Vehicle control device

Abstract

To control steering of a vehicle so that the vehicle travels along an appropriate target travel line while preventing the vehicle from wobbling to the left and right with respect to a lane center line of an own lane.SOLUTION: A control device 30 includes: a recognition section 31 for recognizing a surrounding situation of a vehicle 1, including an own lane in which the vehicle 1 travels, and a road having the own lane; and a steering control section 32 for setting a target travel line of the vehicle 1 in the own lane on the basis of the surrounding situation recognized by the recognition section 31, and controlling steering of the vehicle 1 so that the vehicle 1 travels along the target travel line. When the road having the own lane has another lane adjacent to the own lane, the steering control section 32 sets, as the target travel line, a line which is offset to a left side or a right side by a predetermined offset amount from a lane center line of the own lane.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 transport systems that take into consideration vulnerable transport 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 in order to further improve road safety and convenience.

[0003] As an example of a driving assistance technology, the following Patent Document 1 discloses a technology in which, during execution of lane keeping control, a left limit line extending along the own lane passing a position a predetermined distance to the right from the left-side target is set as the left edge line, and a right limit line extending along the own lane passing a position a predetermined right-side distance to the left from the right-side target is set as the right edge line, and when the left edge line and right edge line are set in left-right order and the lane center line is not between the left edge line and the right edge line, the line closest to the lane center line is set as the target driving line.

[0004] Furthermore, Patent Document 2 listed below discloses a technology for assisting a vehicle in traveling by controlling the vehicle's actuators based on a moving body avoidance trajectory that is an extension of a basic avoidance trajectory for a vehicle to travel while avoiding an obstacle, in the direction of travel of the vehicle, depending on the relative speed between the vehicle and the obstacle. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2023-063625 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-080046 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the conventional technology, the offset amount from the lane center line of the host vehicle's lane to the target driving line can vary between sections where there is a target (e.g., another vehicle) on the left or right side of the host vehicle's lane and sections where there is no such target. Driving the host vehicle along such a target driving line can cause the host vehicle to sway left or right relative to the lane center line, which can cause discomfort to the driver of the host vehicle.

[0007] The present invention provides a vehicle control device that can assist a vehicle in traveling along an appropriate target traveling line while suppressing lateral deviation of the vehicle from the center line of the lane in question, thereby improving traffic safety and contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0008] One aspect of the present invention is A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle, including a lane in which the vehicle is traveling and a road on which the lane is located; a steering control unit that sets a target driving line for the vehicle in the own lane based on the surrounding conditions recognized by the recognition unit, and controls steering of the vehicle so that the vehicle travels along the target driving line; Equipped with The steering control unit When the road has another lane adjacent to the own lane, a line offset by a predetermined offset amount to the left or right from the lane center line of the own lane can be set as the target driving line. R, When the other lane is present on either the left or right side of the own vehicle lane, a line offset from the lane center line to the other left or right side by the offset amount is set as the target driving line; When two or more other lanes exist on the one side of the own vehicle lane, the offset amount is increased compared to when there is one other lane on the one side of the own vehicle lane. A vehicle control device. [Effects of the Invention]

[0009] According to the present invention, a vehicle control device can be provided that can assist the vehicle in traveling along an appropriate target traveling line while suppressing the vehicle from swaying left or right relative to the center line of the lane of the vehicle. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a schematic configuration of a vehicle equipped with a control device 30 according to an embodiment. [Figure 2] 3 is a diagram illustrating a first example of vehicle control by the control device 30. FIG. [Figure 3] 10 is a diagram illustrating a second example of vehicle control by the control device 30. FIG. [Figure 4] 10 is a diagram illustrating a third example of vehicle control by the control device 30. FIG. [Figure 5] 10 is a diagram illustrating a fourth example of vehicle control by the control device 30. FIG. [Figure 6] 1 is a flowchart (part 1) illustrating an example of processing executed by the control device 30. [Figure 7] 10 is a flowchart (part 2) illustrating an example of processing executed by the control device 30. [Figure 8] 10 is a flowchart (part 3) illustrating an example of processing executed by the control device 30. [Figure 9] 10 is a diagram (part 1) showing a modified example of vehicle control by the control device 30. FIG. [Figure 10] 10 is a diagram (part 2) showing a modified example of vehicle control by the control device 30. FIG. [Figure 11] 10 is a diagram (part 3) showing a modified example of vehicle control by the control device 30. FIG. [Figure 12] FIG. 10 is a diagram (part 4) showing a modified example of vehicle control by the control device 30. DETAILED DESCRIPTION OF THE INVENTION

[0011] 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.

[0012] [vehicle] First, the vehicle of this embodiment will be described. The vehicle 1 of this embodiment 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-wheeled automobile having a pair of front wheels and a pair of rear wheels on the left and right.

[0013] 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.

[0014] 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.

[0015] 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").

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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 installed so as to be able to capture an image of the head (in other words, the face) of an occupant (hereinafter also referred to as "driver") sitting in the driver's seat of the vehicle 1 from the front. 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.

[0024] 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 on (in other words, activated) and off (in other words, not activated) a steering control that automatically controls the steering of the vehicle 1 so that the vehicle 1 travels along a predetermined target driving line (described later). In this case, the operation detection unit 125 can detect an operation to turn on / off the steering control.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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 (for example, a touch pad). The speaker 23 is configured to be able to output audio to the driver.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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).

[0039] 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, for example, 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). For example, when there is a possibility that the vehicle 1 will deviate from the lane in which the vehicle 1 is traveling (hereinafter also referred to as the "own lane"), the MID 91 may, under the control of the control device 30, display a warning image indicating that there is a possibility that the vehicle 1 will deviate from the own lane.

