Vehicle control device and vehicle control method

Abstract

To provide a vehicle control device and a vehicle control method, which control a traveling behavior of a self vehicle, thereby making it easier for another vehicle to change a lane behind the self vehicle when another vehicle is predicted to make a lane change behind the self vehicle.SOLUTION: A vehicle control device acquires a peripheral condition of the self vehicle and a traveling condition of the self vehicle, predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the self vehicle lane in which the self vehicle is traveling after a lane change to the self vehicle lane, based on the peripheral condition and the traveling condition, and increases a speed of the self vehicle when the relative position of another vehicle after the lane change is present behind the self vehicle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] The technology of Patent Document 1, when a vehicle is following behind a leading vehicle and it is predicted that another vehicle traveling in an adjacent lane to the vehicle will cut in between the leading vehicle and the vehicle, performs a first action of shortening the distance between the leading vehicle and the vehicle to make it more difficult for the other vehicle to cut in; if the other vehicle is still trying to cut in between the leading vehicle and the vehicle even after a predetermined time has passed, the technology increases the distance between the leading vehicle and the vehicle to allow the other vehicle to cut in.

[0003] The technology of Patent Document 2 estimates the possibility that another vehicle traveling in a position in an adjacent lane corresponding to the position between the preceding vehicle and the subject vehicle will change lanes between the preceding vehicle and the subject vehicle, and as the possibility increases, the subject vehicle's speed is made to approach that of the other vehicle, and as the possibility decreases, the subject vehicle's speed is made to approach that of the preceding vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-014175 [Patent Document 2] Patent No. 6811303 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology of Patent Document 1, when another vehicle cuts in between the preceding vehicle and the subject vehicle, performs a first action of closing the inter-vehicle distance to make it difficult for the other vehicle to cut in, and then performs a second action of widening the inter-vehicle distance to make it easier for the other vehicle to cut in. This causes a large fluctuation in the inter-vehicle distance, which makes the occupants of the subject vehicle feel uncomfortable. Furthermore, because the inter-vehicle distance is closed to make it difficult for the other vehicle to cut in, the other vehicle is prevented from changing lanes, preventing a smooth lane change. Furthermore, the technology only considers the case where the other vehicle changes lanes between the preceding vehicle and the subject vehicle, and does not consider the case where the other vehicle changes lanes behind the subject vehicle.

[0006] Furthermore, the technology of Patent Document 2 only considers the case where another vehicle changes lanes between the leading vehicle and the own vehicle, and does not consider the case where another vehicle changes lanes behind the own vehicle.

[0007] Therefore, the present application aims to provide a vehicle control device and a vehicle control method that, when it is predicted that another vehicle will change lanes behind the own vehicle, makes it easier for the other vehicle to change lanes behind the own vehicle by controlling the driving behavior of the own vehicle. [Means for solving the problem]

[0008] The vehicle control device according to the present application comprises: an information acquisition unit that acquires a surrounding state of the host vehicle and a traveling state of the host vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle; Equipped with 、 The vehicle control unit increases the speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, and the other vehicle is located in the adjacent lane ahead of or to the side of the host vehicle, or when the speed of the other vehicle is greater than the speed of the host vehicle.

[0009] The vehicle control method according to the present application comprises: an information acquisition step of acquiring a surrounding state of the host vehicle and a traveling state of the host vehicle; a lane change prediction step of predicting a relative position of another vehicle traveling in an adjacent lane adjacent to the own lane in which the own vehicle is traveling after the other vehicle changes lanes into the own lane based on the surrounding conditions and the traveling conditions; a vehicle control step of increasing a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle; Equipped with 、 In the vehicle control step, if the relative position of the other vehicle after the lane change is behind the own vehicle, and the other vehicle is located in the adjacent lane ahead of or to the side of the own vehicle, or if the speed of the other vehicle is greater than the speed of the own vehicle, the speed of the own vehicle is increased. [Effects of the Invention]

[0010] According to the vehicle control device and vehicle control method of the present application, the relative position of another vehicle traveling in an adjacent lane after changing lanes with respect to the host vehicle is predicted based on the surrounding conditions of the host vehicle and the traveling conditions of the host vehicle, and if the relative position of the other vehicle after changing lanes is behind the host vehicle, the speed of the host vehicle is increased. Therefore, by increasing the speed of the host vehicle, it becomes easier for the other vehicle to change lanes behind the host vehicle, making it possible to smooth lane changes and improving traveling safety. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic block diagram of a vehicle control device according to a first embodiment. [Figure 2] 1 is a schematic hardware configuration diagram of a vehicle control device according to a first embodiment. [Figure 3] 1 is a schematic hardware configuration diagram of a vehicle control device according to a first embodiment. [Figure 4] FIG. 2 is a diagram for explaining a host vehicle coordinate system according to the first embodiment. [Figure 5] 2 is a schematic diagram for explaining prediction of a lane change of an adjacent vehicle according to the first embodiment. FIG. [Figure 6] 2 is a schematic diagram for explaining prediction of a lane change of an adjacent vehicle according to the first embodiment. FIG. [Figure 7] FIG. 2 is a diagram for explaining prediction of a lane change using a boundary line according to the first embodiment. [Figure 8]2 is a schematic diagram for explaining prediction of a lane change of an adjacent vehicle according to the first embodiment. FIG. [Figure 9] 2 is a schematic diagram for explaining prediction of a lane change of an adjacent vehicle according to the first embodiment. FIG. [Figure 10] 2 is a schematic diagram for explaining prediction of a lane change of an adjacent vehicle according to the first embodiment. FIG. [Figure 11] FIG. 2 is a schematic diagram for explaining the behavior of a lane change caused by an increase in speed according to the first embodiment. [Figure 12] FIG. 2 is a schematic diagram for explaining the behavior of a lane change caused by an increase in speed according to the first embodiment. [Figure 13] FIG. 4 is a diagram for explaining how a speed increase amount is set according to a relative position according to the first embodiment. [Figure 14] FIG. 4 is a diagram for explaining setting of a speed increase amount according to a relative speed according to the first embodiment. [Figure 15] FIG. 4 is a diagram for explaining how a speed increase amount is set according to a relative position according to the first embodiment. [Figure 16] FIG. 4 is a diagram for explaining setting of a speed increase amount according to a relative speed according to the first embodiment. [Figure 17] FIG. 4 is a diagram for explaining setting of a speed increase amount according to a time to collision according to the first embodiment. [Figure 18] FIG. 4 is a diagram for explaining setting of a speed increase amount according to a time to collision according to the first embodiment. [Figure 19] FIG. 10 is a diagram for explaining setting of a correction coefficient according to a probability or a priority according to the first embodiment. [Figure 20] FIG. 10 is a schematic diagram for explaining a case where speed increase is not performed according to the first embodiment. [Figure 21] FIG. 4 is a schematic diagram for explaining a case where a relative position changes after a lane change according to the first embodiment. [Figure 22] 3 is a flowchart illustrating a schematic process of the vehicle control device according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] 1. First Embodiment A vehicle control device 1 according to the first embodiment will be described with reference to the drawings. In this embodiment, the vehicle control device 1 is provided in the subject vehicle.

