Vehicle control device

Abstract

To properly warn a driver while suppressing excessive warning which may trouble the driver.SOLUTION: A controller 30 comprises a first recognition unit 31 which recognizes a circumferential situation of a vehicle 1, a second recognition unit 32 which recognizes a driving situation of the vehicle 1 by a driver, and a warning control unit 33 which warns the driver through a warning device 90 based upon the circumferential situation recognized by the first recognition unit 31 and the driving situation recognized by the second recognition unit 32. The second recognition unit 32 recognizes the driving situation including a steering situation of the vehicle 1 and the direction of the gaze of the driver. The warning control unit 33 gives a warning at a predetermined level when execution conditions of warning are met based upon the circumferential situation, and then makes the execution conditions of warning stricter and / or lowers the warning level when at least one of the steering situation and the gaze meets the predetermined conditions than when not.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device that controls a vehicle. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have been gaining momentum. As part of these efforts, research and development is being conducted on driver assistance technologies and autonomous driving technologies for automobiles and other vehicles to further improve traffic safety and convenience.

[0003] As an example of driving assistance technology, Patent Document 1 below discloses technology that performs lane departure prevention control to return a vehicle that is driving closer to the edge of a lane than when driving within the center of the lane to the center of the lane. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-059939 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the conventional technology has room for improvement in terms of appropriately warning the driver while suppressing excessive warnings that may be bothersome to the driver.

[0006] The present invention provides a vehicle control device that can appropriately issue a warning to a driver while suppressing excessive warnings that may be bothersome to the driver. [Means for solving the problem]

[0007] One aspect of the present invention is A vehicle control device that controls a vehicle, a first recognition unit that recognizes a surrounding situation of the vehicle; a second recognition unit that recognizes a driving situation of the vehicle by a driver; Recognized by the first recognition unit of the vehicle the surrounding situation and the information recognized by the second recognition unit of the vehicle by the driver an alarm control unit that issues an alarm to the driver via a predetermined alarm device based on a driving situation; Equipped with The second recognition unit recognizes the driving situation including a steering situation of the vehicle and a direction of the driver's line of sight, The alarm control unit When a predetermined execution condition is met based on the surrounding situation, the alarm is issued at a predetermined alarm intensity. stomach , When at least one of the steering situation and the line of sight direction satisfies a predetermined condition, teeth , Instead of issuing the warning at the predetermined warning intensity, The execution condition is made stricter and / or the warning intensity is reduced compared to when the predetermined condition is not satisfied. and issue the warning. , A vehicle control device. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a vehicle control device that can appropriately issue a warning to the driver while suppressing excessive warnings that may be bothersome to the driver. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a schematic configuration of a vehicle equipped with a control device according to an embodiment; [Figure 2] 4 is a flowchart illustrating an example of an alarm control process executed by a control device according to an embodiment. [Figure 3] FIG. 4 is a diagram illustrating an example of an alarm control table referenced by a control device of an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of a vehicle control device of the present invention will be described below with reference to the drawings. The following embodiment does not limit the present invention, and not all of the elements described in the following embodiment are necessarily essential to the present invention. Furthermore, two or more elements described in the following embodiment may be arbitrarily combined without departing from the spirit of the present invention. Note that, below, identical or similar elements are denoted by identical or similar reference numerals, and their description may be omitted or simplified.

[0011] [vehicle] First, the vehicle of this embodiment will be described. The vehicle 1 of this embodiment (hereinafter also referred to as "host vehicle") shown in Fig. 1 is an automobile equipped with a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steerable wheels. As an example, the vehicle 1 can be a four-wheel automobile having a pair of front wheels and a pair of rear wheels on the left and right.

[0012] The drive source of vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. The drive source of vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front and rear wheels, i.e., four wheels. Either one of the front wheels or the rear wheels of vehicle 1 may be a steerable wheel, or both may be steerable wheels.

[0013] The vehicle 1 is configured to include a sensor group 10, a navigation device 20, a control device 30 which is an example of a vehicle control device of the present invention, an electric power steering (EPS: Electric Power Steering) system 40, a driving force control system 50, a braking force control system 60, a communication unit 70, an operation input unit 80, and an alarm device 90.

[0014] The sensor group 10 is configured to include an external sensor 11 that acquires information about the periphery of the vehicle 1 (hereinafter also referred to as "peripheral information"), and a vehicle sensor 12 that acquires information about the vehicle 1 (hereinafter also referred to as "vehicle information"). The information acquired by each sensor included in the sensor group 10 (in other words, detected values) is output to the control device 30 and is used for controlling the vehicle 1 by the control device 30 (hereinafter also referred to as "vehicle control").

[0015] The external sensor 11 includes, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 is a digital camera that captures an image of the surroundings of the vehicle 1 including the area ahead of the vehicle 1, and outputs image data of the obtained surrounding image to the control device 30. As the camera 111, for example, a digital camera using an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) can be used.

[0016] The sonar 112 emits sound waves around the vehicle 1 (for example, in front of, behind, and to the sides of the vehicle 1) and receives reflected sound from objects around the vehicle 1, thereby detecting the distance and direction of the objects. The radar 113 emits radio waves around the vehicle 1, including in front of the vehicle 1, and receives reflected waves from objects around the vehicle 1, thereby detecting the distance and direction of the objects. For example, a millimeter wave radar can be used as the radar 113.

[0017] The external sensor 11 may be configured to include a LiDAR (Light Detection and Ranging) instead of or in addition to the sonar 112 or the radar 113. In this case, the LiDAR emits laser light to the periphery of the vehicle 1 including the area ahead of the vehicle 1, and receives reflected light from an object present around the vehicle 1 to detect the distance and direction to the object.

[0018] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, and a steering touch sensor 126.

[0019] The wheel sensor 121 detects the rotation angle of one or more wheels of the vehicle 1. As an example, the wheel sensor 121 detects the rotation angle of each of the left rear wheel and the right rear wheel. As the wheel sensor 121, for example, an angle sensor or a displacement sensor can be adopted.