[0040] The buzzer 92 is configured to be able to output a predetermined warning sound. For example, when there is a possibility that the vehicle 1 may deviate from its own lane, the buzzer 92 may output a predetermined warning sound in accordance with the control of the control device 30. The buzzer 92 may be shared with the speaker 23 described above.

[0041] [Control device] Next, a more detailed description will be given of the control device 30. The control device 30 includes a recognition unit 31 and a steering control unit 32 as functional units that are realized by a processor executing a program stored in a storage unit of the control device 30, for example.

[0042] The recognition unit 31 recognizes the surrounding situation of the vehicle 1. For example, the recognition unit 31 performs sensor fusion processing on the detection results from some or all of the camera 111, sonar 112, and radar 113 included in the external sensor 11, and recognizes the surrounding situation of the vehicle 1 based on the processing results.

[0043] More specifically, the recognition unit 31 recognizes the position, type, speed, acceleration, etc. of an object present in the vicinity of the vehicle 1. In this case, the recognition unit 31 recognizes the position of the object as a position on absolute coordinates 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 object present in its vicinity. Furthermore, on the above absolute coordinates, 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.

[0044] The 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.

[0045] The 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 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 lane markings, road shoulders, curbs, medians, and guardrails that separate lanes.

[0046] Furthermore, the 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 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.

[0047] The recognition unit 31 can also recognize the road on which the vehicle 1 is traveling (in other words, the road on which the vehicle 1 is traveling). Note that the term "road" in this specification may include other lanes traveling in the same direction as the vehicle 1's own lane, but does not include oncoming lanes traveling in the opposite direction to the vehicle 1's own lane. In other words, in this specification, a road on which the vehicle 1 is traveling and a road on which the vehicle 1 is traveling in the opposite direction to the vehicle 1's own lane are treated as separate roads.

[0048] The recognition unit 31 can also recognize the number of lanes on the road that has the current lane, the width of the current lane, etc. Furthermore, the recognition unit 31 can also recognize the widthwise length of an enterable area adjacent to the left side of the current lane (in other words, one side in the width direction of the current lane) (hereinafter also referred to as the "left enterable area width") and the widthwise length of an enterable area adjacent to the right side of the current lane (in other words, the other side in the width direction of the current lane) (hereinafter also referred to as the "right enterable area width"). Note that the enterable area here is an area that the vehicle 1 can physically enter, such as a road shoulder. The recognition unit 31 may also recognize the area between the road boundary of the current lane and a predetermined structure (for example, a guardrail, a median strip, another lane including an oncoming lane, etc.) as the enterable area.

[0049] The steering control unit 32 sets a target driving line for the vehicle 1 in the own lane based on the surrounding conditions recognized by the recognition unit 31, and controls the steering of the vehicle 1 so that the vehicle 1 drives along the target driving line. Such steering control is also called LKAS (Lane Keep Assist System). For example, the steering control unit 32 executes the above-mentioned steering control based on the detection by the operation detection unit 125 of an operation to turn on the steering control. Note that the detailed control procedure for realizing such steering control is publicly known, and therefore will not be described here.

[0050] Furthermore, in this embodiment, when the road including the lane on which the vehicle 1 undergoing steering control is traveling has other lanes, the steering control unit 32 is configured to be able to set a line offset by a predetermined offset amount to the left or right from the lane center line of the lane on which the vehicle 1 is traveling as the target driving line. For example, when the road including the lane on which the vehicle 1 is traveling has other lanes adjacent to the lane on which the vehicle 1 is traveling, the steering control unit 32 can set a line offset by a predetermined offset amount to the left or right from the lane center line of the lane on which the vehicle 1 is traveling as the target driving line. Note that the offset amount from the lane center line is determined in advance, for example, by the manufacturer of the vehicle 1. Alternatively, the driver of the vehicle 1 may be able to set a desired offset amount.

[0051] In this way, when a road having the current lane also has other lanes, by offsetting the target driving line to the left or right from the lane center line of the current lane in advance, the vehicle 1 can be driven along the pre-offset target driving line regardless of the presence or absence of landmarks in the other lanes (e.g., other vehicles driving in the other lanes). This allows the vehicle 1 to drive at a certain distance from landmarks in the other lanes, while also preventing the vehicle 1 from swaying left or right relative to the lane center line of the current lane, compared to when the target driving line is offset from the lane center line only in sections where landmarks exist in the other lanes. Therefore, it is possible for the vehicle 1 to drive along an appropriate target driving line while preventing the vehicle 1 from swaying left or right relative to the lane center line of the current lane. This, in turn, can improve traffic safety and contribute to the development of a sustainable transportation system.

[0052] [Example of vehicle control] Next, an example of control of the vehicle 1 by the control device 30 will be described with reference to Figures 2 to 5. In the example shown in Figures 2 to 5, the road RD on which the vehicle 1 travels is a three-lane road having a left lane LL, a center lane LC, and a right lane LR, and the direction from bottom to top in each of these figures is the traveling direction.

[0053] In the example shown in Fig. 2, vehicle 1 is traveling in the left lane LL, which is the leftmost lane of the road RD. In other words, in the example shown in Fig. 2, the left lane LL is the lane in which vehicle 1 is traveling. To the right of the left lane LL, which is the lane in which vehicle 1 is traveling, there is another lane, the center lane LC. In such cases, the driver of vehicle 1 traveling in the left lane LL often wants vehicle 1 to travel at a certain distance from other vehicles traveling in the center lane LC.

[0054] Therefore, when the vehicle 1 is traveling in the left lane LL, the control device 30 (e.g., the steering control unit 32) sets, for example, a line offset to the left by a predetermined offset amount from the lane center line LLc of the left lane LL, which is the own lane, as the target traveling line Ltg. This makes it possible to make the vehicle 1 travel along an appropriate target traveling line Ltg that matches the driver's desire to keep a certain distance from the center lane LC, which is located to the right of the left lane LL, which is the own lane.

