Vehicle control device

Abstract

To provide a vehicle control device which allows by simple operation, a driver to approve a proposal of a lane change of an own vehicle.SOLUTION: A vehicle control device 10 proposes a lane change to the driver and when the driver approves the proposal of the lane change, the vehicle control device performs lane change control for automatically performing the lane change of an own vehicle 100. If an acceleration operation is performed by the driver when the proposal of the lane change to an adjacent lane is made to pass a preceding vehicle 200, the vehicle control device determines that the driver has approved the proposal of the lane change to the adjacent lane; and if a deceleration operation is performed by the driver when the proposal of the lane change to an original lane is made after following the lane change to the adjacent lane and then passing the preceding vehicle, the vehicle control device determines that the driver has approved the proposal of the lane change to the original lane.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] A vehicle control device is known that, when a driver operates a predetermined button when a lane change is suggested to the driver, determines that the driver has approved the lane change suggestion and automatically causes the vehicle to change lanes (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-113048 Summary of the Invention

[0004] In the vehicle control device described above, the driver needs to operate a specific button to approve a lane change proposal, but this operation is a cumbersome operation for the driver because it is separate from operations that are essential for the driver to operate the vehicle, such as operations to accelerate or decelerate the vehicle.

[0005] An object of the present invention is to provide a vehicle control device that allows the driver to approve a proposal to change lanes of the vehicle with a simple operation.

[0006] The vehicle control device according to the present invention proposes a lane change to the driver, and when the driver approves the proposal, , ownThe vehicle includes a control device that executes lane change control for automatically changing lanes of a vehicle. The control device is configured to determine that the driver has accepted the proposal to change lanes to the adjacent lane if the driver accelerates when the proposal to change lanes to the adjacent lane is made to overtake a preceding vehicle, and to determine that the driver has accepted the proposal to change lanes to the original lane if the driver decelerates when the proposal to change lanes to the original lane is made after the lane change to the adjacent lane and the preceding vehicle has been overtaken.

[0007] According to the present invention, when a lane change to an adjacent lane is proposed, the driver can accept the proposal by performing an acceleration operation. Generally, when a driver performs a driving operation to change the lane of the host vehicle to an adjacent lane, the driver often performs an acceleration operation. Therefore, it can be said that an acceleration operation by the driver is a simple operation to accept the proposal to change the lane to an adjacent lane. Furthermore, according to the present invention, when a lane change to the original lane is proposed, the driver can accept the proposal by performing a deceleration operation. Generally, when a driver performs a driving operation to change the lane of the host vehicle to the original lane, the driver often performs a deceleration operation. Therefore, it can be said that a deceleration operation by the driver is a simple operation to accept the proposal to change the lane to the original lane. Therefore, the driver can accept the lane change proposal of the host vehicle with a simple operation.

[0008] In addition, in the vehicle control device of the present invention, the control device may be configured to determine that the driver has denied the proposal to change lane to the adjacent lane if the driver performs a deceleration operation when a lane change to the adjacent lane is proposed, and to determine that the driver has denied the proposal to change lane to the original lane if the driver performs an acceleration operation when a lane change to the original lane is proposed.

[0009] As described above, in general, when a driver performs a driving operation to change the lane of the host vehicle to an adjacent lane, the driver often performs an acceleration operation. Therefore, it can be said that a deceleration operation by the driver is a simple operation to reject a proposal to change the lane to an adjacent lane. In addition, in general, when a driver performs a driving operation to change the lane of the host vehicle to the original lane, the driver often performs a deceleration operation. Therefore, it can be said that an acceleration operation by the driver is a simple operation to reject a proposal to change the lane to the original lane. Therefore, according to the present invention, the driver can reject a proposal to change the lane of the host vehicle with a simple operation.

[0010] Furthermore, in the vehicle control device according to the present invention, the control device may be configured to suggest a lane change to the adjacent lane when the distance between the host vehicle and the preceding vehicle is less than a predetermined distance and the traveling speed of the host vehicle is greater than the traveling speed of the preceding vehicle.

[0011] According to the present invention, it is possible to determine whether to propose a lane change to an adjacent lane using the distance between the host vehicle and the preceding vehicle, as well as the traveling speed of the host vehicle and the traveling speed of the preceding vehicle.

[0012] Furthermore, in the vehicle control device according to the present invention, the control device may be configured to suggest changing lanes back to the original lane if, after changing lanes to the adjacent lane and overtaking the preceding vehicle, there is space in front of the preceding vehicle for the vehicle to enter. Vehicle control device.

[0013] According to the present invention, it is possible to determine whether or not to propose a lane change back to the original lane by determining whether or not there is space ahead of the preceding vehicle for the host vehicle to enter.

