parallel to the merging vehicle V3, preventing the merging vehicle V3 from merging lane MLN into the merged lane LN2. In other words, if blind spot avoidance control of the host vehicle 10 is executed, smooth traffic flow of the merging vehicle V3 may be hindered.

[0043] 1 (first example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied), while the host vehicle 10 is traveling in the merging lane LN2 (more specifically, the merging section SA2 of the merging lane LN2), the operation determination unit 232A determines to suppress the blind spot avoidance control that is executed when the host vehicle 10 travels in the blind spot area of ​​the surrounding vehicle V2. Furthermore, the vehicle operation amount calculation unit 232B calculates the acceleration / deceleration of the host vehicle 10 to suppress the blind spot avoidance control. In an example where, for example, control to decelerate the host vehicle 10 is executed as blind spot avoidance control to prevent the host vehicle 10 from traveling in the blind spot area of ​​the surrounding vehicle V2, the control unit 232 executes, in order to suppress the blind spot avoidance control, control to stop the execution of the blind spot avoidance control, control to reduce the operation amount of the brake actuator 15 that decelerates the host vehicle 10 (for example, control not to reduce the vehicle speed of the host vehicle 10 to the vehicle speed of the merging vehicle V3), etc. As a result, the merging vehicle V3 can smoothly merge from the merging lane MLN into the merged lane LN2 and become a vehicle following the host vehicle 10.

[0044] Fig. 4 is a diagram for explaining a first example of a method for determining whether or not the host vehicle 10 is traveling in the passing lane LN1. In detail, Fig. 4(A) shows an example in which it is determined that the host vehicle 10 is not traveling in the passing lane LN1, and Fig. 4(B) shows an example in which it is determined that the host vehicle 10 is traveling in the passing lane LN1. In a first example of a method for determining whether the host vehicle 10 is traveling in the passing lane LN1, the control unit 232 determines whether the host vehicle 10 is traveling in the passing lane LN1 based on the position information of the host vehicle 10 obtained from the GPS unit 5 and the map information obtained from the map information unit 6. In detail, the control unit 232 determines whether the lane in which the host vehicle 10 is traveling is the passing lane LN1 depending on whether there is a lane on the higher speed side (lower side in FIG. 4) of the lane in which the host vehicle 10 is traveling.

[0045] Specifically, in the example shown in FIG. 4(A), the nearby vehicle V4 is traveling in lane LN3 at, for example, 80 km / h, and the host vehicle 10 is traveling in lane LN2 at, for example, 100 km / h. The control unit 232 determines that the host vehicle 10 is traveling in a blind spot area of ​​the nearby vehicle V4 based on the nearby vehicle information acquired by the nearby vehicle information acquisition unit 231A (information about the nearby vehicle V4 traveling in lane LN3). The control unit 232 also determines that the host vehicle 10 is traveling in lane LN2 based on the position information of the host vehicle 10 obtained from the GPS unit 5 and the map information acquired from the map information unit 6. Furthermore, the control unit 232 determines based on the map information that a lane exists on the faster side (lower side in FIG. 4) of the lane LN2 in which the host vehicle 10 is traveling, and determines that the lane LN2 in which the host vehicle 10 is traveling is not the overtaking lane LN1. Furthermore, based on the position information of the host vehicle 10 obtained from the GPS unit 5 and the map information obtained from the map information unit 6, the control unit 232 determines that the lane LN2 in which the host vehicle 10 is traveling is neither an HOV lane nor an express lane, determines that the host vehicle 10 is not traveling in the merging section SA2 (see FIG. 5), and executes blind spot avoidance control to prevent the host vehicle 10 from traveling in a blind spot area of ​​the surrounding vehicle V4. Specifically, the control unit 232 executes control to decelerate the host vehicle 10 or control to accelerate the host vehicle 10 as the blind spot avoidance control. In other words, in the example shown in Figure 4(A), the control unit 232 does not suppress blind spot avoidance control because the lane LN2 in which the vehicle 10 is traveling is neither an overtaking lane LN1, an HOV lane, nor an express lane, and the vehicle 10 is not traveling in the merging section SA2.