[0055] In the example shown in Fig. 3, vehicle 1 is traveling in a center lane LC, which is a lane located in the center of road RD. In other words, in the example shown in Fig. 3, center lane LC is the lane in which vehicle 1 is traveling. To the left of center lane LC, which is the lane in which vehicle 1 is traveling, there is another lane, left lane LL, and to the right of center lane LC, there is another lane, right lane LR. In such cases, the driver of vehicle 1 traveling in center lane LC often desires vehicle 1 to travel near lane center line LCc of center lane LC in order to maintain a certain distance from other vehicles traveling in left lane LL and right lane LR.

[0056] Therefore, when the vehicle 1 is traveling in the center lane LC, the control device 30 (for example, the steering control unit 32) sets, for example, the lane center line LCc of the center lane LC, which is the own lane, as the target traveling line Ltg. This makes it possible to make the vehicle 1 travel along an appropriate target traveling line Ltg that matches the driver's desire to maintain a certain distance from each of the other lanes on either side of the center lane LC, which is the own lane.

[0057] In the example shown in Fig. 4, vehicle 1 is traveling in the right lane LR, which is the rightmost lane of road RD. In other words, in the example shown in Fig. 4, the right lane LR is the lane in which vehicle 1 is traveling. To the left of the right lane LR, which is the lane in which vehicle 1 is traveling, there is another lane, the center lane LC. In such cases, the driver of vehicle 1 traveling in the right lane LR often desires that vehicle 1 travel at a certain distance from another vehicle traveling in the center lane LC.

[0058] Therefore, when the vehicle 1 is traveling in the right lane LR, the control device 30 (e.g., the steering control unit 32) sets, for example, a line offset by a predetermined offset amount to the right from the lane center line LRc of the right lane LR, which is the own lane, as the target traveling line Ltg. This makes it possible to make the vehicle 1 travel along an appropriate target traveling line Ltg that matches the driver's desire to keep a certain distance from the center lane LC, which is located to the left of the right lane LR, which is the own lane.

[0059] As described above, when another lane exists on either the left or right side of the own lane, the control device 30 (e.g., the steering control unit 32) sets a line offset by a predetermined offset amount from the center line of the own lane to the other side as the target driving line. This makes it possible to make the vehicle 1 travel along an appropriate target driving line that matches the driver's desire to keep a certain distance from another lane existing on either the left or right side of the own lane.

[0060] Furthermore, the control device 30 (e.g., steering control unit 32) sets the center line of the own lane as the target driving line when there are other lanes on both sides of the own lane, for example. This makes it possible to make the vehicle 1 travel along an appropriate target driving line that matches the driver's desire to keep a certain distance from each of the other lanes on both sides of the own lane.

[0061] Furthermore, the control device 30 may set different offset amounts for the target driving line depending on whether or not there is an accessible area adjacent to the lane in which the vehicle 1 is traveling.

[0062] In the example shown in Figure 5(A), vehicle 1 is traveling in the right lane LR, which is the rightmost lane of road RD. To the left of right lane LR, which is the vehicle's own lane, is center lane LC, which is another lane. Furthermore, a guardrail or the like is provided on the right side of right lane LR, which is the vehicle's own lane, and an accessible area S, which will be described later, does not exist.

[0063] In contrast, in the example shown in Fig. 5(B), an entry-enabled area S exists adjacent to the right side of the right lane LR, which is the lane in which the vehicle 1 is traveling. In this way, when the vehicle 1 is traveling in the right lane LR and the entry-enabled area S exists adjacent to the right side of the right lane LR, the driver of the vehicle 1 will often desire the vehicle 1 to travel along a line that is offset further to the right from the lane center line LRc of the right lane LR, compared to when there is no entry-enabled area S as in the example shown in Fig. 5(A).

[0064] 5B, when the vehicle 1 is traveling in the right lane LR and an entry-enabled area S exists adjacent to the right side of the right lane LR, the control device 30 may set a line that is offset more greatly as the target driving line Ltg compared to when there is no entry-enabled area S. This makes it possible to make the vehicle 1 travel along an appropriate target driving line Ltg that matches the driver's sense.

[0065] In this way, when there is another lane on either the left or right side of the own lane and an accessible area into which the vehicle 1 can enter is present adjacent to the own lane on the other left or right side of the own lane, the control device 30 (for example, the steering control unit 32) may increase the offset amount of the target driving line compared to when such accessible area does not exist. In this way, the vehicle 1 can be made to travel along an appropriate target driving line that matches the driver's sense.

[0066] In addition, when there is another lane on either the left or right side of the own lane and there is no accessible area adjacent to the own lane on the other left or right side of the own lane, the control device 30 may set the offset amount of the target driving line to 0 (zero) and set the center line of the own lane as the target driving line.

[0067] [Processing performed by the control device] Next, an example of processing executed by the control device 30 will be described with reference to Fig. 6 to Fig. 8. For example, when the control device 30 is executing steering control, the control device 30 repeatedly executes a series of processing shown in Fig. 6 to Fig. 8 at a predetermined cycle.

[0068] 6, first, the control device 30 recognizes the surroundings of the vehicle 1, including the current lane and the road on which the current lane is located (step SP1). Then, based on the processing result of step SP1, the control device 30 recognizes the number of lanes N of the road on which the current lane is located (step SP2) and recognizes the width W of the current lane (step SP3). Furthermore, based on the processing result of step SP1, the control device 30 recognizes the right entry permitted area width SR of the entry permitted area adjacent to the right side of the current lane (step SP4) and recognizes the left entry permitted area width SL adjacent to the left side of the current lane (step SP5).