[0013] As shown in FIG. 1, the vehicle is equipped with a surroundings monitoring device 31, a position detection device 32, a vehicle state detection device 33, a map information database 34, a wireless communication device 35, a vehicle control device 1, a drive control device 36, a power machine 8, an electric steering device 7, and an electric braking device 9, etc.

[0014] The periphery monitoring device 31 is a device such as a camera or radar that monitors the periphery of the vehicle. The radar may be a millimeter wave radar, a laser radar, an ultrasonic radar, etc. The wireless communication device 35 performs wireless communication with a base station using a cellular wireless communication standard such as 4G or 5G.

[0015] The position detection device 32 is a device that detects the current position (latitude, longitude, altitude) of the vehicle, and uses a GPS antenna or the like that receives signals output from artificial satellites such as the Global Navigation Satellite System (GNSS). Note that various methods may be used to detect the current position of the vehicle, such as a method using the lane number of the vehicle, a map matching method, a dead reckoning method, or a method using detected information around the vehicle.

[0016] The map information database 34 stores road information such as road shapes (for example, the number of lanes, the position of each lane, the shape of each lane, the type of each lane, the road type, speed limits, etc.), signs, traffic lights, etc. The map information database 34 is mainly composed of a storage device. The map information database 34 may be provided in a server outside the vehicle connected to a network, and the vehicle control device 1 may obtain necessary road information from the server outside the vehicle via the wireless communication device 35.

[0017] The drive control device 36 includes a power control device, a brake control device, an automatic steering control device, a light control device, etc. The power control device controls the output of a power machine 8 such as an internal combustion engine or a motor. The brake control device controls the braking operation of an electric brake device 9. The automatic steering control device controls the electric steering device 7. The light control device controls turn signals, hazard lights, etc.

[0018] The vehicle state detection device 33 is a detection device that detects the state of the host vehicle, which is the driving state and running state of the host vehicle. In this embodiment, the vehicle state detection device 33 detects the speed, acceleration, yaw rate, steering angle, lateral acceleration, etc. of the host vehicle as the running state of the host vehicle. For example, the vehicle state detection device 33 may be provided with a speed sensor, an acceleration sensor, an angular velocity sensor, a steering angle sensor, etc. that detect the rotational speed of the wheels.

[0019] The driving state of the vehicle is detected by detecting acceleration / deceleration operations, steering angle operations, and lane change operations by the driver. For example, the vehicle state detection device 33 is provided with an accelerator position sensor, a brake position sensor, a steering angle sensor (handle angle sensor), a steering torque sensor, a turn signal position switch, and the like.

[0020] 1-1. Vehicle control device 1 The vehicle control device 1 includes functional units such as an information acquisition unit 51, a lane change prediction unit 52, and a vehicle control unit 53. Each function of the vehicle control device 1 is realized by a processing circuit included in the vehicle control device 1. Specifically, as shown in Fig. 2, the vehicle control device 1 includes an arithmetic processing device 90 such as a CPU (Central Processing Unit), a storage device 91, an input / output device 92 that inputs and outputs external signals to the arithmetic processing device 90, and the like.

[0021] The arithmetic processing device 90 may be an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), an AI (Artificial Intelligence) chip, various logic circuits, various signal processing circuits, etc. Furthermore, the arithmetic processing device 90 may be a plurality of the same or different types, and each process may be shared and executed. The storage device 91 may be a variety of storage devices, such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a hard disk, etc.

[0022] The input / output device 92 is equipped with a communication device, an A / D converter, an input / output port, a drive circuit, etc. The input / output device 92 is connected to the surroundings monitoring device 31, the position detection device 32, the vehicle state detection device 33, the map information database 34, the wireless communication device 35, the drive control device 36, etc., and communicates with these devices.

[0023] The functions of the functional units 51 to 53 of the vehicle control device 1 are realized by the arithmetic processing device 90 executing software (programs) stored in the storage device 91 and cooperating with other hardware of the vehicle control device 1, such as the storage device 91 and the input / output device 92. Setting data such as the speed increase amount used by the functional units 51 to 53 is stored in the storage device 91, such as an EEPROM.

[0024] Alternatively, the vehicle control device 1 may be provided with dedicated hardware 93 as a processing circuit, such as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, a GPU, an AI chip, or a circuit that combines these, as shown in Fig. 3. Each function of the vehicle control device 1 will be described in detail below.

[0025] 1-1-1. Information acquisition section 51 The information acquisition unit 51 acquires the surrounding conditions of the host vehicle and the traveling conditions of the host vehicle. In this embodiment, the information acquisition unit 51 acquires, as the traveling conditions of the host vehicle, the position, moving direction, speed, acceleration, and whether or not the host vehicle has changed lanes, based on the position information of the host vehicle acquired from the position detection device 32 and the host vehicle condition acquired from the vehicle condition detection device 33.

[0026] As the surrounding conditions of the host vehicle, the information acquisition unit 51 acquires the traveling conditions of other vehicles present around the host vehicle. In this embodiment, the information acquisition unit 51 acquires the position, moving direction, speed, acceleration, and whether or not the other vehicles have changed lanes, etc., based on the detection information acquired from the surroundings monitoring device 31 and the position information of the host vehicle acquired from the position detection device 32. In addition to other vehicles, the information acquisition unit 51 also acquires information on obstacles, pedestrians, signs, traffic regulations such as lane restrictions, etc.