[0046] In the example shown in FIG. 4(B), the nearby vehicle V5 is traveling in lane LN2 at, for example, 80 km / h, and the host vehicle 10 is traveling in lane LN1 at, for example, 100 km / h. The control unit 232 determines that the host vehicle 10 is traveling in a blind spot area of ​​the nearby vehicle V5 based on the nearby vehicle information acquired by the nearby vehicle information acquisition unit 231A (information about the nearby vehicle V5 traveling in lane LN2). The control unit 232 also determines that the host vehicle 10 is traveling in lane LN1 based on the position information of the host vehicle 10 obtained from the GPS unit 5 and the map information acquired from the map information unit 6. Furthermore, the control unit 232 determines based on the map information that there is no lane on the higher speed side (lower side in FIG. 4) of the lane LN1 in which the host vehicle 10 is traveling, and determines that the lane LN1 in which the host vehicle 10 is traveling is an overtaking lane. Therefore, the control unit 232 suppresses the blind spot avoidance control that is executed when the host vehicle 10 travels in the blind spot area of ​​the surrounding vehicle V5. In an example in which control to decelerate the host vehicle 10 is executed as blind spot avoidance control executed when the host vehicle 10 travels in a blind spot area of ​​the surrounding vehicle V5, the control unit 232 executes, for example, control to stop execution of the blind spot avoidance control, control to reduce the operation amount of the brake actuator 15 that decelerates the host vehicle 10 (for example, control to not reduce the vehicle speed of the host vehicle 10 to the vehicle speed of the surrounding vehicle V5), etc., in order to suppress the blind spot avoidance control. As a result, the host vehicle 10 can overtake the surrounding vehicle V5.

[0047] In a second example of a method for determining whether the host vehicle 10 is traveling in the passing lane LN1, the control unit 232 determines whether or not a lane exists on the faster side (lower side in FIG. 4) of the lane in which the host vehicle 10 is traveling, based on image data showing the road environment around the host vehicle 10 obtained from the camera 2. If a lane exists on the faster side of the lane in which the host vehicle 10 is traveling, the control unit 232 determines that the lane in which the host vehicle 10 is traveling is not the passing lane LN1, and if no lane exists on the faster side of the lane in which the host vehicle 10 is traveling, the control unit 232 determines that the lane in which the host vehicle 10 is traveling is the passing lane LN1. That is, in a second example of a method for determining whether the vehicle 10 is traveling in the passing lane LN1, the control unit 232 determines whether the vehicle 10 is traveling in the passing lane LN1 based on image data of the surroundings of the vehicle 10 obtained from the camera 2.

[0048] In a third example of a method for determining whether the host vehicle 10 is traveling in the passing lane LN1, the control unit 232 determines whether the dividing line on the high-speed side (lower side of FIG. 4) of the lane in which the host vehicle 10 is traveling is a solid line, based on image data showing the road environment around the host vehicle 10 obtained from the camera 2. If the dividing line on the high-speed side of the lane in which the host vehicle 10 is traveling is not a solid line (if it is a dashed line), the control unit 232 determines that the lane in which the host vehicle 10 is traveling is not the passing lane LN1, and if the dividing line on the high-speed side of the lane in which the host vehicle 10 is traveling is a solid line, the control unit 232 determines that the lane in which the host vehicle 10 is traveling is the passing lane LN1. That is, in a third example of a method for determining whether the vehicle 10 is traveling in the passing lane LN1, the control unit 232 determines whether the vehicle 10 is traveling in the passing lane LN1 based on image data of the surroundings of the vehicle 10 obtained from the camera 2.