[0020] The vehicle speed sensor 122 detects the vehicle speed VP, which is the traveling speed (in other words, the moving speed of the vehicle body) of the vehicle 1. For example, the vehicle speed sensor 122 detects the vehicle speed VP based on the number of rotations of a countershaft (not shown) provided in the vehicle 1.

[0021] The inertial measurement unit 123 detects angular velocities in the pitch, roll, and yaw directions of the vehicle 1, and accelerations in the front-to-rear, left-to-right, and up-to-down directions of the vehicle 1. Note that instead of the inertial measurement unit 123, the vehicle sensor 12 may be configured to include an acceleration sensor that detects acceleration in a predetermined direction of the vehicle 1, or a gyro sensor that detects angular velocity in a predetermined direction of the vehicle 1.

[0022] The occupant camera 124 is a digital camera that captures an image of the interior of the vehicle 1 and outputs image data of the obtained interior image to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is provided so as to be able to capture an image of the head of an occupant (hereinafter also referred to as "driver") sitting in the driver's seat of the vehicle 1 from the front (in other words, to be able to capture an image of the face). As with the camera 111, the occupant camera 124 can be a digital camera that uses an imaging element such as a CCD or CMOS. Note that in this embodiment, the image data of the interior image obtained by the occupant camera 124 capturing an image of the interior of the vehicle serves as information that can identify the direction of the driver's line of sight.

[0023] The operation detection unit 125 detects an operation performed using the operation input unit 80 that is operable by the driver. In this embodiment, the operation input unit 80 may include, for example, an operation button (not shown) that accepts an operation to switch the LKAS (described later) on (in other words, activated) and off (in other words, not activated). In this case, the operation detection unit 125 can detect an operation to turn the LKAS on / off.

[0024] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is being properly gripped. For example, the steering touch sensor 126 is realized by a capacitance sensor or the like. In this case, the capacitance sensor is provided at a portion where the driver touches the steering wheel 46 when the steering wheel 46 is being properly gripped.

[0025] The navigation device 20 includes, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) configured with a flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24 and the like.

[0026] The GNSS receiver 21 identifies the current position of the vehicle 1 (for example, the latitude and longitude of the location where the vehicle 1 is located) based on the signals received from the GNSS satellites. Note that the navigation device 20 may acquire, for example, detection results from the vehicle sensors 12 (for example, the wheel sensors 121 and the vehicle speed sensor 122) via the control device 30, and identify or complement the current position of the vehicle 1 by an INS (Inertial Navigation System) that uses the detection values ​​of the vehicle sensors 12.

[0027] The touch panel 22 is configured by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (e.g., a touchpad). The speaker 23 is configured to be able to output audio to a passenger of the vehicle 1 (e.g., the driver).

[0028] For example, the navigation device 20 searches for a route from the current position of the vehicle 1 to a destination set by the driver using the touch panel 22 by referring to the map information database 24. Then, the navigation device 20 provides route guidance using the touch panel 22 and the speaker 23 based on the searched route. The navigation device 20 may also cause the touch panel 22 to display a predetermined information in accordance with an instruction from the control device 30. Furthermore, the navigation device 20 may output predetermined information to the control device 30, such as information indicating the identified current position of the vehicle 1 or information indicating an operation received via the touch panel 22.

[0029] The control device 30 is a computer that has, for example, a processor that performs various calculations, a storage unit that has a non-transitory storage medium that stores various information, an input / output unit that controls input and output of data between the inside and outside of the control device 30, and the like (all not shown), and that performs overall control of the vehicle 1. For example, the control device 30 is realized by one ECU (Electronic Control Unit) or by multiple ECUs working together. Specific examples of control by the control device 30 will be described later, so a description thereof will be omitted here.

[0030] The EPS system 40 includes, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0031] The steering angle sensor 41 detects the steering angle θst of the steering wheel 46 and outputs information indicating the detected steering angle θst to the EPS ECU 45. The torque sensor 42 detects the steering torque TQ, which is the torque applied to the steering wheel 46 of the vehicle 1, and outputs information indicating the detected steering torque TQ to the EPS ECU 45.

[0032] The EPS motor 43 applies a driving force or a reaction force to a steering column 47 connected to the steering wheel 46 in accordance with instructions from the EPS ECU 45, thereby assisting the driver in operating the steering wheel 46. The resolver 44 detects a rotation angle θm of the EPS motor 43, and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0033] The EPS ECU 45 is a computer that includes, for example, a processor that performs various calculations, a storage unit that has a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the EPS ECU 45 (all of which are not shown), and is implemented by one or more ECUs. For example, the EPS ECU 45 controls the EPS system 40 (for example, the EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, the rotation angle θm detected by the resolver 44, etc.

[0034] Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, the rotation angle θm detected by the resolver 44, etc. to the control device 30. Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering speed ω of the steering wheel 46 to the control device 30. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0035] The driving force control system 50 includes a driving ECU 51 and is configured to be able to control the driving force of the vehicle 1. The driving ECU 51 is a computer that controls the driving force control system 50 and is realized by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the driving ECU 51 (all of which are not shown). For example, the driving ECU 51 controls the power output from a driving source of the vehicle 1 based on operation of an accelerator pedal 52 provided on the vehicle 1. The driving ECU 51 can also control the driving force control system 50 (for example, the driving source) according to instructions from the control device 30.

[0036] The braking force control system 60 includes a braking ECU 61 and is configured to be able to control the braking force of the vehicle 1. The braking ECU 61 is a computer that controls the braking force control system 60 and includes, for example, a processor that performs various calculations, a storage unit having a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the braking ECU 61 (all of which are not shown), and is realized by one or more ECUs. For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling a brake device (not shown) provided in the vehicle 1 based on operation of a brake pedal 62 provided in the vehicle 1. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force corresponding to operation of the brake pedal 62 is generated. The braking ECU 61 can also control the braking force control system 60 (for example, the brake device) according to instructions from the control device 30.

[0037] The communication unit 70 is a communication interface that communicates with the external device 2 under the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include a driver's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. Note that communication between the vehicle 1 and the external device 2 can be performed using, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark).