[0027] The information acquisition unit 51 can acquire the driving state of other vehicles and lane information of other vehicles through communication from outside the vehicle. For example, the information acquisition unit 51 may acquire the driving state of other vehicles (the position, moving direction, speed, whether or not the other vehicle has changed lanes, and the target driving trajectory of the other vehicle, etc.) from other vehicles through wireless communication or the like. Furthermore, the information acquisition unit 51 may acquire the driving state of other vehicles present in a monitoring area (the position, moving direction, speed, acceleration, and turn signal operation status of the other vehicle, etc.), information on obstacles and pedestrians, road shape, traffic regulations, traffic conditions, etc., from roadside devices such as cameras that monitor road conditions, etc., through wireless communication or the like.

[0028] In this embodiment, the information acquisition unit 51 acquires the relative positions and relative speeds of other vehicles, etc., with respect to the host vehicle in a coordinate system of the host vehicle based on the current position of the host vehicle. As shown in FIG. 4, the coordinate system of the host vehicle is a coordinate system having axes in the longitudinal direction X of the current host vehicle and in the lateral direction Y of the host vehicle. Note that the information acquisition unit 51 may also acquire the relative positions and relative speeds of other vehicles in a coordinate system in the longitudinal and lateral directions of the host vehicle's lane in which the host vehicle is traveling. The information acquisition unit 51 may also acquire the absolute position (latitude, longitude), absolute movement direction (orientation), absolute speed, absolute acceleration, etc. of each vehicle.

[0029] As the surrounding conditions of the vehicle, the information acquisition unit 51 acquires road information around the vehicle from the map information database 34 based on the position information of the vehicle acquired from the position detection device 32. The acquired road information includes information such as the number of lanes, the position of each lane, the shape of each lane, the type of each lane, the road type, and the speed limit.

[0030] In addition, the information acquisition unit 51 detects the shape and type of road dividing lines, etc. based on the detection information of white lines, road shoulders, etc. acquired from the perimeter monitoring device 31, and determines the shape and position of each lane, the number of lanes, the type of each lane, etc. based on the detected shape and type of road dividing lines, etc.

[0031] The information acquisition unit 51 acquires lane information corresponding to the lane in which the host vehicle is traveling, based on the position of the host vehicle. The information acquisition unit 51 also acquires lane information corresponding to the lane in which each other vehicle is traveling, based on the position of each other vehicle. The acquired lane information includes the shape, position, and type of the lane, as well as lane information for surrounding lanes.

[0032] 1-1-2. Lane change prediction unit 52 As shown in FIG. 5, the lane change prediction unit 52 predicts the relative position of another vehicle (hereinafter also referred to as an adjacent vehicle) traveling in an adjacent lane adjacent to the lane in which the host vehicle is traveling, after the host vehicle changes lanes into the host vehicle's lane, based on the surrounding conditions of the host vehicle and the traveling state of the host vehicle.

[0033] The lane change prediction unit 52 determines other vehicles (adjacent vehicles) traveling in adjacent lanes based on the position information of each other vehicle and road information (shape and position of each lane, etc.) Then, based on the traveling state of the adjacent vehicle to be predicted, the traveling state of each vehicle present around the adjacent vehicle to be predicted, and road information, etc., the lane change prediction unit 52 predicts whether the adjacent vehicle to be predicted will change lanes into the own lane, and if it will change lanes, the relative position of the adjacent vehicle to the own lane after changing lanes.

[0034] For example, the lane change prediction unit 52 uses the driving states (position, moving direction, speed, acceleration, operation state of turn signal, etc.) of the adjacent vehicle to be predicted, vehicles other than the adjacent vehicle to be predicted in the adjacent lane, the host vehicle, a vehicle preceding the host vehicle, and a vehicle following the host vehicle, etc. It is only necessary to be able to predict the relative position of the host vehicle after changing lanes, and various known methods can be used.

[0035] As shown in FIG. 6, the lane change prediction unit 52 may predict a plurality of post-lane change relative positions and the priorities or probabilities of each of the plurality of post-lane change relative positions for the adjacent vehicle to be predicted.

[0036] For example, the following method is used. (First method) As shown in Figure 7, a boundary line is set in a two-dimensional coordinate system having axes of the relative position and relative speed of the adjacent vehicle relative to the host vehicle, and based on the relationship of the current relative position and relative speed of the adjacent vehicle relative to the boundary line, it is predicted whether the relative position of the adjacent vehicle after changing lanes into the host vehicle will be in front of or behind the host vehicle.

[0037] (Second method) A machine learning model such as SVM (Support Vector Machine) or decision tree is used to predict whether the relative position of an adjacent vehicle after changing lanes relative to the vehicle will be in front of or behind the vehicle. For prediction using SVM, for example, the technology disclosed in "Sugimoto et al., 'Estimation of Cut-in Locations for Other Vehicles in Traffic Environments Where Lane Changes Are Necessary, Considering Inter-Vehicle Interactions,'" Proceedings of the 2019 Spring Meeting of the Society of Automotive Engineers of Japan, May 2019, may be used. Furthermore, for example, the technology disclosed in International Publication No. 2019 / 104112 may be used as a method using machine learning.

[0038] (Third method) Using a collision safety assessment such as a risk potential, the lane change trajectory of an adjacent vehicle is predicted, and by comparing it with the future trajectory of the subject vehicle, it is predicted whether the relative position after the lane change will be in front of or behind the subject vehicle. As a method using the risk potential, for example, the technology disclosed in Japanese Patent No. 7151179 can be used.

[0039] (Fourth method) Predict whether a vehicle will change lanes and its relative position after changing lanes based on the lane-changing behavior of adjacent vehicles and whether their turn signals are on.

[0040] Examples of situations in which an adjacent vehicle may change lanes into the vehicle's own lane include when the adjacent lane ahead disappears and merges into the vehicle's own lane, as shown in Figure 8; when there is an obstacle ahead of the adjacent lane and the vehicle changes lanes into the vehicle's own lane; when an adjacent vehicle changes lanes into the vehicle's own lane to overtake a slower preceding vehicle, as shown in Figure 9; and when an adjacent vehicle changes lanes into the vehicle's own lane to avoid a faster following vehicle, as shown in Figure 10. Adjacent vehicles in such situations are the target of prediction.