[0069] Next, the control device 30 determines whether the number of lanes N obtained by the processing of step SP2 is greater than "1" (step SP6). If it determines that the number of lanes N is not greater than "1" (in other words, the number of lanes N is "1") (step SP6: NO), the control device 30 sets the lane center line of the own lane as the target driving line (step SP22), and ends the series of processing shown in Figures 6 to 8.

[0070] On the other hand, if it is determined that the number of lanes N is greater than "1" (step SP6: YES), the control device 30 determines whether the width W obtained by the processing of step SP3 is greater than a predetermined value (e.g., 3.5 [m]) (step SP7). If it is determined that the width W is less than the predetermined value (step SP7: NO), the control device 30 proceeds to the processing of the above-mentioned step SP22, sets the lane center line of the own lane as the target driving line, and ends the series of processing shown in Figures 6 to 8.

[0071] On the other hand, if it is determined that the width W is greater than the predetermined value (step SP7: YES), the control device 30 determines whether the current lane is the right lane located on the far right of the road on which the current lane is located (step SP8).

[0072] If it is determined that the current lane is not the right lane (step SP8: NO), the control device 30 determines whether the current lane is the left-most lane of the road on which the current lane is located (step SP9).If it is determined that the current lane is not the left lane (step SP9: NO), the control device 30 proceeds to the processing of step SP22 described above, sets the center line of the current lane as the target driving line, and ends the series of processing shown in Figures 6 to 8.

[0073] On the other hand, if it is determined that the current lane is the left lane (step SP9: YES), the control device 30 proceeds to the processing of step SP10 shown in FIG. 7, and sets the value obtained by dividing the width W by a predetermined constant C1 as the offset amount OF (step SP10). For example, if the constant C1 is set to "10," then in the processing of step SP10, a value that is 1 / 10 of the width W is set as the offset amount OF. Note that the constant C1 is not limited to "10" and can be set arbitrarily by, for example, the manufacturer of the vehicle 1.

[0074] Next, the control device 30 determines whether the offset amount OF set by the processing of step SP10 is greater than a predetermined upper limit value OFmax (step SP11). The upper limit value OFmax can be arbitrarily determined, for example, by the manufacturer of the vehicle 1. If it is determined that the offset amount OF is equal to or less than the upper limit value OFmax (step SP11: NO), the control device 30 proceeds to the processing of step SP13.

[0075] On the other hand, if it is determined that the offset amount OF is greater than the upper limit value OFmax (step SP11: YES), the control device 30 sets the upper limit value OFmax as a new offset amount OF (step SP12).

[0076] Next, the control device 30 determines whether the left entry area width SL is greater than "0", in other words, whether an entry area exists adjacent to the left side of the left lane, which is the current lane (step SP13). If it is determined that the left entry area width SL is not greater than "0" (step SP13: NO), in other words, if it is determined that an entry area does not exist adjacent to the left side of the left lane, which is the current lane, the control device 30 proceeds directly to the processing of step SP15.

[0077] On the other hand, if it is determined that the left entry area width SL is greater than "0" (step SP13: YES), in other words, if it is determined that an entry area exists adjacent to the left side of the left lane, which is the current lane, the control device 30 corrects the offset amount OF (step SP14).

[0078] In the processing of step SP14, the control device 30 sets a new offset amount OF, for example, by adding a predetermined value (e.g., 10 cm) to the offset amount OF set in the processing of step SP10. This predetermined value can be arbitrarily determined, for example, by the manufacturer of the vehicle 1. Note that if adding the predetermined value to the offset amount OF set in the processing of step SP10 would result in the offset amount exceeding the upper limit value OFmax, the control device 30 may set the upper limit value OFmax as the new offset amount OF. Furthermore, if the control device 30 has set the upper limit value OFmax as the offset amount OF in the processing of step SP12, the control device 30 may skip the processing of step SP14 and proceed to the processing of step SP15.

[0079] Next, the control device 30 sets a line offset to the left from the center line of the left lane, which is the own lane, by the set offset amount OF as the target driving line (step SP15), and ends the series of processes shown in Figures 6 to 8.

[0080] 6, if it is determined that the current lane is the right lane (step SP8: YES), the control device 30 proceeds to the process of step SP16 shown in Fig. 8, where it sets the offset amount OF to a value obtained by dividing the width W by a predetermined constant C2 (step SP16). The constant C2 can be determined arbitrarily by the manufacturer of the vehicle 1, for example, similar to the above-mentioned constant C1.

[0081] Next, the control device 30 determines whether the offset amount OF set in the process of step SP16 is greater than a predetermined upper limit value OFmax (step SP17). If it is determined that the offset amount OF is equal to or less than the upper limit value OFmax (step SP17: NO), the control device 30 proceeds to the process of step SP19.

[0082] On the other hand, if it is determined that the offset amount OF is greater than the upper limit value OFmax (step SP17: YES), the control device 30 sets the upper limit value OFmax as a new offset amount OF (step SP18).

[0083] Next, the control device 30 determines whether the right entry area width SR is greater than "0", in other words, whether an entry area exists adjacent to the right side of the right lane, which is the current lane (step SP19). If it is determined that the right entry area width SR is not greater than "0" (step SP19: NO), in other words, if it is determined that an entry area does not exist adjacent to the right side of the current lane, which is the right lane, the control device 30 proceeds to the processing of step SP21.

[0084] On the other hand, if it is determined that the right entry area width SR is greater than "0" (step SP19: YES), in other words, if it is determined that an entry area exists adjacent to the right side of the right lane, which is the current lane, the control device 30 corrects the offset amount OF (step SP20).

[0085] In the process of step SP20, the control device 30 sets a new offset amount OF, for example, by adding a predetermined value (e.g., 10 cm) to the offset amount OF set in the process of step SP16. This predetermined value can be arbitrarily determined, for example, by the manufacturer of the vehicle 1. Note that if adding the predetermined value to the offset amount OF set in the process of step SP16 would result in the offset amount exceeding the upper limit value OFmax, the control device 30 may set the upper limit value OFmax as the new offset amount OF. Furthermore, if the control device 30 has set the upper limit value OFmax as the offset amount OF in the process of step SP18, the control device 30 may skip the process of step SP20 and proceed to the process of step SP21.