[0038] The warning device 90 is a device that issues a warning to the driver under the control of the control device 30. The warning device 90 includes, for example, an MID (Multi-Information Display) 91 and a buzzer 92. The MID 91 is configured with a display device such as a liquid crystal display or an OLED, and is provided in a position visible to the driver (for example, in the meter panel of the vehicle 1). In this embodiment, the MID 91 can display a predetermined warning image in accordance with an instruction from the control device 30. The warning image can be, for example, an image indicating that the vehicle 1 may deviate from its own lane. Here, the own lane is the lane in which the vehicle 1 is traveling.

[0039] The buzzer 92 is configured to be able to output a predetermined alarm sound. In this embodiment, the buzzer 92 can output the predetermined alarm sound in accordance with an instruction from the control device 30. The buzzer 92 may be shared with the above-mentioned speaker 23. In other words, the "buzzer 92" in the following description may be read as the "speaker 23."

[0040] [Control device] Next, a more detailed description will be given of the control device 30. The control device 30 includes a first recognition unit 31, a second recognition unit 32, and an alarm control unit 33 as functional units realized by a processor executing a program stored in a storage unit of the control device 30, for example.

[0041] The first recognition unit 31 recognizes the surrounding situation of the vehicle 1. For example, the first recognition unit 31 performs sensor fusion processing on the detection results from some or all of the camera 111, the sonar 112, and the radar 113 included in the external sensor 11, and recognizes the surrounding situation of the vehicle 1 based on the processing results.

[0042] More specifically, the first recognition unit 31 recognizes the position, type, speed, acceleration, etc. of an object present around the vehicle 1. At this time, the first recognition unit 31 recognizes the position of the object as a position on an absolute coordinate system with a representative point of the vehicle 1 (for example, the center of gravity or the center of the drive shaft) as the origin. This makes it possible to recognize the relative position of the vehicle 1 and the objects present around it. Furthermore, on the above-mentioned absolute coordinate system, the position of the object may be represented using a representative point such as the center of gravity or a corner of the object, or may be represented as an area. Note that examples of objects that can be recognized by the first recognition unit 31 include traffic participants such as other vehicles and pedestrians, lane boundaries such as lane markings and curbs, and road signs such as speed signs and lane type signs.

[0043] The first recognition unit 31 can recognize, for example, the surrounding situation including obstacles present around the vehicle 1. Here, examples of obstacles include other traffic participants (e.g., other vehicles and pedestrians) present around the vehicle 1, objects fallen on the road, and the like.

[0044] The first recognition unit 31 can also recognize the surrounding conditions including the shape of the lane in which the vehicle 1 is traveling. For example, the first recognition unit 31 can recognize the shape of the lane based on lane boundaries recognized from surrounding images captured by the camera 111. Here, examples of lane boundaries include dividing lines that separate lanes, road shoulders, curbs, median strips, and guardrails.

[0045] Furthermore, the first recognition unit 31 can also recognize the position of the vehicle 1 relative to the own lane (for example, the distance from the vehicle 1 to the lane boundary of the own lane, and the time it takes for the vehicle 1 to reach the lane boundary of the own lane). The first recognition unit 31 may also recognize surrounding conditions including other road phenomena such as stop lines, traffic lights, road signs, and toll booths on toll roads.

[0046] The second recognition unit 32 recognizes the driving situation of the vehicle 1 by the driver. For example, the second recognition unit 32 recognizes the driving situation including the steering situation of the vehicle 1 and the direction of the driver's line of sight based on the detection results of some or all of the occupant camera 124 and the steering touch sensor 126 included in the vehicle sensor 12. Here, the steering situation includes, for example, one or both of the steering torque TQ applied to the steering wheel 46 and the gripping situation of the steering wheel 46.

[0047] The second recognition unit 32 can recognize the steering torque TQ, for example, based on the detection results of the torque sensor 42. Furthermore, the second recognition unit 32 can recognize the gripping state of the steering wheel 46 (in other words, whether the steering wheel 46 is being gripped appropriately or not) based on the detection results of some or all of the occupant camera 124 and the steering touch sensor 126, for example.

[0048] The second recognition unit 32 can recognize the direction of the driver's line of sight, for example, based on an in-vehicle image captured by the passenger camera 124. In this case, the second recognition unit 32 may recognize the direction of the driver's face as the direction of the driver's line of sight. That is, the "direction of the driver's line of sight" in the following description may be read as the "direction of the driver's face."

[0049] The warning control unit 33 issues a warning to the driver via the warning device 90 based on the surrounding conditions recognized by the first recognition unit 31 and the driving conditions recognized by the second recognition unit 32. For example, the warning control unit 33 issues a warning to the driver by causing the MID 91 included in the warning device 90 to display a predetermined warning image. Furthermore, instead of or in addition to the warning image on the MID 91, the warning control unit 33 may also issue a warning to the driver by causing the buzzer 92 included in the warning device 90 to output a predetermined warning sound.

[0050] More specifically, the warning control unit 33 issues a warning to the driver at a predetermined warning intensity when a predetermined execution condition (hereinafter also referred to as an "warning condition") is met based on the surrounding situation recognized by the first recognition unit 31. In the following, the warning control unit 33 determines whether or not there is a possibility that the vehicle 1 will deviate from its own lane based on the surrounding situation recognized by the first recognition unit 31 and the warning condition, and issues a warning to the driver when it determines that there is a possibility that the vehicle 1 will deviate from its own lane.

[0051] The warning condition is determined, for example, using the distance from the vehicle 1 to the lane boundary. In this case, when the distance from the vehicle 1 to the lane boundary of the vehicle's own lane recognized by the first recognition unit 31 becomes equal to or less than a predetermined value determined as the warning condition, the warning control unit 33 determines that the vehicle 1 is likely to deviate from the lane and issues a warning to the driver. As a result, when there is a possibility that the vehicle 1 will deviate from the lane, the warning can be issued to alert the driver, making it possible to prevent the vehicle 1 from deviating from the lane. Therefore, it is possible to prevent a decrease in safety due to the vehicle 1 deviating from the lane, and to improve the safety of the vehicle 1.