[0041] The prediction also covers cases where a lane change is initiated by the lane change behavior of an adjacent vehicle or the illumination of a turn signal. It also covers cases where the planned driving route of an adjacent vehicle obtained through vehicle-to-vehicle communication includes a lane change into the vehicle's own lane. In addition, lane changes due to various other factors are also covered by the prediction.

[0042] 1-1-3. Vehicle control unit 53 The vehicle control unit 53 controls at least the speed of the host vehicle. For example, when a preceding vehicle is present in the host vehicle's lane ahead of the host vehicle, the vehicle control unit 53 increases or decreases the speed of the host vehicle so that the inter-vehicle distance between the host vehicle and the preceding vehicle approaches a target inter-vehicle distance. Furthermore, when no preceding vehicle is present in the host vehicle's lane ahead of the host vehicle, the vehicle control unit 53 increases or decreases the speed of the host vehicle so that the inter-vehicle distance approaches a target speed. In either case, the vehicle control unit 53 determines a target output torque and a target braking force for increasing or decreasing the speed of the host vehicle, and transmits these to the power control unit and the brake control unit serving as the drive control device 36. For example, the vehicle control unit 53 changes the target output torque and the target braking force by feedback control or the like so that the actual values ​​approach target values ​​such as the target inter-vehicle distance, the target speed, and the target acceleration. The power control unit then controls the output torque of the power machine 8, such as an internal combustion engine or a motor, according to the target output torque. Furthermore, the brake control unit controls the braking operation of the electric brake device 9 according to the target braking force.

[0043] <Increase in vehicle speed> In this embodiment, the vehicle control unit 53 increases the speed of the host vehicle when the relative position of the adjacent vehicle after changing lanes is behind the host vehicle.

[0044] According to this configuration, by increasing the speed of the vehicle, it becomes easier for adjacent vehicles to change lanes behind the vehicle, making lane changes smoother and improving driving safety.

[0045] In this embodiment, the vehicle control unit 53 increases the speed of the vehicle when the relative position of the adjacent vehicle after changing lanes is behind the vehicle, and the adjacent vehicle is located in an adjacent lane ahead of or to the side of the vehicle, or when the speed of the adjacent vehicle is greater than the speed of the vehicle.

[0046] According to this configuration, if the relative position of the adjacent vehicle after a lane change is behind the host vehicle due to various factors and the adjacent vehicle is located in an adjacent lane ahead of or to the side of the host vehicle, the relative speed of the adjacent vehicle to the host vehicle decreases, and the adjacent vehicle moves behind the host vehicle before the lane change is performed, as shown in Figure 11. In this case, since the speed of the host vehicle increases, the relative speed of the adjacent vehicle to the host vehicle decreases, making it easier for the adjacent vehicle to be behind the host vehicle and making it easier to change lanes.

[0047] Furthermore, as shown in Figure 12, if the relative position of the adjacent vehicle after the lane change is behind the host vehicle due to various factors and the speed of the adjacent vehicle is faster than the host vehicle, the lane change is performed after the relative speed of the adjacent vehicle to the host vehicle decreases. In this case, the speed of the host vehicle increases, which makes it easier for the relative speed of the adjacent vehicle to decrease and for the lane change to occur. Note that in this case, the adjacent vehicle may be located in an adjacent lane ahead of or to the side of the host vehicle.

[0048] In addition, if the relative position of the adjacent vehicle after changing lanes is behind the own vehicle, the adjacent vehicle is located in an adjacent lane behind the own vehicle, and the speed of the adjacent vehicle is slower than the speed of the own vehicle, the vehicle control unit 53 will not increase the speed of the own vehicle.

[0049] With this configuration, if the relative position of the adjacent vehicle after changing lanes is behind the own vehicle due to various factors, the adjacent vehicle is located in an adjacent lane behind the own vehicle, and the speed of the adjacent vehicle is slower than the own vehicle, the adjacent vehicle can start changing lanes in the current state, thereby preventing the own vehicle from unnecessary speed increases.

[0050] <Changes in velocity increment ΔVin according to relative position and relative velocity> When increasing the speed of the host vehicle, the vehicle control unit 53 changes the speed increase amount ΔVin of the host vehicle based on at least one of the relative position of an adjacent vehicle predicted to be behind the host vehicle after a lane change and the relative speed of the adjacent vehicle relative to the host vehicle. Here, for example, the relative position and relative speed are calculated using equation (1) in the same way as the relative distance ΔX and relative speed ΔV described below.

[0051] According to this configuration, the speed increase ΔVin of the host vehicle desired for a smooth lane change is changed in accordance with at least one of the relative position and relative speed of the adjacent vehicle, thereby optimizing the speed increase ΔVin for a smooth lane change.

[0052] As the speed increase amount ΔVin increases, the acceleration of the host vehicle increases. Even when the speed increase amount ΔVin increases, the speed can be increased to the speed increase amount ΔVin in a short time.

[0053] For example, when the relative position of the adjacent vehicle after the lane change is behind the host vehicle and the adjacent vehicle is located in an adjacent lane ahead of or to the side of the host vehicle, the vehicle control unit 53 increases the speed increase amount ΔVin as the relative position of the adjacent vehicle with respect to the host vehicle moves further forward from the host vehicle, as shown in FIG. 13, and also increases the speed increase amount ΔVin as the relative speed of the adjacent vehicle with respect to the host vehicle increases, as shown in FIG. 14.

[0054] According to this configuration, by increasing the speed increase amount ΔVin as the relative position of the adjacent vehicle moves further forward from the host vehicle, the adjacent vehicle can be moved to the rear of the host vehicle at an early stage, allowing the host vehicle to change lanes.By increasing the speed increase amount ΔVin as the relative speed of the adjacent vehicle increases, the adjacent vehicle can be moved to the rear of the host vehicle at an early stage, allowing the host vehicle to change lanes.

[0055] Furthermore, when the relative position of the adjacent vehicle after the lane change is behind the own vehicle, the adjacent vehicle is located in an adjacent lane behind the own vehicle, and the speed of the adjacent vehicle is greater than the speed of the own vehicle, the vehicle control unit 53 increases the speed increase amount ΔVin as the relative position of the adjacent vehicle to the own vehicle approaches the own vehicle, as shown in FIG. 15, and also increases the speed increase amount ΔVin as the relative speed of the adjacent vehicle to the own vehicle increases, as shown in FIG. 16.