[0086] Next, the control device 30 sets a line offset to the right from the center line of the right lane, which is the own lane, by the set offset amount OF as the target driving line (step SP21), and ends the series of processes shown in Figures 6 to 8.

[0087] As described above, when the number of lanes on the road that includes the host lane is greater than one and the host lane is the left lane or the right lane, the control device 30 can cause the vehicle 1 to travel along a target driving line that has been offset in advance, regardless of the presence or absence of landmarks in other lanes (e.g., other vehicles traveling in other lanes). This allows the vehicle 1 to travel at a certain distance from landmarks in other lanes, while also making it possible to prevent the vehicle 1 from swaying left or right relative to the lane center line of the host lane, compared to when the target driving line is offset from the lane center line only in sections where landmarks exist in other lanes. This makes it possible for the vehicle 1 to travel along an appropriate target driving line while preventing the vehicle 1 from swaying left or right relative to the lane center line of the host lane.

[0088] Furthermore, if the width W of the vehicle's own lane is less than a predetermined value, and vehicle 1 is driven along a target driving line offset to the left or right from the center line of the vehicle's own lane, vehicle 1 may get too close to the left or right edge of the vehicle's own lane (in other words, the lane boundary), which may make the driver of vehicle 1 feel uneasy.

[0089] Therefore, as described above, the control device 30 (e.g., the steering control unit 32) may set a line offset to the left or right from the lane center line of the own lane as the target driving line when the road containing the own lane also has other lanes and the width W of the own lane is equal to or greater than a predetermined value. In other words, even if the road containing the own lane has other lanes, when the width W of the own lane is less than a predetermined value, the control device 30 may not offset the line set as the target driving line to the left or right from the lane center line of the own lane. In this way, it is possible to prevent the vehicle 1 from getting too close to the left or right edge of the own lane, causing the driver anxiety.

[0090] 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 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 state of control, it is not desirable from the viewpoint of ensuring the safety of the vehicle 1 to offset the target driving line from the center line of the lane of the vehicle itself.

[0091] Therefore, the control device 30 (e.g., the steering control unit 32) may set a line offset to the left or right from the lane center line of the own lane by a predetermined offset amount as the target driving line when the road including the own lane also has other lanes and the reliability of the surrounding conditions recognized by the recognition unit 31 is equal to or greater than a predetermined value. In other words, when the reliability of the surrounding conditions recognized by the recognition unit 31 is less than the predetermined value, the control device 30 may not offset the target driving line from the lane center line of the own lane even if the road including the own lane has other lanes. This prevents the target driving line from being offset from the lane center line of the own lane when the vehicle 1 is in an unstable state in terms of control, thereby preventing a decrease in the safety of the vehicle 1. In this case, the control device 30 may further include a processing unit that evaluates the reliability of the surrounding conditions recognized by the recognition unit 31 according to preset conditions and passes the evaluation result to the steering control unit 32.

[0092] Furthermore, in sections with large curvature (i.e., curves), the driver of the vehicle 1 often desires the vehicle 1 to travel near the center line of the lane of the vehicle 1's own lane. Therefore, when the control device 30 (e.g., the steering control unit 32) controls the steering of the vehicle 1 so that the vehicle 1 travels along a target travel line offset to the left or right from the center line of the lane of the vehicle 1's own lane, if the vehicle 1 approaches a section with a curvature equal to or greater than a predetermined value, the control device 30 may set a new target travel line that is offset from the center line of the lane of the vehicle 1's own lane by a smaller amount (e.g., by setting the offset to "0") than before the vehicle 1 approached the section. This allows the vehicle 1 to travel along an appropriate target travel line that matches the driver's desire to travel near the center line of the lane of the vehicle 1's own lane in sections with large curvature. In this case, the curvature that serves as a condition for reducing the offset amount can be arbitrarily determined by, for example, the manufacturer of the vehicle 1. The driver of the vehicle 1 may also be able to set the curvature that serves as a condition for reducing the offset amount as appropriate.

[0093] [Variations of Vehicle Control] Next, a modified example of the control of the vehicle 1 by the control device 30 will be described with reference to FIGS.

[0094] The control device 30 may set the offset amount of the target driving line to be different depending on whether or not an oncoming lane exists adjacent to the lane on which the vehicle 1 is traveling.

[0095] In the example shown in (A) of Figure 9, vehicle 1 is traveling in the left lane LL, which is the leftmost lane of road RD. To the right of left lane LL, which is the own lane, there is another lane, center lane LC. Furthermore, there is no oncoming lane LO, which will be described later, to the left of left lane LL, which is the own lane.

[0096] In contrast, in the example shown in Figure 9(B), a different road RD' runs parallel to the road RD, and an oncoming lane LO of the road RD' exists to the left of the left lane LL, which is the own lane. Here, the oncoming lane LO is a lane traveling in the opposite direction to the lanes of the road RD, including the left lane LL.

[0097] In this way, when another lane with the same traveling direction as the own lane exists on one side of the own lane, and an oncoming lane with the opposite traveling direction to the own lane exists on the other side of the own lane, the control device 30 (e.g., steering control unit 32) may reduce the offset amount of the line set as the target driving line compared to when such an oncoming lane does not exist. More specifically, in the example shown in Figure 9(B), the control device 30 may set, as the target driving line Ltg, a line that is offset to the left from the lane center line LLc of the left lane LL less compared to the example shown in Figure 9(A).