[0052] The warning condition may be determined using the time to line crossing (TTLC) until the vehicle 1 reaches the lane boundary. The smaller the TTLC value, the closer the vehicle 1 is to the lane boundary, i.e., the higher the possibility that the vehicle 1 will deviate from its own lane. Therefore, in this case, when the TTLC until the vehicle 1 reaches the lane boundary of its own lane recognized by the first recognition unit 31 is equal to or less than a predetermined value determined as the warning condition, the warning control unit 33 determines that there is a possibility that the vehicle 1 will deviate from its own lane and issues a warning to the driver.

[0053] Incidentally, the driver may intentionally move the vehicle 1 closer to the boundary of the lane in which the vehicle is traveling. For example, the driver may intentionally perform an "in-cut" operation, which involves moving the vehicle 1 closer to the inside of a curve in the lane in which the vehicle is traveling. If an alarm is issued when the driver intentionally moves the vehicle 1 closer to the boundary of the lane in which the vehicle is traveling, this may cause annoyance to the driver.

[0054] Therefore, when at least one of the steering condition of the vehicle 1 and the direction of the driver's line of sight satisfies a predetermined condition (hereinafter also referred to as "alarm suppression condition"), the alarm control unit 33 makes the execution condition of the alarm to the driver (i.e., the alarm condition) stricter and / or reduces the alarm intensity of the alarm to the driver compared to when the alarm suppression condition is not satisfied. In other words, when at least one of the steering condition of the vehicle 1 and the direction of the driver's line of sight satisfies the alarm suppression condition, the alarm control unit 33 executes at least one of the following processes (1), (2), and (3). (1) The conditions for issuing an alarm are made stricter than when the alarm suppression conditions are not met. (2) The intensity of the warning is reduced compared to when the warning suppression conditions are not met. (3) Compared with the case where the alarm suppression conditions are not satisfied, the alarm execution conditions are made stricter and the alarm intensity is reduced.

[0055] Although specific examples will be described later, the warning suppression conditions are set in advance by the manufacturer of the vehicle 1 or the like, taking into consideration factors that are more likely to be met when the driver is intentionally driving than when the driver is not intentionally driving. This makes it possible to prevent a warning with a strong warning intensity or the warning itself from being issued in response to intentional driving by the driver. On the other hand, when the driver is not intentionally driving, a warning with a strong warning intensity or the warning itself can be issued under less stringent warning conditions compared to when the driver is intentionally driving, making it possible to attract the driver's attention with such a warning. Therefore, it is possible to issue an appropriate warning while suppressing excessive warnings that may be annoying to the driver.

[0056] The control device 30 may further include a steering control unit 34 as a functional unit implemented, for example, by a processor executing a program stored in a storage unit of the control device 30. In this case, the steering control unit 34 is configured to be able to execute steering control that assists in steering the vehicle 1 so that the vehicle 1 does not deviate from its own lane, based on the surrounding conditions recognized by the first recognition unit 31. Hereinafter, as an example of steering control, control that assists in steering the vehicle 1 so that the vehicle 1 travels near the center of its own lane (hereinafter also referred to as "Lane Keep Assist System (LKAS)") may be executed. The steering control unit 34 executes the LKAS, for example, when an operation to turn on the LKAS is detected by the operation detection unit 125. Note that detailed control procedures for implementing the LKAS are publicly known, and therefore will not be described in detail here.

[0057] When the steering control unit 34 is executing the LKAS, the possibility of the vehicle 1 deviating from its own lane is reduced compared to when the LKAS is not being executed, even if a warning with a strong warning intensity or no warning at all is issued.

[0058] Therefore, when the LKAS is operating (in other words, when the LKAS is being executed by the steering control unit 34) and at least one of the steering condition for the vehicle 1 and the direction of the driver's line of sight satisfies the alarm suppression condition, the alarm control unit 33 tightens the alarm conditions (i.e., the alarm execution conditions) and / or reduces the alarm intensity compared to when the alarm suppression condition is not satisfied.

[0059] In this way, by configuring the system so that the warning conditions can be made stricter and / or the warning intensity can be reduced while the LKAS is operating, it is possible to prevent a warning with a strong warning intensity or the warning itself from being issued when the possibility of the vehicle 1 deviating from its own lane is low even if the warning conditions are made stricter and / or the warning intensity is reduced. Therefore, it is possible to prevent excessive warnings that may be annoying to the driver while preventing a decrease in safety due to the vehicle 1 deviating from its own lane.

[0060] Furthermore, if the vehicle 1 approaches the boundary of the lane in which the vehicle is traveling despite the LKAS being activated, there is a high possibility that this approach is due to the driver's intentional driving. Therefore, by tightening the warning conditions and / or reducing the warning intensity while the LKAS is activated as described above, it is possible to prevent a warning with a high warning intensity or even a warning at all from being issued in response to the driver's intentional driving. Therefore, it is possible to prevent excessive warnings that may be bothersome to the driver.

[0061] The warning suppression condition includes, for example, a condition that the driver's gaze is directed toward the center of the vehicle's lane or toward the inside of the curve from the center. In other words, if the driver's gaze is directed toward the center of the vehicle's lane or toward the inside of the curve from the center, there is a possibility that an in-vehicle cut is being intentionally performed. Therefore, by including in the warning suppression condition a condition that the driver's gaze is directed toward the center of the vehicle's lane or toward the inside of the curve from the center, it is possible to suppress excessive warnings that may be annoying to the driver when the driver intentionally performs an in-vehicle cut.

[0062] The warning suppression condition may also include a condition that the steering torque TQ is equal to or greater than a predetermined value. For example, when the vehicle 1 approaches a lane boundary while the LKAS is operating, the EPS system 40 applies torque to the steering wheel 46 to set the steering angle θst to steer the vehicle 1 toward the center of the lane. In such a case, the driver needs to apply a larger torque to the steering wheel 46 in order to maintain the steering angle θst to steer the vehicle 1 toward the lane boundary. In other words, when the vehicle 1 approaches the lane boundary while the LKAS is operating and the steering torque TQ is equal to or greater than a predetermined value, it is highly likely that the approach is due to intentional driving by the driver.