[0056] According to this configuration, as the relative position of the adjacent vehicle approaches the own vehicle, the speed increase amount ΔVin is increased, thereby ensuring an adequate inter-vehicle distance and allowing the adjacent vehicle to change lanes early. As the relative speed of the adjacent vehicle increases, the speed increase amount ΔVin is increased, thereby reducing the relative speed and allowing the adjacent vehicle to change lanes early.

[0057] For example, for each condition, the vehicle control unit 53 refers to map data in which the relationship between the relative position of the adjacent vehicle to the vehicle, the relative speed of the adjacent vehicle to the vehicle, and the speed increase amount ΔVin (or the decrease amount of the target inter-vehicle distance described later) is pre-set, and calculates the speed increase amount ΔVin (or the decrease amount of the target inter-vehicle distance) corresponding to the current relative speed and speed increase amount ΔVin.

[0058] <Change in speed increase ΔVin according to time to collision TTC> Alternatively, when increasing the speed of the host vehicle, the vehicle control unit 53 may change the speed increase amount ΔVin of the host vehicle based on the collision time TTC between the host vehicle and an adjacent vehicle whose relative position after the lane change is behind the host vehicle.

[0059] According to this configuration, the speed increase ΔVin of the host vehicle desired for a smooth lane change varies depending on the time to collision TTC, thereby optimizing the speed increase ΔVin for a smooth lane change.

[0060] In this embodiment, the vehicle control unit 53 calculates the time to collision TTC using the following equation by dividing the relative distance ΔX of the adjacent vehicle to the host vehicle by the relative speed ΔV of the adjacent vehicle to the host vehicle. TTC=-ΔX / ΔV ΔX=Xobs-Xego (1) ΔV=Vobs-Vego Here, Xobs is the position of the adjacent vehicle in the forward direction or the traveling direction of the lane in the host vehicle coordinate system, and Xego is the position of the host vehicle in the forward direction or the traveling direction of the lane in the host vehicle coordinate system. Vobs is the speed of the adjacent vehicle in the forward direction or the traveling direction of the lane in the host vehicle coordinate system, and Xego is the speed of the host vehicle in the forward direction or the traveling direction of the lane in the host vehicle coordinate system. The position of each vehicle may be set to the center position of each vehicle, or may be set to the leading edge position of each vehicle, or may be set to the trailing edge position of each vehicle. Alternatively, the position of the host vehicle may be set to the leading edge position, and the position of the adjacent vehicle may be set to the trailing edge position. Conversely, the position of the host vehicle may be set to the trailing edge position, and the position of the adjacent vehicle may be set to the leading edge position. The relative distance ΔX may be calculated as the inter-vehicle distance between the host vehicle and the adjacent vehicle in the forward direction or the traveling direction of the lane in the host vehicle coordinate system.

[0061] When the adjacent vehicle is located in the adjacent lane ahead of the own vehicle (Xobs>Xego) and the speed of the adjacent vehicle is slower than the speed of the own vehicle (Vobs<Vego)は、TTC> In this case, as the relative distance ΔX increases from 0, the time to collision TTC increases, and as the relative velocity ΔV increases, the time to collision TTC also increases.

[0062] When the adjacent vehicle is located in an adjacent lane ahead of or to the side of the host vehicle and the speed of the adjacent vehicle is slower than the speed of the host vehicle, the vehicle control unit 53 increases the speed increase amount ΔVin of the host vehicle as the time to collision TTC increases, as shown in Figure 17.

[0063] According to this configuration, similar to the above configuration, as the relative position of the adjacent vehicle with respect to the host vehicle moves away from the host vehicle forward, the absolute value of the time-to-collision TTC increases and the speed increase amount ΔVin increases, and as the relative speed of the adjacent vehicle with respect to the host vehicle increases toward 0, the time-to-collision TTC increases and the speed increase amount ΔVin increases. Therefore, the adjacent vehicle can be moved behind the host vehicle at an early stage, and a lane change can be made.

[0064] On the other hand, when the adjacent vehicle is located in the adjacent lane behind the host vehicle (Xobs < Xego) and the speed of the adjacent vehicle is faster than the speed of the host vehicle (Vobs > Vego), TTC > 0. In this case, as the relative distance ΔX decreases from 0, the time-to-collision TTC increases, and as the relative speed ΔV increases from 0, the time-to-collision TTC decreases.

[0065] When the adjacent vehicle is located in the adjacent lane behind the host vehicle and the speed of the adjacent vehicle is greater than the speed of the host vehicle, as shown in FIG. 18, the vehicle control unit 53 increases the speed increase amount ΔVin of the host vehicle as the time-to-collision TTC decreases.

[0066] According to this configuration, similar to the above configuration, as the relative position of the adjacent vehicle with respect to the host vehicle approaches the host vehicle, the time-to-collision TTC decreases and the speed increase amount ΔVin increases, and as the relative speed of the adjacent vehicle with respect to the host vehicle increases, the time-to-collision TTC decreases and the speed increase amount ΔVin increases. Therefore, a safe distance can be ensured at an early stage, the relative speed can be decreased, and the adjacent vehicle can be made to change lanes.

[0067] <Processing according to probability> As described above, when the lane change prediction unit 52 predicts the relative positions after a plurality of lane changes and the priority or probability of each of the relative positions after a plurality of lane changes for the adjacent vehicle to be predicted, the following processing is performed.

[0068] The vehicle control unit 53 increases the speed of the host vehicle when the relative position after the lane change with the highest probability or priority is behind the host vehicle.The vehicle control unit 53 then changes the speed increase amount ΔVin of the host vehicle based on the highest probability or priority.With this configuration, the speed increase amount ΔVin of the host vehicle can be appropriately changed based on the highest probability or priority.

[0069] In this embodiment, the vehicle control unit 53 decreases the speed increase amount ΔVin as the highest probability or priority decreases. This configuration can prevent unnecessary increases in the speed of the host vehicle due to prediction results with low probability or priority.

[0070] For example, the vehicle control unit 53 may calculate the speed increase amount ΔVin based on the relative position and relative speed of the adjacent vehicle relative to the host vehicle or the time to collision TTC using the various methods described above, and may calculate the final speed increase amount ΔVin by multiplying this speed increase amount ΔVin by a correction coefficient Kv set based on the highest probability or priority. As shown in Fig. 19, as the highest probability or priority decreases, the correction coefficient Kv decreases from 1.