[0098] That is, when another lane with the same traveling direction as the own vehicle lane exists on either the left or right side of the own lane, and an oncoming lane with an opposite traveling direction to the own vehicle lane exists on the other left or right side of the own lane, the driver of vehicle 1 may feel uneasy about approaching the other side of the own lane (i.e., the oncoming lane). Therefore, as described above, when another lane with the same traveling direction as the own vehicle lane exists on either the left or right side of the own lane, and an oncoming lane with an opposite traveling direction to the own vehicle lane exists on the other left or right side of the own lane, by reducing the offset amount of the line set as the target traveling line, it becomes possible to make vehicle 1 travel along an appropriate target traveling line that matches the driver's desire to keep a certain distance from the oncoming lane.

[0099] Furthermore, the control device 30 may vary the amount of offset of the target driving line depending on whether the number of other vehicles traveling around the vehicle 1 is large or small.

[0100] In the example shown in (A) of FIG. 10, vehicle 1 is traveling in the right lane LR, which is the rightmost lane of road RD. To the left of the right lane LR, which is the vehicle's own lane, there is another lane, the center lane LC. In addition, there is another vehicle OV around vehicle 1 (in the illustrated example, in front of vehicle 1 in the right lane LR). In contrast, in the example shown in (B) of FIG. 10, there is no other vehicle OV around vehicle 1 traveling in the right lane LR.

[0101] In this way, when another lane exists to the left or right of the own lane and there are relatively few other vehicles traveling in the own lane, the control device 30 (e.g., the steering control unit 32) may reduce the offset of the line set as the target driving line compared to when there are relatively many other vehicles. More specifically, in the example shown in FIG. 10B, the control device 30 may set, as the target driving line Ltg, a line that is offset to the right from the lane center line LRc of the right lane LR less compared to the example shown in FIG. 10A. In this way, it is possible to prevent the driver of the vehicle 1 from feeling uncomfortable when the vehicle 1 travels along a target driving line that is significantly offset even when there are few other vehicles around the vehicle 1.

[0102] In addition, in each of the above examples, if the vehicle's lane is located to the left of the center lane on the road, the target driving line is a line offset to the left from the center line of the vehicle's lane, while if the vehicle's lane is located to the right of the center lane, the target driving line is a line offset to the right from the center line of the vehicle's lane, but this is not limited to this.

[0103] For example, if the current lane is the right-hand lane of the road, the control device 30 may set the lane center line of the current lane as the target driving line, whereas if the current lane is the left of the right lane, the control device 30 may set a line offset to the left from the lane center line of the current lane as the target driving line.In this case, the control device 30 may also set the offset amount of the target driving line to be different depending on whether there are two or more lanes to the right of the current lane or whether there is one other lane to the right of the current lane.

[0104] The road RD shown in Fig. 11 is a highway with the direction indicated by the arrow α as the direction of travel, and is a three-lane road with a left lane LL, a center lane LC, and a right lane LR. For example, on the road RD shown in Fig. 11, the lane type of the right lane LR is a driving lane, and the lane types of the center lane LC and the left lane LL are passing lanes.

[0105] 11, when the vehicle 1 is traveling in the right lane LR (i.e., the driving lane), in other words, when the host lane is the right lane LR, the control device 30 may set the lane center line LRc of the right lane LR as the target driving line Ltg1. When the vehicle 1 is traveling in the center lane LC (i.e., the passing lane), in other words, when the host lane is the center lane LC, the control device 30 may set a line offset to the left from the lane center line LCc of the center lane LC as the target driving line Ltg2. When the vehicle 1 is traveling in the left lane LL (i.e., the passing lane), in other words, when the host lane is the left lane LL, the control device 30 may set a line offset to the left from the lane center line LLc of the left lane LL as the target driving line Ltg3. When the own lane is the left lane LL (in other words, when there are two or more other lanes to the right of the own lane), the control device 30 may increase the offset amount compared to when the own lane is the center lane LC (in other words, when there is one other lane to the right of the own lane).

[0106] In the example described here, if the vehicle's own lane is the right lane LR, the lane center line LRc of the right lane LR is set as the target driving line Ltg1; if the vehicle is in the center lane LC, a line offset to the left from the lane center line LCc of the center lane LC is set as the target driving line Ltg2; and if the vehicle is in the left lane LL, a line offset more to the left from the lane center line LLc of the left lane LL is set as the target driving line Ltg3; however, this is not limited to this.

[0107] For example, in contrast to the above example, if the vehicle's own lane is the left lane LL, the lane center line LLc of the left lane LL may be set as the target driving line; if the vehicle is in the center lane LC, a line offset to the right from the lane center line LCc of the center lane LC may be set as the target driving line; and if the vehicle is in the right lane LR, a line offset more to the right from the lane center line LLc of the right lane LR may be set as the target driving line.

[0108] In this way, the control device 30 (e.g., steering control unit 32) may increase the offset amount of the target driving line when there are two or more other lanes on either the left or right side of the own lane compared to when there is one other lane on either the left or right side of the own lane.

[0109] That is, when there are two or more other lanes on either the left or right side of the own lane, other vehicles traveling in the other lane adjacent to one side of the own lane may be traveling along a line that is offset to the other side from the lane center line of the other lane. For this reason, in such cases, the driver of vehicle 1 often desires vehicle 1 to travel along a line that is more offset to the other side from the lane center line of the own lane than when there is only one other lane on either side of the own lane.

[0110] Therefore, as described above, when there are two or more other lanes on either side of the own lane, the target driving line is set to a line that is more offset to the other side of the own lane from the center line of the own lane than when there is one other lane on either side of the own lane, making it possible for the vehicle 1 to travel along an appropriate target driving line that suits the driver's sense.