[0063] Therefore, by including in the warning suppression condition the condition that the steering torque TQ is equal to or greater than a predetermined value, it is possible to suppress issuance of a strong warning or even a warning at all in response to intentional driving by the driver. Therefore, it is possible to suppress issuance of an excessive warning that may be bothersome to the driver. Note that the predetermined value is set in advance by the manufacturer of the vehicle 1, for example, taking into consideration the torque that can be applied to the steering 46 by the EPS system 40 so that the vehicle 1 travels near the center of the lane while the LKAS is operating.

[0064] The warning suppression condition may also include a condition that the steering wheel 46 is being gripped. In other words, if the driver is gripping the steering wheel 46 appropriately, the driver can immediately steer the vehicle 1 to avoid deviation from the vehicle's lane when the vehicle 1 is about to deviate from the lane. Therefore, by including a condition that the steering wheel 46 is being gripped in the warning suppression condition, it is possible to suppress excessive warnings that may be bothersome to the driver when it is assumed that the driver can steer the vehicle 1 in a way that can avoid risk.

[0065] Furthermore, the warning control unit 33 may be configured to tighten the warning conditions and / or reduce the warning intensity when the state in which the warning suppression conditions are satisfied continues for a predetermined time (e.g., 3 seconds). In this way, it is possible to prevent the warning conditions from being tightened and / or the warning intensity from being reduced when the warning suppression conditions are accidentally satisfied for only a short time. This allows the driver to be warned appropriately, thereby improving the safety of the vehicle 1. Note that the predetermined time is set in advance, for example, by the manufacturer of the vehicle 1.

[0066] As one example, the warning control unit 33 may tighten the warning conditions and / or reduce the warning intensity when the driver's line of sight is directed toward the center of the lane or toward the inside of the curve from the center for a predetermined period of time. As another example, the warning control unit 33 may tighten the warning conditions and / or reduce the warning intensity when the steering torque TQ is equal to or greater than a predetermined value for a predetermined period of time. Furthermore, as another example, the warning control unit 33 may tighten the warning conditions and / or reduce the warning intensity when the steering wheel 46 is gripped appropriately for a predetermined period of time.

[0067] Furthermore, when the width of the own lane is less than a predetermined value, the vehicle 1 is more likely to approach the lane boundary of the own lane (i.e., the lane boundary that separates the own lane) than when the width is equal to or greater than the predetermined value. For this reason, if an alarm is issued under the same alarm conditions as when the lane width is equal to or greater than the predetermined value even when the lane width is less than the predetermined value, excessive alarms that may be bothersome to the driver are more likely to be issued.

[0068] Therefore, the warning control unit 33 may set stricter warning conditions and / or lower the warning intensity when the width of the lane in question is less than a predetermined value (for example, 3 m) compared to when the width is equal to or greater than the predetermined value. In this way, when the width of the lane in question is less than the predetermined value, warnings with a high warning intensity or warnings at all are prevented from being issued, thereby preventing excessive warnings that may be bothersome to the driver.

[0069] Furthermore, the warning control unit 33 may set the warning conditions to normal execution conditions and / or the warning intensity to normal warning intensity when an obstacle is recognized whose distance from the vehicle 1 is equal to or less than a threshold. This makes it possible to prevent a decrease in the safety of the vehicle 1 from occurring due to the warning conditions being set stricter and / or the warning intensity being reduced even when an obstacle is present around the vehicle 1.

[0070] More specifically, for example, suppose that the driver intentionally performs in-vehicle cut and the vehicle 1 travels close to the lane boundary on the inside of a curve in the vehicle's own lane. When such an intentional in-vehicle cut is performed, the vehicle 1 tightens the warning conditions and / or lowers the warning intensity, as described above. With the warning conditions tightened and / or the warning intensity lowered, the vehicle 1 approaches another vehicle traveling in another lane that is located on the inside of the curve relative to the vehicle's own lane. In such a case, the first recognition unit 31 recognizes the other vehicle as an obstacle whose distance from the vehicle 1 is equal to or less than a threshold. In such a case, the warning control unit 33 may set the warning conditions to normal execution conditions (for example, the lenient warning conditions among the settable warning conditions) or set the warning intensity to normal warning intensity (for example, the strongest warning intensity among the settable warning intensities).

[0071] Furthermore, there may be cases where the reliability of the surrounding conditions (for example, the relative position between the vehicle 1 and objects present in the vicinity) recognized by the first recognition unit 31 is insufficient due to some factors such as bad weather, poor road conditions, or a failure of the external sensor 11. In such an unstable control state, it is not desirable from the viewpoint of ensuring the safety of the vehicle 1 to make the warning conditions stricter or reduce the warning intensity.

[0072] Therefore, the warning control unit 33 may tighten the warning conditions and / or reduce the warning intensity when the reliability of the surrounding conditions recognized by the first recognition unit 31 is a predetermined value and the warning suppression condition is satisfied. In other words, when the reliability of the surrounding conditions recognized by the first recognition unit 31 is less than a predetermined value, the warning control unit 33 may not tighten the warning conditions or reduce the warning intensity even if the warning suppression condition is satisfied. This makes it possible to prevent the safety of the vehicle 1 from being reduced by tightening the warning conditions or reducing the warning intensity when the vehicle 1 is in an unstable state in terms of control. In this case, for example, the control device 30 or the like may include a processing unit that evaluates the reliability of the surrounding conditions recognized by the first recognition unit 31 according to preset conditions and passes the evaluation result to the warning control unit 33.

[0073] Also, as described above, from the viewpoint of ensuring the safety of the vehicle 1, the warning conditions may be tightened and / or the warning intensity may be reduced only when the first recognition unit 31 can properly recognize the relative position between the vehicle 1 and objects around it and the warning suppression conditions are met.