[0049] In the first example of the method for determining whether the host vehicle 10 is traveling in the overtaking lane LN1 described above, the control unit 232 has a function of determining whether the host vehicle 10 is traveling in the HOV lane, which is a priority lane, based on the position information of the host vehicle 10 obtained from the GPS unit 5 and the map information obtained from the map information unit 6. When the host vehicle 10 is traveling in the HOV lane, the control unit 232 suppresses blind spot avoidance control that is executed when the host vehicle 10 travels in a blind spot area of ​​a surrounding vehicle (more specifically, a vehicle traveling in a lane adjacent to the HOV lane). Furthermore, the control unit 232 has a function of determining whether or not the vehicle 10 is traveling in an express lane, which is a priority lane, based on the position information of the vehicle 10 obtained from the GPS unit 5 and the map information obtained from the map information unit 6. When the vehicle 10 is traveling in an express lane, the control unit 232 suppresses blind spot avoidance control that is executed when the vehicle 10 travels in a blind spot area of ​​a surrounding vehicle (more specifically, a vehicle traveling in a lane adjacent to the express lane). That is, the control unit 232 has the function of determining whether the vehicle 10 is traveling in a lane (overtaking lane, HOV lane, express lane) that has priority over other lanes, based on the position information of the vehicle 10 obtained from the GPS unit 5 and the map information obtained from the map information unit 6.

[0050] Fig. 5 is a diagram for explaining a first example of a method for determining whether the host vehicle 10 is traveling in a merging section (restriction area) SA2. In detail, Fig. 5 is a diagram for explaining an example of the relationship between a merging lane LN3 including the merging section SA2 and a merging lane MLN. In a first example of a method for determining whether the vehicle 10 is traveling in the merging section SA2, the control unit 232 determines whether the vehicle 10 is traveling in the merging section SA2 based on the position information of the vehicle 10 obtained from the GPS unit 5 and the map information obtained from the map information unit 6.

[0051] In the example shown in Figure 5, a nearby vehicle V6 is traveling in lane LN2 adjacent to the merged lane LN3, the host vehicle 10 is traveling in the merged lane LN3, and a merging vehicle (surrounding vehicle) V7 is traveling in the merging lane MLN adjacent to the merged lane LN3 (more specifically, the merging lane MLN located on the opposite side of lane LN2 across the merged lane LN3) and is attempting to merge from the merging lane MLN into the merged lane LN3. The control unit 232 determines that the host vehicle 10 is traveling in a blind spot area of ​​the host vehicle V6 based on the surrounding vehicle information acquired by the surrounding vehicle information acquisition unit 231A (information on the surrounding vehicle V6 traveling in lane LN2). Furthermore, the control unit 232 determines that the host vehicle 10 is traveling in a merging section (restricted area) SA2 based on the position information of the host vehicle 10 acquired from the GPS unit 5 and the map information acquired from the map information unit 6. Therefore, the control unit 232 suppresses the blind spot avoidance control that is executed when the host vehicle 10 travels in the blind spot area of ​​the surrounding vehicle V6. In an example where, for example, control to decelerate the host vehicle 10 is executed as blind spot avoidance control to prevent the host vehicle 10 from traveling in the blind spot area of ​​the surrounding vehicle V6, the control unit 232 executes, in order to suppress the blind spot avoidance control, control to stop the execution of the blind spot avoidance control, control to reduce the operation amount of the brake actuator 15 that decelerates the host vehicle 10 (for example, control not to reduce the vehicle speed of the host vehicle 10 to the vehicle speed of the merging vehicle V7), etc. As a result, the merging vehicle V7 can smoothly merge from the merging lane MLN into the merged lane LN3 and become a vehicle following the host vehicle 10.