[0111] The control device 30 may also determine whether to offset the target driving line based on the lane type of the current lane. For example, if the lane type of the current lane is a driving lane, the control device 30 may set the lane center line of the current lane as the target driving line, and if the lane type of the current lane is an overtaking lane, the control device 30 may set a line offset from the lane center line of the current lane to the opposite side of the driving lane as the target driving line. Information indicating the lane type of each lane including the current lane can be obtained, for example, based on the recognition results of road signs and the like by the recognition unit 31, the map information database 24, etc.

[0112] Furthermore, the technology described using FIGS. 2 to 4 and the like and the technology described using FIG. 11 can also be combined and employed.

[0113] The road RD shown in Figure 12 is a five-lane road with the direction indicated by the arrow α as the direction of travel, and has a left lane LL1, a right lane LR1, a leftmost lane LL2, a rightmost lane LR2, and a center lane LC. Here, the leftmost lane LL2 is the leftmost lane of the lanes of road RD, and the rightmost lane LR2 is the rightmost lane of the lanes of road RD. The left lane LL1 is the lane located between the leftmost lane LL2 and the center lane LC, and the right lane LR1 is the lane located between the rightmost lane LR2 and the center lane LC.

[0114] 12, when the vehicle 1 is traveling in the center lane LC, the control device 30 may set the lane center line LCc of the center lane LC as the target driving line Ltg11. When the vehicle 1 is traveling in the left lane LL1, the control device 30 may set a line offset to the left from the lane center line LL1c of the left lane LL1 as the target driving line Ltg12. When the vehicle 1 is traveling in the leftmost lane LL2, the control device 30 may set a line offset more to the left from the lane center line LL2c of the leftmost lane LL2 as the target driving line Ltg13.

[0115] Furthermore, when the vehicle 1 is traveling in the right lane LR1, the control device 30 may set a line offset to the right from the lane center line LR1c of the right lane LR1 as the target driving line Ltg14. When the vehicle 1 is traveling in the rightmost lane LR2, the control device 30 may set a line offset more to the right from the lane center line LR2c of the rightmost lane LR2 as the target driving line Ltg15.

[0116] Although one embodiment of the present invention has been described above with reference to the drawings, it goes without saying that the present invention is not limited to the above-described embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention.

[0117] This specification etc. describes at least the following matters. Note that the components etc. corresponding to those in the above-mentioned embodiment are shown in parentheses, but are not limited to these.

[0118] (1) A vehicle control device (control device 30) for controlling a vehicle (vehicle 1), a recognition unit (recognition unit 31) that recognizes the surrounding conditions of the vehicle, including the lane in which the vehicle is traveling and the road (road RD) on which the lane is traveling; a steering control unit (steering control unit 32) that sets a target driving line (target driving lines Ltg, Ltg1 to Ltg3, Ltg11 to Ltg15) for the vehicle in the own lane based on the surrounding conditions recognized by the recognition unit, and controls the steering of the vehicle so that the vehicle travels along the target driving line; Equipped with The steering control unit When the road has another lane adjacent to the own lane, a line offset by a predetermined offset amount to the left or right from a lane center line of the own lane can be set as the target driving line. Vehicle control device.

[0119] According to (1), when a road having a vehicle's own lane also has other lanes adjacent to the vehicle's own lane, the vehicle can be made to travel along a pre-offset target driving line regardless of the presence or absence of landmarks in the other lanes (e.g., other vehicles traveling in the other lanes). This allows the vehicle to travel at a certain distance from landmarks in the other lanes, while suppressing the vehicle's deviation from the lane center line of the vehicle's own lane compared to a case in which the target driving line is offset from the lane center line only in sections where landmarks exist in the other lanes. Therefore, the system enables the vehicle to travel along an appropriate target driving line while suppressing deviation from the lane center line of the vehicle's own lane. This ultimately improves traffic safety and contributes to the development of a sustainable transportation system.

[0120] (2) The vehicle control device according to (1), when the other lane is present on one of the left and right sides of the own vehicle lane, the steering control unit sets a line offset from the lane center line to the other of the left and right sides by the offset amount as the target driving line. Vehicle control device.

[0121] According to (2), it is possible to make the vehicle travel along an appropriate target driving line that matches the driver's desire to maintain a certain distance from other lanes on either the left or right side of the vehicle's lane.

[0122] (3) The vehicle control device according to (2), the steering control unit, when there are two or more other lanes on the one side of the own vehicle lane, increases the offset amount compared to when there is one other lane on the one side of the own vehicle lane; Vehicle control device.

[0123] When there are two or more other lanes on either side of the host lane, other vehicles traveling in the other lane adjacent to one side of the host lane may be traveling along a line that is offset to the other side from the center line of the other lane. For this reason, in such cases, the driver of the host vehicle often desires the host vehicle to travel along a line that is more offset to the other side from the center line of the host lane than when there is only one other lane on either side of the host lane. According to (3), it is possible to make the host vehicle travel along an appropriate target traveling line that matches the driver's sense.

[0124] (4) A vehicle control device according to (2) or (3), The other lane is a lane in which the traveling direction of the vehicle is the same as the own lane, When the other lane exists on the one side of the own lane and an oncoming lane (oncoming lane LO) exists on the other side of the own lane, the steering control unit reduces the offset amount compared to when the oncoming lane does not exist. Vehicle control device.

[0125] When there is another lane on either side of the own lane, traveling in the same direction as the own lane, and there is an oncoming lane on the other side of the own lane, traveling in the opposite direction to the own lane, the driver of the own vehicle may feel uneasy about approaching the other side of the own lane (i.e., the oncoming lane). According to (4), it is possible to make the own vehicle travel along an appropriate target travel line that matches the driver's desire to keep a certain distance from the oncoming lane.

[0126] (5) A vehicle control device according to any one of (2) to (4), When the other lane is present on the one side of the own lane and an approachable area (approachable area S) into which the vehicle can enter is present adjacent to the own lane on the other side of the own lane, the steering control unit increases the offset amount compared to when the approachable area does not exist. Vehicle control device.