[0071] Alternatively, the vehicle control unit 53 may not change the speed increase amount ΔVin of the host vehicle based on the highest probability or priority. In other words, the probability or priority is simply used to select the relative position after the lane change with the highest probability or priority and determine whether or not the adjacent vehicle is behind the host vehicle, and the speed increase amount ΔVin calculated based on the relative position and relative speed of the adjacent vehicle relative to the host vehicle or the time to collision TTC may be used as is.

[0072] <When not increasing speed> Also, as shown in FIG. 20, the vehicle control unit 53 does not increase the speed of the vehicle when there are both an adjacent vehicle whose relative position after the lane change is behind the vehicle and an adjacent vehicle whose relative position after the lane change is in front of the vehicle.

[0073] In this case, if the speed of the host vehicle is increased, it will be easier for the adjacent vehicle changing lanes behind the host vehicle to change lanes, but it will be more difficult for the adjacent vehicle changing lanes ahead of the host vehicle to change lanes. Therefore, in this case, by not increasing the speed of the host vehicle, the adjacent vehicles will be able to change lanes after the lane change predicted based on the current speed state of the host vehicle, and will not be hindered from changing lanes by the adjacent vehicles.

[0074] <Return of increased speed> After increasing the speed of the vehicle, the vehicle control unit 53 returns the speed of the vehicle to the state before it was increased when an adjacent vehicle whose relative position after the lane change is behind the vehicle completes a lane change into the vehicle's own lane behind the vehicle.

[0075] According to this configuration, after the adjacent vehicle has completed the lane change, the speed of the vehicle can be returned to the state before it was increased, and the vehicle can continue traveling normally.

[0076] Also, as shown in FIG. 21, after the speed of the host vehicle starts to increase, if the relative position of an adjacent vehicle after the lane change that was predicted to be behind the host vehicle changes to in front of the host vehicle, the vehicle control unit 53 returns the speed of the host vehicle to the state before it was increased.

[0077] According to this configuration, when the relative position of an adjacent vehicle changes from behind to ahead after changing lanes, the speed of the own vehicle is returned to the state before it was increased, making it easier for the adjacent vehicle to change lanes to be ahead of the own vehicle.

[0078] <How to increase speed> For example, when a leading vehicle is present in the vehicle's lane ahead of the vehicle and the vehicle control unit 53 is controlling the inter-vehicle distance between the vehicle and the leading vehicle, if the speed of the vehicle needs to be increased, the vehicle control unit 53 increases the speed of the vehicle by decreasing the target inter-vehicle distance. When the target inter-vehicle distance is decreased, the speed of the vehicle is increased to shorten the inter-vehicle distance. With this configuration, the speed of the vehicle is increased by inter-vehicle distance control, so that the speed of the vehicle can be increased while preventing the vehicle from colliding with the leading vehicle, making it easier to change lanes behind the vehicle.

[0079] As the decrease in the target inter-vehicle distance increases, the increase in speed also increases. Therefore, the decrease in the target inter-vehicle distance is changed in accordance with the change in the increase in speed. In other words, the increase in speed is replaced by the decrease in the target inter-vehicle distance. The decrease in the target inter-vehicle distance (absolute value) is limited to an upper limit so that the target inter-vehicle distance is equal to or greater than a lower limit.

[0080] As described above, when a predetermined condition is met, if the vehicle control unit 53 wants to return the vehicle to the state before the speed was increased, it sets the amount of reduction in the target inter-vehicle distance to 0 and returns the vehicle to the state before the target inter-vehicle distance was reduced.

[0081] Furthermore, when there is no preceding vehicle in the vehicle's lane ahead of the vehicle with which a collision needs to be avoided and the vehicle control unit 53 is controlling the speed of the vehicle so that it approaches the target speed, if the speed of the vehicle is to be increased, the vehicle control unit 53 increases the target speed. When the target speed is increased, the output torque of the power unit 8 is increased or the braking force of the electric brake device 9 is decreased. According to this configuration, when there is no preceding vehicle, the speed of the vehicle is increased by target speed control, so there is no risk of the vehicle colliding with the preceding vehicle, and the vehicle speed is increased, making it easier to change lanes behind the vehicle. As the change in the speed increase amount, the target speed increase amount is changed.

[0082] As described above, when a predetermined condition is met, if the vehicle control unit 53 wants to return the vehicle to the state before the speed was increased, it sets the increase in the target speed to 0 and returns the vehicle to the state before the target speed was increased.

[0083] The vehicle control unit 53 may perform steering control to change the target steering angle so that the host vehicle travels within the host vehicle's lane. Alternatively, the vehicle control unit 53 may generate a target travel trajectory and change the target steering angle so that the host vehicle travels along the target travel trajectory. The vehicle control unit 53 transmits the target steering angle to the automatic steering control device, and the automatic steering control device controls the electric steering device 7 so that the steering angle follows the target steering angle.

[0084] Alternatively, to perform more advanced autonomous driving, the vehicle control unit 53 may generate a time-series target driving trajectory. The time-series target driving trajectory is a time-series driving plan including a target position, a target traveling direction, a target speed, and a target acceleration of the host vehicle at each future time. When increasing the speed of the host vehicle, the vehicle control unit 53 increases the target speed and the target acceleration at each future time according to the increase in the target speed. The vehicle control unit 53 controls the host vehicle so that the host vehicle follows the target driving trajectory. For example, the vehicle control unit 53 determines a target output torque, a target braking force, a target steering angle, a turn signal operation command, etc., and transmits each determined command value to a power control unit, a brake control unit, an automatic steering control unit, a light control unit, etc., which are the drive control unit 36.

[0085] <Flowchart> 22 is a schematic flowchart illustrating the processing (vehicle control method) of the vehicle control device 1 according to this embodiment. The processing in FIG. 22 is executed, for example, at every predetermined calculation cycle.

[0086] In step S01, as described above, the information acquisition unit 51 executes the information acquisition process for acquiring the surrounding conditions of the host vehicle and the traveling conditions of the host vehicle.

[0087] In step S02, as described above, the lane change prediction unit 52 executes a lane change prediction process to predict the relative position of another vehicle traveling in an adjacent lane adjacent to the lane in which the host vehicle is traveling after changing lanes to the host vehicle's lane, based on the surrounding conditions of the host vehicle and the traveling conditions of the host vehicle.