[0052] 5, a zebra zone A13 exists between the merged lane LN3, which includes the merged section SA2, and the merging lane MLN. The merged section SA2 is made up of the section of the merged lane LN3 between the hard nose A11 and the soft nose A12, and the section between the soft nose A12 and the merging end A14. The merging section SA2 is set as a suppression area in which blind spot avoidance control, which is executed when the host vehicle 10 travels in a blind spot area of ​​a surrounding vehicle (for example, surrounding vehicle V6, etc.), is suppressed. Sections of the merging lane LN3 other than the merging section SA2 are set as permitted areas PMA in which blind spot avoidance control, which is executed when the host vehicle 10 travels in a blind spot area of ​​a surrounding vehicle (not shown), is not suppressed. The lane LN2 is set in a permitted area PMA where blind spot avoidance control, which is executed when the host vehicle 10 travels in a blind spot area of ​​a surrounding vehicle, is not suppressed. The overtaking lane LN1 is set in a suppressed area SA1 where blind spot avoidance control, which is executed when the host vehicle 10 travels in a blind spot area of ​​a surrounding vehicle, is suppressed.

[0053] Fig. 6 is a diagram for explaining a modification of the first example of the method for determining whether the host vehicle 10 is traveling in the merging section (restriction area) SA2. In detail, Fig. 6 is a diagram for explaining a modification of the first example of the relationship between the merging lane MLN and the merging lane LN3 that includes the merging section SA2. In a modified example of the first example of the method for determining whether the vehicle 10 is traveling in the merging section SA2, the control unit 232 determines whether the vehicle 10 is traveling in the merging section SA2 based on the position information of the vehicle 10 obtained from the GPS unit 5 and the map information obtained from the map information unit 6.

[0054] In the example shown in Figure 6, the merging lane MLN also functions as a branch lane leading to, for example, an expressway exit. The zebra zone A13 exists between the merging lane (branch lane) MLN and the merging lane LN3, which includes the merging section SA2. The merging section SA2 is made up of the section of the merging lane LN3 between the hard nose A11 and the soft nose A12, and the section between the soft nose A12 and the branch position A14A.

[0055] In a second example of a method for determining whether the vehicle 10 is traveling in the merging section SA2, the control unit 232 determines whether the vehicle 10 is traveling in the merging section SA2 based on image data obtained from the camera 2 showing the road environment around the vehicle 10 (e.g., road markings on adjacent lanes, installed road signs, etc.).

[0056] Fig. 7 is a diagram for explaining a third example of a method for determining whether the host vehicle 10 is traveling in the merging section (restriction area) SA3. In detail, Fig. 7 is a diagram for explaining another example of the relationship between the merging lane LN3 including the merging section SA3 and the merging lane MLN. In a third example of a method for determining whether the vehicle 10 is traveling in the merging section SA3, the control unit 232 determines whether the vehicle 10 is traveling in the merging section SA3 based on the position information of the vehicle 10 obtained from the GPS unit 5 and the map information obtained from the map information unit 6.

[0057] In the example shown in Figure 7, a nearby vehicle V8 is traveling in lane LN2 adjacent to the merged lane LN3, the host vehicle 10 is traveling in the merged lane LN3, and a merging vehicle (surrounding vehicle) V9 is traveling in a merging lane MLN (for example, a lane that disappears due to the reduction in lanes, such as a climbing lane) adjacent to the merged lane LN3, and is attempting to merge from the merging lane MLN into the merged lane LN3. The control unit 232 determines that the host vehicle 10 is traveling in a blind spot area of ​​the host vehicle V8 based on the surrounding vehicle information (information about the surrounding vehicle V8 traveling in lane LN2) acquired by the surrounding vehicle information acquisition unit 231A. Furthermore, the control unit 232 determines that the host vehicle 10 is traveling in a merging section (restricted area) SA3 based on the position information of the host vehicle 10 acquired from the GPS unit 5 and the map information acquired from the map information unit 6. Therefore, the control unit 232 suppresses the blind spot avoidance control that is executed when the host vehicle 10 travels in the blind spot area of ​​the surrounding vehicle V8. In an example where, for example, control to decelerate the host vehicle 10 is executed as blind spot avoidance control to prevent the host vehicle 10 from traveling in the blind spot area of ​​the surrounding vehicle V8, the control unit 232 executes, in order to suppress the blind spot avoidance control, control to stop the execution of the blind spot avoidance control, control to reduce the operation amount of the brake actuator 15 that decelerates the host vehicle 10 (for example, control not to reduce the vehicle speed of the host vehicle 10 to the vehicle speed of the merging vehicle V9), etc. As a result, the merging vehicle V9 can smoothly merge from the merging lane MLN into the merged lane LN3 and become a vehicle following the host vehicle 10.