[0074] [Processing performed by the control device] Next, an example of the warning control process executed by the control device 30 will be described with reference to Figures 2 and 3. For example, when the ignition power of the vehicle 1 is on, the control device 30 repeatedly executes the series of processes shown in Figure 2 at a predetermined cycle. At that time, the control device 30 determines the warning conditions and warning intensity by, for example, appropriately referring to a warning control table Tb shown in Figure 3.

[0075] 2, the control device 30 first determines whether the LKAS is in operation (step S1). If it is determined that the LKAS is not in operation (step S1: NO), the control device 30 executes normal warning control (step S7) and ends the series of processes shown in FIG.

[0076] In the normal warning control of step S7, the control device 30 issues a warning to the driver at a relatively strong warning intensity when the distance to the boundary of the own lane becomes L0 (for example, 0.5 [m]) or less, as shown in Fig. 3. An example of a warning under normal warning control (in other words, a warning with a strong warning intensity) can be one in which both a warning image is displayed on the MID 91 and a warning sound is output from the buzzer 92.

[0077] In this way, when the LKAS is not in operation, the control device 30 can suppress a decrease in the safety of the vehicle 1 by performing normal warning control, which can issue a warning with a strong warning intensity under the most lenient warning conditions.

[0078] On the other hand, if it is determined that the LKAS is operating (step S1: YES), the control device 30 determines whether the vehicle 1 is in an unstable state in terms of control (step S2). For example, the control device 30 determines that the vehicle 1 is in an unstable state in terms of control when the reliability of the surrounding situation recognized by the first recognition unit 31 is less than a predetermined value or when the first recognition unit 31 is unable to properly recognize the relative position between the vehicle 1 and an object in its vicinity.

[0079] If it is determined that the vehicle 1 is in an unstable state in terms of control (step S2: NO), the control device 30 executes normal warning control in step S7 and ends the series of processes shown in Fig. 2. In this way, when the vehicle 1 is in an unstable state in terms of control, the control device 30 executes normal warning control that can issue a warning with a strong warning intensity under the most lenient warning conditions, thereby preventing a decrease in the safety of the vehicle 1 due to warnings being suppressed even though the vehicle 1 is in an unstable state in terms of control.

[0080] On the other hand, if it is determined that the vehicle 1 is not in an unstable state in terms of control (step S2: YES), the control device 30 determines whether or not there is an obstacle around the vehicle 1 (step S3). For example, if an obstacle is recognized whose distance from the vehicle 1 is equal to or less than a threshold, the control device 30 determines that there is an obstacle around the vehicle 1.

[0081] When it is determined that there is an obstacle around the vehicle 1 (step S3: NO), the control device 30 executes normal warning control in step S7 and ends the series of processes shown in FIG. 2. Thus, when there is an obstacle around the vehicle 1, the control device 30 can suppress a decrease in the safety of the vehicle 1 due to the warning being suppressed despite the presence of an obstacle around the vehicle 1 by executing normal warning control.

[0082] On the other hand, when it is determined that there is no obstacle around the vehicle 1 (step S3: YES), the control device 30 determines whether the driver's line of sight is directed toward the center of the own lane or inside the curve from the center (step S4). And when it is determined that the driver's line of sight is not directed toward the center of the own lane nor inside the curve (step S4: NO), the control device 30 executes first warning suppression control (step S8) and ends the series of processes shown in FIG. 2.

[0083] In the first warning suppression control in step S8, for example, as shown in FIG. 3, when the distance to the road boundary of the own lane becomes L1 (where L1 < L0. For example, L1 = 0.3 [m]) or less, the control device 30 gives a warning to the driver with a relatively strong warning intensity. The warning by the first warning suppression control can also have a strong warning intensity similar to the warning by the normal warning control, and more specifically, both the display of a warning image on MID91 and the output of a warning sound from the buzzer 92 can be performed. That is, in the first warning suppression control, it is determined whether to give a warning using warning conditions stricter than those of the normal warning control, and when it is determined to give a warning, a warning with a strong warning intensity is given.

[0084] Thus, when the driver's line of sight is not directed toward the center of the own lane nor inside the curve (for example, when the driver unintentionally makes an incut), the control device 30 can suppress making the warning conditions overly strict or reducing the warning intensity too much compared to the case where second warning suppression control or third warning suppression control described later is executed by executing the first warning suppression control.

[0085] Furthermore, if it is determined that the driver's line of sight is directed toward the center of the lane or toward the inside of the curve from the center (step S4: YES), the control device 30 determines whether the steering wheel 46 is being properly gripped and whether the steering torque TQ is greater than or equal to a predetermined value (step S5).

[0086] If it is determined that the steering wheel 46 is not gripped or the steering torque TQ is less than the predetermined value (step S5: NO), the control device 30 executes second warning suppression control (step S9).

[0087] In the second alarm suppression control of step S9, the control device 30 issues an alarm to the driver at a relatively weak alarm intensity when the distance to the lane boundary of the own lane is equal to or less than L1, for example, as shown in Fig. 3. An example of an alarm issued by the second alarm suppression control (in other words, an alarm with a weak alarm intensity) can be one in which only one of displaying a warning image on the MID 91 or outputting an alarm sound from the buzzer 92 (for example, only displaying a warning image on the MID 91) is issued. That is, in the second alarm suppression control, as in the first alarm suppression control, it is determined whether or not to issue an alarm using alarm conditions stricter than those in the normal alarm control, and if it is determined that an alarm should be issued, an alarm with a weak alarm intensity is issued.

[0088] On the other hand, if it is determined that the steering wheel 46 is being properly gripped and the steering torque TQ is equal to or greater than a predetermined value (step S5: YES), the control device 30 determines whether the width of the vehicle's lane is less than a predetermined value (step S6).

[0089] When it is determined that the width of the own lane is greater than or equal to a predetermined value (step S6: NO), the control device 30 executes third warning suppression control (step S10) and ends the series of processes shown in FIG. 2. In the third warning suppression control of step S10, for example, as shown in FIG. 3, when the distance to the road boundary of the own lane becomes L2 (where L2 < L1; for example, L2 = 0.2 [m]) or less, the driver is warned with a relatively weak warning intensity. The warning by the third warning suppression control can also have a weak warning intensity similar to the warning by the second warning suppression control, for example, and more specifically, it can be such that only one of the display of the warning image on MID91 and the output of the warning sound from the buzzer 92 is performed. That is, in the third warning suppression control, it is determined whether to issue a warning using warning conditions that are more severe than the first warning suppression control and the second warning suppression control, and when it is determined to issue a warning, a warning with a weak warning intensity is issued.