[0088] In step S03, as described above, the vehicle control unit 53 executes the vehicle control process to increase the speed of the host vehicle when the relative position of the adjacent vehicle after the lane change is behind the host vehicle.

[0089] <Summary of various aspects of the present application> Various aspects of the present application will be summarized below as appendices. (Appendix 1) an information acquisition unit that acquires a surrounding state of the host vehicle and a traveling state of the host vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle; A vehicle control device comprising:

[0090] (Appendix 2) The vehicle control device described in Appendix 1, wherein the vehicle control unit increases the speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle and the other vehicle is located in the adjacent lane ahead of or to the side of the host vehicle, or when the speed of the other vehicle is greater than the speed of the host vehicle.

[0091] (Appendix 3) The vehicle control device according to claim 1 or 2, wherein the vehicle control unit does not increase the speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, the other vehicle is located in the adjacent lane behind the host vehicle, and the speed of the other vehicle is slower than the speed of the host vehicle.

[0092] (Appendix 4) The vehicle control device according to claim 1 or 2, wherein the vehicle control unit does not increase the speed of the host vehicle when both the other vehicle whose relative position after the lane change is behind the host vehicle and the other vehicle whose relative position after the lane change is ahead of the host vehicle are present.

[0093] (Appendix 5) 5. The vehicle control device according to claim 1, wherein, after increasing the speed of the host vehicle, when the other vehicle, whose relative position after the lane change is behind the host vehicle, completes a lane change into the host vehicle's lane behind the host vehicle, the vehicle control unit returns the speed of the host vehicle to a state before it was increased.

[0094] (Appendix 6) The vehicle control device according to any one of appendices 1 to 5, wherein, after the speed of the host vehicle starts to increase, if the relative position of the other vehicle after the lane change that was predicted to be behind the host vehicle after the lane change changes to in front of the host vehicle, the vehicle control unit returns the speed of the host vehicle to a state before it was increased.

[0095] (Appendix 7) 7. The vehicle control device according to claim 1, wherein, when increasing the speed of the host vehicle, the vehicle control unit changes the amount of increase in speed of the host vehicle based on at least one of the relative position of the other vehicle, whose relative position after the lane change is predicted to be behind the host vehicle, relative to the host vehicle, and the relative speed of the other vehicle relative to the host vehicle.

[0096] (Appendix 8) When increasing the speed of the host vehicle, the vehicle control unit: When the other vehicle whose relative position after the lane change is predicted to be behind the host vehicle is located in the adjacent lane ahead of or to the side of the host vehicle, the speed increase amount is increased as the relative position of the other vehicle with respect to the host vehicle moves away forward from the host vehicle, and the speed increase amount is increased as the relative speed of the other vehicle with respect to the host vehicle increases; 8. A vehicle control device as described in Appendix 7, wherein, when the other vehicle is located in the adjacent lane behind the host vehicle and the speed of the other vehicle is greater than the speed of the host vehicle, the speed increase amount is increased as the relative position of the other vehicle with respect to the host vehicle approaches the host vehicle, and the speed increase amount is increased as the relative speed of the other vehicle with respect to the host vehicle increases.

[0097] (Appendix 9) The vehicle control device according to any one of appendixes 1 to 6, wherein when increasing the speed of the host vehicle, the vehicle control unit changes the amount of increase in speed of the host vehicle based on a time to collision between the host vehicle and the other vehicle whose relative position after the lane change is behind the host vehicle.

[0098] (Appendix 10) When increasing the speed of the host vehicle, the vehicle control unit: When the other vehicle whose relative position after the lane change is predicted to be behind the host vehicle is located in the adjacent lane ahead of or to the side of the host vehicle and the speed of the other vehicle is slower than the speed of the host vehicle, increasing the speed increase amount of the host vehicle as the time to collision increases, 10. A vehicle control device as described in Appendix 9, wherein, when the other vehicle is located in the adjacent lane behind the host vehicle and the speed of the other vehicle is greater than the speed of the host vehicle, the speed increase amount is increased as the time to collision decreases.

[0099] (Appendix 11) the lane change prediction unit predicts a relative position of the other vehicle to the own lane after a plurality of lane changes and a probability or a priority of each of the relative positions after the plurality of lane changes; the vehicle control unit increases a speed of the host vehicle when the relative position after the lane change having the highest probability or the highest priority is behind the host vehicle; 11. The vehicle control device according to claim 1, wherein the speed increase amount of the host vehicle is changed based on the highest probability or the highest priority.

[0100] (Appendix 12) 12. The vehicle control device according to claim 11, wherein the vehicle control unit decreases the speed increase amount as the highest probability or the priority decreases.

[0101] (Appendix 13) 13. The vehicle control device according to claim 1, wherein, when increasing the speed of the host vehicle, the vehicle control unit increases the target speed of the host vehicle or decreases a target inter-vehicle distance between the host vehicle and a preceding vehicle, thereby increasing the speed of the host vehicle.

[0102] (Appendix 14) when a leading vehicle is present in the own lane ahead of the own vehicle and the vehicle control unit is controlling the inter-vehicle distance between the own vehicle and the leading vehicle, in a case where the speed of the own vehicle is to be increased, the vehicle control unit increases the speed of the own vehicle by decreasing a target inter-vehicle distance; A vehicle control device according to any one of appendices 1 to 12, wherein when there is no preceding vehicle in the own lane ahead of the own vehicle with which a collision needs to be avoided and the speed of the own vehicle is controlled to approach a target speed, if the speed of the own vehicle is to be increased, the speed of the own vehicle is increased by increasing the target speed.

[0103] (Appendix 35) an information acquisition step of acquiring a surrounding state of the host vehicle and a traveling state of the host vehicle; a lane change prediction step of predicting a relative position of another vehicle traveling in an adjacent lane adjacent to the own lane in which the own vehicle is traveling after the other vehicle changes lanes into the own lane based on the surrounding conditions and the traveling conditions; a vehicle control step of increasing a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle; A vehicle control method comprising:

[0104] Although exemplary embodiments are described in this application, the various features, aspects, and functions described in the embodiments are not limited to specific embodiments, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are anticipated within the scope of the technology disclosed in this specification. For example, variations in, addition to, or omission of at least one component are included. [Explanation of symbols]

[0105] 1: vehicle control device, 51: information acquisition unit, 52: lane change prediction unit, 53: vehicle control unit, TTC: time to collision, ΔV: relative speed, ΔVin: speed increase amount

Claims

1. an information acquisition unit that acquires a surrounding state of the host vehicle and a traveling state of the host vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, The vehicle control unit is a vehicle control device that increases the speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, and the other vehicle is located in the adjacent lane ahead of or to the side of the host vehicle, or when the speed of the other vehicle is greater than the speed of the host vehicle.