[0058] 7, there is no zebra zone between the merging lane MLN and the merged lane LN3, which includes the merging section SA3. The merging section SA3 is made up of the section between the merging end A15 and a position A16 in the merging lane LN3 that is a predetermined distance from the merging end A15. The merging section SA3 is set as a suppression area in which blind spot avoidance control, which is executed when the host vehicle 10 travels in a blind spot area of ​​a surrounding vehicle (for example, surrounding vehicle V8, etc.), is suppressed. Sections of the merging lane LN3 other than the merging section SA3 are set as permitted areas PMA in which blind spot avoidance control, which is executed when the host vehicle 10 travels in a blind spot area of ​​a surrounding vehicle (not shown), is not suppressed.

[0059] In a fourth example of a method for determining whether the vehicle 10 is traveling in the merging section SA3, the control unit 232 determines whether the vehicle 10 is traveling in the merging section SA3 based on image data obtained from the camera 2 showing the road environment around the vehicle 10 (e.g., road markings on adjacent lanes, installed road signs, etc.).

[0060] In a first example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the control unit 232 has a function of determining whether the host vehicle 10 is traveling in the merging section SA2 (see Figures 5 and 6) and a function of determining whether the host vehicle 10 is traveling in the merging section SA3 (see Figure 7).

[0061] In the tenth example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the control unit 232 has a function to determine whether the host vehicle 10 is traveling in the merging section SA2, and does not necessarily have a function to determine whether the host vehicle 10 is traveling in the merging section SA3. In an eleventh example of the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, the control unit 232 may not have the function of determining whether the host vehicle 10 is traveling in the merging section SA2, but may have the function of determining whether the host vehicle 10 is traveling in the merging section SA3.

[0062] FIG. 8 is a flowchart illustrating an example of blind spot avoidance control executed by the processor 23. In the example shown in FIG. 8, in step S11, the acquisition unit 231 acquires surrounding vehicle information and surrounding road environment information of the vehicle 10. In step S12, the control unit 232 determines whether or not the host vehicle 10 is traveling in a blind spot area of ​​a nearby vehicle based on the nearby vehicle information of the host vehicle 10 acquired in step S11. If YES, the process proceeds to step S13, and if NO, the process shown in FIG. 8 is terminated. In step S13, the control unit 232 determines whether the vehicle 10 is traveling in an operational passing lane, an HOV lane as a priority lane, or an express lane as a priority lane, based on the surrounding road environment information of the vehicle 10 acquired in step S11. If the vehicle 10 is traveling in an operational passing lane, an HOV lane, or an express lane, the process proceeds to step S16. On the other hand, if the vehicle 10 is not traveling in an operational passing lane, an HOV lane, or an express lane, the process proceeds to step S14. In step S14, the control unit 232 determines whether the vehicle 10 is traveling through the merging sections SA2 and SA3 based on the surrounding road environment information of the vehicle 10 acquired in step S11. If the result is NO, the process proceeds to step S16, and if the result is YES, the process proceeds to step S15. In step S15, the control unit 232 executes blind spot avoidance control to prevent the host vehicle 10 from traveling in a blind spot area of ​​a surrounding vehicle. In step S16, the control unit 232 suppresses the blind spot avoidance control.