[0090] On the other hand, when it is determined that the width of the own lane is less than the predetermined value (step S6: YES), the control device 30 executes fourth warning suppression control (step S11) and ends the series of processes shown in FIG. 2. In the fourth warning suppression control of step S11, for example, as shown in FIG. 3, regardless of the distance to the road boundary of the own lane, the driver is not warned.

[0091] As described above, according to the control device 30, it is possible to appropriately warn the driver while suppressing excessive warnings that may trouble the driver.

[0092] As described above, an embodiment of the present invention has been described with reference to the drawings. Needless to say, the present invention is not limited to the above-described embodiment. It is obvious that those skilled in the art can conceive of various modification examples or correction examples within the scope described in the claims, and it is naturally understood that they also belong to the technical scope of the present invention.

[0093] For example, the control device 30 may store information indicating the curvature, vehicle speed VP, width, and amount of deviation of a curve when the vehicle 1 deviates from its own lane, and may use this stored information to determine whether to issue a warning. As an example, the control device 30 may predict the amount of deviation from its own lane this time based on the curvature, vehicle speed VP, width, and amount of deviation of a curve when the vehicle 1 deviated from its own lane in the past, and the curvature, vehicle speed VP, and width of the current curve. The control device 30 may then determine whether the distance between the vehicle 1 and a line extending outward from the lane boundary of the current lane by the predicted amount of deviation is equal to or less than a predetermined value defined as a warning condition, and issue a warning based on the result of this determination.

[0094] In the embodiment described above, the control device 30 determines whether the vehicle 1 is in an unstable state in terms of control (step S2), and if it determines that the vehicle 1 is not in an unstable state in terms of control (step S2: YES), it is configured to execute various types of alarm suppression control, such as the first alarm suppression control, the second alarm suppression control, and the third alarm suppression control. However, this is not limiting. For example, the control device 30 may be configured to execute various types of alarm suppression control without executing the processing of step S2.

[0095] This specification describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiments, but the present invention is not limited to these.

[0096] (1) A vehicle control device (control device 30) for controlling a vehicle (vehicle 1), a first recognition unit (first recognition unit 31) that recognizes the surrounding situation of the vehicle; a second recognition unit (second recognition unit 32) that recognizes a driving situation of the vehicle by a driver; an alarm control unit (alarm control unit 33) that issues an alarm to the driver via a predetermined alarm device (alarm device 90) based on the surrounding situation recognized by the first recognition unit and the driving situation recognized by the second recognition unit; Equipped with The second recognition unit recognizes the driving situation including a steering situation of the vehicle and a direction of the driver's line of sight, The alarm control unit When a predetermined execution condition is established based on the surrounding situation, the warning can be issued at a predetermined warning intensity, When at least one of the steering situation and the line of sight direction satisfies a predetermined condition, the execution condition is made stricter and / or the warning intensity is reduced compared to when the predetermined condition is not satisfied. Vehicle control device.

[0097] According to (1), when at least one of the vehicle steering situation and the driver's line of sight meets a predetermined condition, the conditions for issuing a warning based on the vehicle's surroundings can be tightened and / or the warning intensity can be reduced. This makes it possible to appropriately warn the driver while suppressing excessive warnings that may be annoying to the driver, thereby improving vehicle safety. This in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0098] (2) The vehicle control device according to (1), the first recognition unit recognizes the surrounding situation including the shape of a lane in which the vehicle is traveling, The vehicle control device includes: a steering control unit (steering control unit 34) that performs steering control to assist steering of the vehicle so that the vehicle does not deviate from the own lane based on the surrounding conditions, The warning control unit tightens the execution condition and / or reduces the warning intensity when the predetermined condition is satisfied during operation of the steering control. Vehicle control device.

[0099] According to (2), when steering control is activated to assist in steering the vehicle so that the vehicle does not deviate from its own lane, the warning execution conditions can be made stricter and / or the warning intensity can be reduced. This makes it possible to make the warning execution conditions stricter and / or reduce the warning intensity when the vehicle safety is unlikely to decrease even if the warning execution conditions are made stricter and / or the warning intensity is reduced. Therefore, it is possible to suppress excessive warnings that may be bothersome to the driver while suppressing a decrease in vehicle safety.

[0100] (3) The vehicle control device according to (2), The predetermined condition includes a condition that the line of sight is directed toward the center of the own lane or toward the inside of the curve from the center. Vehicle control device.

[0101] When the driver's gaze is directed toward the center of the lane in which the vehicle is traveling or toward the inside of the curve from the center, there is a possibility that the driver is intentionally cutting in. According to (3), when such an intentional cutting in is performed, excessive warnings that may be annoying to the driver can be suppressed.

[0102] (4) The vehicle control device according to (2), The second recognition unit recognizes the steering situation including a steering torque (steering torque TQ) generated in a steering (steering 46) of the vehicle, The predetermined condition includes a condition that the steering torque is equal to or greater than a predetermined value. Vehicle control device.

[0103] When the steering torque is equal to or greater than a predetermined value, there is a possibility that the driver is intentionally performing inward-shift cut. According to (4), when such an intentional inward-shift cut is performed, excessive warnings that may be bothersome to the driver can be suppressed.

[0104] (5) The vehicle control device according to (2), The second recognition unit recognizes the steering situation including a gripping situation of a steering wheel (steering wheel 46) of the vehicle, The predetermined condition includes a condition that the steering wheel is being gripped. Vehicle control device.

[0105] If the driver holds the steering wheel properly, the driver can immediately steer the vehicle to avoid deviation from the current lane when the vehicle is about to deviate from the current lane. According to (5), when it is assumed that the driver can steer the vehicle to avoid the risk, excessive warnings that may be bothersome to the driver can be suppressed.