2. An information acquisition unit that acquires the surrounding conditions of the host vehicle and the running conditions of the host vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, The vehicle control unit is a vehicle control device that does not increase the speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, the other vehicle is located in the adjacent lane behind the host vehicle, and the speed of the other vehicle is slower than the speed of the host vehicle.

3. An information acquisition unit that acquires the surrounding conditions of the vehicle and the running conditions of the vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, The vehicle control unit is a vehicle control device that does not increase the speed of the host vehicle when both the other vehicle whose relative position after the lane change is behind the host vehicle and the other vehicle whose relative position after the lane change is in front of the host vehicle are present.

4. An information acquisition unit that acquires the surrounding conditions of the vehicle and the running conditions of the vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, The vehicle control device is a vehicle control device that, after increasing the speed of the host vehicle, returns the speed of the host vehicle to the state before it was increased when the other vehicle, whose relative position after the lane change is behind the host vehicle, completes a lane change into the host vehicle's lane behind the host vehicle.

5. An information acquisition unit that acquires the surrounding conditions of the vehicle and the running conditions of the vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, The vehicle control unit is a vehicle control device that returns the speed of the host vehicle to the state before it was increased if, after the speed of the host vehicle starts to increase, the relative position of the other vehicle after the lane change, which was predicted to be behind the host vehicle, changes to in front of the host vehicle.

6. An information acquisition unit that acquires the surrounding conditions of the vehicle and the running conditions of the vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, The vehicle control device, when increasing the speed of the host vehicle, changes the amount of increase in speed of the host vehicle based on at least one of the relative position of the other vehicle, whose relative position after the lane change is predicted to be behind the host vehicle, and the relative speed of the other vehicle with respect to the host vehicle.

7. When increasing the speed of the host vehicle, the vehicle control unit: When the other vehicle whose relative position after the lane change is predicted to be behind the host vehicle is located in the adjacent lane ahead of or to the side of the host vehicle, the speed increase amount is increased as the relative position of the other vehicle with respect to the host vehicle moves away forward from the host vehicle, and the speed increase amount is increased as the relative speed of the other vehicle with respect to the host vehicle increases; 7. The vehicle control device according to claim 6, wherein, when the other vehicle is located in the adjacent lane behind the host vehicle and the speed of the other vehicle is greater than the speed of the host vehicle, the speed increase amount is increased as the relative position of the other vehicle with respect to the host vehicle approaches the host vehicle, and the speed increase amount is increased as the relative speed of the other vehicle with respect to the host vehicle increases.

8. An information acquisition unit that acquires the surrounding conditions of the host vehicle and the running conditions of the host vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, The vehicle control unit is a vehicle control device that, when increasing the speed of the vehicle, changes the amount of speed increase of the vehicle based on the collision margin time between the vehicle and the other vehicle whose relative position after the lane change is behind the vehicle.

9. When increasing the speed of the host vehicle, the vehicle control unit: When the other vehicle whose relative position after the lane change is predicted to be behind the host vehicle is located in the adjacent lane ahead of or to the side of the host vehicle and the speed of the other vehicle is slower than the speed of the host vehicle, increasing the speed increase amount of the host vehicle as the time to collision increases, 9. The vehicle control device according to claim 8, wherein, when the other vehicle is located in the adjacent lane behind the host vehicle and the speed of the other vehicle is greater than the speed of the host vehicle, the speed increase amount is increased as the time to collision decreases.

10. An information acquisition unit that acquires the surrounding conditions of the host vehicle and the running conditions of the host vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, the lane change prediction unit predicts a relative position of the other vehicle to the own lane after a plurality of lane changes and a probability or a priority of each of the relative positions after the plurality of lane changes; the vehicle control unit increases a speed of the host vehicle when the relative position after the lane change having the highest probability or the highest priority is behind the host vehicle; A vehicle control device that changes the speed increase amount of the host vehicle based on the highest probability or the highest priority.

11. The vehicle control device according to claim 10 , wherein the vehicle control unit decreases the speed increase amount as the highest probability or the priority decreases.

12. 2. The vehicle control device according to claim 1, wherein when the speed of the host vehicle is increased, the vehicle control unit increases the target speed of the host vehicle or decreases a target inter-vehicle distance between the host vehicle and a preceding vehicle, thereby increasing the speed of the host vehicle.

13. An information acquisition unit that acquires the surrounding conditions of the host vehicle and the running conditions of the host vehicle; a lane change prediction unit that predicts a relative position of another vehicle traveling in an adjacent lane adjacent to the host vehicle's own lane after the host vehicle changes lanes into the host vehicle's own lane based on the surrounding conditions and the traveling conditions; a vehicle control unit that increases a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle, when a leading vehicle is present in the own lane ahead of the own vehicle and the vehicle control unit is controlling the inter-vehicle distance between the own vehicle and the leading vehicle, in a case where the speed of the own vehicle is to be increased, the vehicle control unit increases the speed of the own vehicle by decreasing a target inter-vehicle distance; A vehicle control device that, when there is no preceding vehicle in the vehicle's lane ahead with which a collision needs to be avoided and the speed of the vehicle is controlled to approach a target speed, increases the speed of the vehicle by increasing the target speed.

14. an information acquisition step of acquiring a surrounding state of the host vehicle and a traveling state of the host vehicle; a lane change prediction step of predicting a relative position of another vehicle traveling in an adjacent lane adjacent to the own lane in which the own vehicle is traveling after the other vehicle changes lanes into the own lane based on the surrounding conditions and the traveling conditions; a vehicle control step of increasing a speed of the host vehicle when the relative position of the other vehicle after the lane change is behind the host vehicle; Equipped with In the vehicle control step, when the relative position of the other vehicle after the lane change is behind the own vehicle, and the other vehicle is located in the adjacent lane ahead of or to the side of the own vehicle, or when the speed of the other vehicle is greater than the speed of the own vehicle, the vehicle control method increases the speed of the own vehicle.

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