[0063] As described above, in the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, when the host vehicle 10 is traveling in a blind spot area of ​​a surrounding vehicle, it is possible to execute blind spot avoidance control that causes the host vehicle 10 to avoid traveling in the blind spot area of ​​the surrounding vehicle. Furthermore, even when the host vehicle 10 is traveling in a blind spot area of ​​a surrounding vehicle, the blind spot avoidance control is suppressed if there is a possibility that smooth traffic of the host vehicle 10 or the surrounding vehicles will be disrupted. Therefore, in the host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, it is possible to execute blind spot avoidance control more appropriately than when the blind spot avoidance control is executed when there is a possibility that smooth traffic of the host vehicle 10 or the surrounding vehicles will be disrupted.

[0064] Second Embodiment The host vehicle 10 to which the vehicle control device 12 of the second embodiment is applied is configured in the same manner as the host vehicle 10 to which the vehicle control device 12 of the first embodiment described above is applied, except for the points described below. As described above, in a host vehicle 10 to which the vehicle control device 12 of the first embodiment is applied, as shown in Figures 5 to 7, when the host vehicle 10 is traveling in a blind spot area of ​​a surrounding vehicle and traveling in a merged section (restricted area) SA2 or SA3, blind spot avoidance control is suppressed in the merged section (restricted area) SA2 or SA3 without taking into consideration whether blind spot avoidance control was being performed in the permission area PMA (the permission area PMA to the left of the merged section SA2 in Figures 5 and 6, and the permission area PMA to the left of the merged section SA3 in Figure 7) before the host vehicle 10 entered the merged section (restricted area) SA2 or SA3 (i.e., whether the host vehicle 10 was traveling in a blind spot area of ​​a surrounding vehicle). On the other hand, in a host vehicle 10 to which the vehicle control device 12 of the second embodiment is applied, when the host vehicle 10 is traveling in a blind spot area of ​​a surrounding vehicle and traveling in a merging section (restricted area), the control unit 232 suppresses blind spot avoidance control using different methods depending on whether blind spot avoidance control was being performed in the permitted area before the host vehicle 10 entered the merging section (restricted area) (i.e., whether the host vehicle 10 was traveling in a blind spot area of ​​a surrounding vehicle).

[0065] Specifically, if blind spot avoidance control was being executed in the permission area before the host vehicle 10 entered the merged section (restricted area) (i.e., if the host vehicle 10 was traveling in a blind spot area of ​​a surrounding vehicle in the permission area before entering the merged section), the control unit 232 continues to execute blind spot avoidance control while the host vehicle 10 is traveling in the merged section. However, in the merged section, the control unit 232 causes the host vehicle 10 to avoid traveling in a blind spot area of ​​a surrounding vehicle without decelerating the host vehicle 10. Furthermore, in the merged section, the control unit 232 suppresses an increase in the speed of the host vehicle 10, thereby making it less likely for the host vehicle 10 to enter the blind spot area of ​​a surrounding vehicle.

[0066] On the other hand, if blind spot avoidance control is not being executed in the permission area before the host vehicle 10 enters the merged section (restricted area) (that is, if the host vehicle 10 is not traveling in the blind spot area of ​​a surrounding vehicle in the permission area before entering the merged section), the control unit 232 does not start blind spot avoidance control even after the host vehicle 10 enters the merged section. In detail, the control unit 232 does not start blind spot avoidance control even if the host vehicle 10 enters the blind spot area of ​​a surrounding vehicle after entering the merged section. Therefore, deceleration of the host vehicle 10 is not executed to prevent the host vehicle 10 from traveling in the blind spot area of ​​a surrounding vehicle. Furthermore, suppression of an increase in the speed of the host vehicle 10 is not executed to make it more difficult for the host vehicle 10 to enter the blind spot area of ​​a surrounding vehicle.