[0127] When there is another lane on either the left or right side of the own lane, and an accessible area exists adjacent to the own lane on the other left or right side of the own lane, the driver of the own vehicle often desires that the own vehicle travel along a line that is more offset from the center line of the own lane, compared to when there is no accessible area. According to (5), it is possible to make the own vehicle travel along an appropriate target travel line that matches the driver's sense.

[0128] (6) A vehicle control device according to any one of (2) to (5), the recognition unit recognizes the surrounding situation further including other vehicles (other vehicles OV) present around the vehicle, the steering control unit, when the other lane is present on the one side of the own lane and the number of other vehicles traveling on the own lane is relatively small, reduces the offset amount compared to when the number of other vehicles is relatively large. Vehicle control device.

[0129] According to (6), it is possible to prevent the driver of the vehicle from feeling uncomfortable when the vehicle is traveling along a target driving line that is significantly offset, even though there are few other vehicles around the vehicle.

[0130] (7) A vehicle control device according to any one of (2) to (6), the steering control unit is configured to be able to set the lane center line as the target driving line when the other lanes exist on both the left and right sides of the own lane. Vehicle control device.

[0131] According to (7), it is possible to make the vehicle travel along an appropriate target driving line that matches the driver's desire to maintain a certain distance from each of the other lanes on either side of the vehicle's lane.

[0132] (8) A vehicle control device according to any one of (1) to (7), the steering control unit is capable of setting a line offset to the left or right from the lane center line as the target driving line when the road has the other lane and the width of the own lane is equal to or greater than a predetermined value. Vehicle control device.

[0133] According to (8), it is possible to prevent the occurrence of a situation in which the vehicle approaches too close to the left or right edge of the vehicle's lane, causing anxiety to the driver of the vehicle.

[0134] (9) A vehicle control device according to any one of (1) to (8), When the steering control unit controls the steering of the vehicle so that the vehicle travels along the target driving line that is offset to the left or right from the lane center line, and the vehicle approaches a section whose curvature is equal to or greater than a predetermined value, the steering control unit can set a line with a smaller offset amount as the new target driving line compared to before the vehicle approached the section. Vehicle control device.

[0135] According to (9), in sections with large curvature, it is possible to make the vehicle travel along an appropriate target travel line that matches the driver's desire to travel near the center line of the lane.

[0136] (10) A vehicle control device according to any one of (1) to (9), the steering control unit is configured to be able to set, as the target driving line, a line offset to the left or right from the lane center line by the offset amount when the road has the other lane and the reliability of the surrounding situation recognized by the recognition unit is equal to or greater than a predetermined value. Vehicle control device.

[0137] According to (10), when the vehicle is in an unstable state in terms of control, it is possible to prevent the target driving line from being offset from the center line of the lane of the vehicle, which would result in a decrease in the safety of the vehicle. [Explanation of symbols]

[0138] 1 vehicle 30 Control device (vehicle control device) 31 Recognition part 32 Steering control unit LO Oncoming traffic Ltg, Ltg1~3, Ltg11~15 target driving line OV Other vehicles RD road S Accessible area

Claims

1. A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle, including a lane in which the vehicle is traveling and a road on which the lane is located; a steering control unit that sets a target driving line for the vehicle in the own lane based on the surrounding conditions recognized by the recognition unit, and controls steering of the vehicle so that the vehicle travels along the target driving line; Equipped with The steering control unit When the road has another lane adjacent to the own vehicle lane, a line offset by a predetermined offset amount to the left or right from a lane center line of the own vehicle lane can be set as the target driving line, When the other lane is present on either the left or right side of the own vehicle lane, a line offset from the lane center line to the other left or right side by the offset amount is set as the target driving line; When two or more other lanes exist on the one side of the own vehicle lane, the offset amount is increased compared to when there is one other lane on the one side of the own vehicle lane. Vehicle control device.

2. The vehicle control device according to claim 1, The other lane is a lane in which the traveling direction of the vehicle is the same as the own lane, the steering control unit, when the other lane exists on the one side of the own lane and an oncoming lane exists on the other side of the own lane, reduces the offset amount compared to when the oncoming lane does not exist. Vehicle control device.

3. The vehicle control device according to claim 1, the steering control unit, when the other lane is present on the one side of the own lane and an approachable area into which the vehicle can enter is present adjacent to the own lane on the other side of the own lane, increases the offset amount compared to when the approachable area is not present. Vehicle control device.

4. The vehicle control device according to claim 1, the recognition unit recognizes the surrounding situation further including other vehicles present around the vehicle, the steering control unit, when the other lane is present on the one side of the own lane and the number of other vehicles traveling on the own lane is relatively small, reduces the offset amount compared to when the number of other vehicles is relatively large. Vehicle control device.

5. The vehicle control device according to claim 1, the steering control unit is configured to be able to set the lane center line as the target driving line when the other lanes exist on both the left and right sides of the own lane. Vehicle control device.

6. The vehicle control device according to claim 1, the steering control unit is capable of setting a line offset to the left or right from the lane center line as the target driving line when the road has the other lane and the width of the own lane is equal to or greater than a predetermined value. Vehicle control device.

7. The vehicle control device according to claim 1, When the steering control unit controls the steering of the vehicle so that the vehicle travels along the target driving line that is offset to the left or right from the lane center line, and the vehicle approaches a section whose curvature is equal to or greater than a predetermined value, the steering control unit can set a line with a smaller offset amount as the new target driving line compared to before the vehicle approached the section. Vehicle control device.

8. The vehicle control device according to claim 1, the steering control unit is configured to be able to set, as the target driving line, a line offset to the left or right from the lane center line by the offset amount when the road has the other lane and the reliability of the surrounding situation recognized by the recognition unit is equal to or greater than a predetermined value. Vehicle control device.

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