[0106] (6) A vehicle control device according to any one of (1) to (5), the warning control unit tightens the execution condition and / or reduces the warning intensity when the state in which the predetermined condition is satisfied continues for a predetermined time. Vehicle control device.

[0107] According to (6), when a predetermined condition is accidentally satisfied, it is possible to prevent the warning conditions from being made stricter and / or the warning intensity from being reduced, thereby enabling the driver to be warned appropriately and improving vehicle safety.

[0108] (7) A vehicle control device according to any one of (2) to (5), The warning control unit further makes the execution condition stricter and / or reduces the warning intensity when the width of the lane on which the vehicle is traveling is less than a predetermined value, compared to when the width is equal to or greater than the predetermined value. Vehicle control device.

[0109] When the width of the lane on which the vehicle is traveling is less than a predetermined value, the vehicle is more likely to approach the lane boundary that separates the lane than when the width is equal to or greater than the predetermined value. Therefore, if an alarm is issued under the same execution conditions as when the lane width is equal to or greater than the predetermined value even when the lane width is less than the predetermined value, excessive alarms that may be bothersome to the driver are more likely to be issued. According to (7), when the width of the lane on which the vehicle is traveling is less than the predetermined value, excessive alarms that may be bothersome to the driver can be suppressed by tightening the execution conditions for the alarm and / or reducing the intensity of the alarm.

[0110] (8) A vehicle control device according to any one of (1) to (7), the warning control unit tightens the execution condition and / or reduces the warning intensity when the reliability of the surrounding situation recognized by the first recognition unit is a predetermined value and the predetermined condition is satisfied. Vehicle control device.

[0111] It is also possible that the reliability of the surrounding conditions recognized by the first recognition unit is insufficient due to some factor. In such an unstable control state, it is undesirable from the viewpoint of ensuring vehicle safety to tighten the warning execution conditions or reduce the warning intensity. According to (8), it is possible to prevent the safety of the vehicle from being reduced by tightening the warning execution conditions or reducing the warning intensity when the vehicle is in an unstable control state.

[0112] (9) A vehicle control device according to any one of (1) to (8), the first recognition unit recognizes the surrounding situation including obstacles present around the vehicle, the warning control unit sets the execution condition to a normal execution condition and / or the warning intensity to a normal warning intensity when the obstacle is recognized and the distance from the vehicle is equal to or less than a threshold. Vehicle control device.

[0113] According to (9), when an obstacle is present around the vehicle, the alarm execution conditions and / or the alarm intensity are set to normal, thereby preventing a decrease in vehicle safety that would occur if the alarm execution conditions were set to be stricter and / or the alarm intensity were reduced despite the presence of an obstacle around the vehicle. [Explanation of symbols]

[0114] 1 vehicle 30 Control device (vehicle control device) 31 1st recognition part 32 Second recognition part 33 Alarm control section 34 Steering control unit 46 Steering 90 Alarm device

Claims

1. A vehicle control device that controls a vehicle, a first recognition unit that recognizes a surrounding situation of the vehicle; a second recognition unit that recognizes a driving situation of the vehicle by a driver; an alarm control unit that issues an alarm to the driver via a predetermined alarm device based on the surrounding conditions of the vehicle recognized by the first recognition unit and the driving conditions of the vehicle by the driver recognized by the second recognition unit; Equipped with The second recognition unit recognizes the driving situation including a steering situation of the vehicle and a line of sight direction of the driver, The alarm control unit When a predetermined execution condition is established based on the surrounding situation, the warning is issued at a predetermined warning intensity; When at least one of the steering situation and the line of sight direction satisfies a predetermined condition, instead of issuing the warning at the predetermined warning intensity, the warning is issued with the execution condition made stricter and / or the warning intensity reduced compared to when the predetermined condition is not satisfied. Vehicle control device.

2. The vehicle control device according to claim 1, the first recognition unit recognizes the surrounding situation including the shape of a lane in which the vehicle is traveling, The vehicle control device includes: a steering control unit that performs steering control to assist steering of the vehicle so that the vehicle does not deviate from the own lane based on the surrounding conditions, The alarm control unit issuing the warning when it is determined that there is a possibility that the vehicle will deviate from the own lane based on the surrounding circumstances and the execution conditions; When the predetermined condition is satisfied during the operation of the steering control, the execution condition is made stricter and / or the warning intensity is reduced. Vehicle control device.

3. The vehicle control device according to claim 2, The predetermined condition includes a condition that the line of sight is directed toward the center of the own lane or toward the inside of the curve from the center. Vehicle control device.

4. The vehicle control device according to claim 2, the second recognition unit recognizes the steering situation including a steering torque generated in a steering of the vehicle, The predetermined condition includes a condition that the steering torque is equal to or greater than a predetermined value. Vehicle control device.

5. The vehicle control device according to claim 2, the second recognition unit recognizes the steering situation including a gripping situation of a steering wheel of the vehicle, The predetermined condition includes a condition that the steering wheel is being gripped. Vehicle control device.

6. 3. The vehicle control device according to claim 1 or 2, the warning control unit tightens the execution condition and / or reduces the warning intensity when the state in which the predetermined condition is satisfied continues for a predetermined time. Vehicle control device.

7. The vehicle control device according to claim 2, The warning control unit further makes the execution condition stricter and / or reduces the warning intensity when the width of the lane on which the vehicle is traveling is less than a predetermined value, compared to when the width is equal to or greater than the predetermined value. Vehicle control device.

8. 3. The vehicle control device according to claim 1 or 2, the warning control unit tightens the execution condition and / or reduces the warning intensity when the reliability of the surrounding situation recognized by the first recognition unit is less than a predetermined value and the predetermined condition is satisfied. Vehicle control device.

9. 3. The vehicle control device according to claim 1 or 2, the first recognition unit recognizes the surrounding situation including obstacles present around the vehicle, the warning control unit sets the execution condition to a normal execution condition and / or the warning intensity to a normal warning intensity when the obstacle is recognized and the distance from the vehicle is equal to or less than a threshold. Vehicle control device.

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