[0067] As described above, the vehicle control device, vehicle control method, and program of the present disclosure have been described with reference to the drawings, but the vehicle control device, vehicle control method, and program of the present disclosure are not limited to the above-described embodiments and may be modified as appropriate without departing from the spirit of the present disclosure. The configurations of the examples of the above-described embodiments may be combined as appropriate. In each of the above-described embodiments, the processing performed in the vehicle control device 12 (autonomous driving control ECU) has been described as software processing performed by executing a program, but the processing performed in the vehicle control device 12 may be processing performed by hardware. Alternatively, the processing performed in the vehicle control device 12 may be processing that combines both software and hardware. Furthermore, the program stored in the memory 22 of the vehicle control device 12 (a program that realizes the functions of the processor 23 of the vehicle control device 12) may be recorded on a computer-readable storage medium such as a semiconductor memory, a magnetic recording medium, an optical recording medium, or the like, and provided, distributed, or the like. [Explanation of symbols]

[0068] 2 Cameras 3. Radar 4. LiDAR 5 GPS units 6 Map Information Unit 10 Vehicle 12 Vehicle control device 14 Steering actuator 15 Braking Actuator 16 Drive Actuator 21 Communication Interface 22 Memory 23 processors 231 Acquisition Department 231A Surrounding vehicle information acquisition unit 231B Surrounding Road Environmental Information Acquisition Department 232 Control Unit 232A Operation determination unit 232B Vehicle operation amount calculation unit

Claims

1. an acquisition unit that acquires surrounding vehicle information and surrounding road environment information of the host vehicle; a control unit having a function of executing blind spot avoidance control to prevent the host vehicle from traveling in a blind spot area of ​​a nearby vehicle based on the nearby vehicle information, The control unit a vehicle control device that suppresses the blind spot avoidance control when it is determined that the vehicle is traveling in a merging section based on the surrounding road environment information;

2. The control unit an operation determination unit that determines whether or not to suppress the blind spot avoidance control; The vehicle control device according to claim 1 , further comprising: a vehicle operation amount calculation unit having at least a function of calculating an acceleration / deceleration of the host vehicle for suppressing the blind spot avoidance control.

3. The control unit 3. The vehicle control device according to claim 1, further comprising a function of determining whether the vehicle is traveling in the merging section based on at least one of position information and map information of the vehicle obtained from a GPS unit and a map information unit provided in the vehicle, and image data of the surroundings of the vehicle obtained from a camera provided in the vehicle.

4. A zebra zone exists between the merging lane and the merging lane, which is a lane including the merging section, 3. The vehicle control device according to claim 1, wherein the merging section is made up of a section between a hard nose and a soft nose in the merging lane, and a section between the soft nose and a merging end.

5. There is no zebra zone between the merging lane and the merging lane, which is a lane including the merging section, 3. The vehicle control device according to claim 1, wherein the merging section is configured by a section between a position in the merging lane that is a predetermined distance from the merging end and the merging end.

6. When the control unit is executing the blind spot avoidance control and the host vehicle moves from outside the merging section into the merging section, the control unit executes speed increase suppression control of the host vehicle without executing deceleration control of the host vehicle for executing the blind spot avoidance control, 3. The vehicle control device according to claim 1, wherein when the vehicle moves from outside the merging section into the merging section while the control unit is not performing the blind spot avoidance control, the control unit does not start the blind spot avoidance control.

7. An acquisition step in which the vehicle control device acquires surrounding vehicle information and surrounding road environment information of the vehicle; a control step in which the vehicle control device executes blind spot avoidance control to prevent the host vehicle from traveling in a blind spot area of ​​a nearby vehicle based on the nearby vehicle information, In the control step, The vehicle control method includes suppressing the blind spot avoidance control when the vehicle control device determines, based on the surrounding road environment information, that the host vehicle is traveling in a merging section.

8. A processor, an acquisition step of acquiring surrounding vehicle information and surrounding road environment information of the host vehicle; a control step including executing blind spot avoidance control to prevent the host vehicle from traveling in a blind spot area of ​​a nearby vehicle based on the nearby vehicle information, In the control step, The program suppresses the blind spot avoidance control when it is determined that the host vehicle is traveling in a merging section based on the surrounding road environment information.

Images