[0014] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram showing a vehicle control device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing a situation in which a proposal to change to an overtaking lane is made. [Figure 4] FIG. 4 is a diagram showing a situation in which a return lane change proposal is made. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, a vehicle control device according to an embodiment of the present invention will be described with reference to the drawings. As shown in Fig. 1, a vehicle control device 10 according to the present invention is mounted on a host vehicle 100. The vehicle control device 10 may also be mounted on a vehicle that can be driven remotely.

[0017] Furthermore, the present invention is applicable not only to manually driven vehicles that are driven by manual driving, in which the driver himself performs driving operations on the vehicle 100, but also to automatically driven vehicles that are driven by automatic driving, in which a control device such as an ECU automatically drives the vehicle 100 without the driver performing any driving operations himself.

[0018] As shown in FIG. 1, the vehicle control device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 includes a microcomputer as a main component. The microcomputer includes a CPU, storage media such as ROM, RAM, and non-volatile memory, as well as an interface. The CPU executes instructions, programs, or routines stored in the storage media to realize various functions. In particular, in this example, the vehicle control device 10 stores programs in the storage media that realize various controls executed by the vehicle control device 10.

[0019] The vehicle control device 10 may be configured so that the program stored in the recording medium can be updated via wireless communication with an external device (for example, via the Internet).

[0020] As shown in Fig. 1, the host vehicle 100 is equipped with a drive unit 21, a braking unit 22, and a steering unit 23. The drive unit 21, the braking unit 22, and the steering unit 23 are electrically connected to an ECU 90. The vehicle control device 10 can control the drive force applied to the host vehicle 100 by controlling the operation of the drive unit 21. The vehicle control device 10 can also control the braking force applied to the host vehicle 100 by controlling the operation of the braking unit 22. The vehicle control device 10 can also control the steering force applied to the host vehicle 100 by controlling the operation of the steering unit 23.

[0021] Furthermore, the vehicle 100 is equipped with a suggestion device 30, an accelerator pedal 41 as an acceleration operation device, a brake pedal 42 as a deceleration operation device, a set vehicle speed increase button 43 as a set vehicle speed increase operation device, a set vehicle speed decrease button 44 as a set vehicle speed decrease operation device, a vehicle speed detection device 45, and a surrounding information detection device 50.

[0022] The suggestion device 30 is a device that suggests a lane change of the host vehicle 100, which will be described later, to the driver of the host vehicle 100. In this example, the suggestion device 30 includes a display 31 and a speaker 32. The display 31 as a display device and the speaker 32 as an audio device are electrically connected to the ECU 90. The vehicle control device 10 can display a lane change suggestion image, which will be described later, on the display 31, and can also output a lane change suggestion sound, which will be described later, from the speaker 32.

[0023] The accelerator pedal 41 is a device operated by the driver to accelerate the vehicle 100. The accelerator pedal 41 is electrically connected to the ECU 90. The vehicle control device 10 acquires the amount of operation of the accelerator pedal 41 and controls the driving force applied to the vehicle 100 in accordance with the amount of operation.

[0024] The brake pedal 42 is a device that is operated by the driver to decelerate the host vehicle 100. The brake pedal 42 is electrically connected to the ECU 90. The vehicle control device 10 acquires the amount of operation of the brake pedal 42 and controls the braking force applied to the host vehicle 100 in accordance with the amount of operation.

[0025] The set vehicle speed increase button 43 is a device that is operated by the driver to increase the set vehicle speed Vset in constant speed cruise control. The constant speed cruise control is a control that automatically maintains the host vehicle speed Vego at the set vehicle speed Vset. The set vehicle speed increase button 43 is electrically connected to the ECU 90. When the set vehicle speed increase button 43 is operated, the vehicle control device 10 increases the set vehicle speed Vset.

[0026] The set vehicle speed decrease button 44 is a device that is operated by the driver to decrease the set vehicle speed Vset in constant speed cruise control. The set vehicle speed decrease button 44 is electrically connected to the ECU 90. When the set vehicle speed decrease button 44 is operated, the vehicle control device 10 decreases the set vehicle speed Vset.

[0027] The vehicle speed detection device 45 is electrically connected to the ECU 90. The vehicle control device 10 acquires the traveling speed of the host vehicle 100 as the host vehicle speed Vego by the vehicle speed detection device 45. The vehicle speed detection device 45 is, for example, a wheel speed sensor.

[0028] The surrounding information detection device 50 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes an image sensor 51 and an electromagnetic wave sensor 52.

[0029] The image sensor 51 is a sensor, such as a camera, that captures an image of the periphery of the host vehicle 100. The image sensor 51 is electrically connected to the ECU 90. The vehicle control device 10 uses the image sensor 51 to acquire an image of the periphery of the host vehicle 100 (periphery image) as periphery detection information IF.

[0030] The electromagnetic wave sensor 52 is a sensor that detects objects present in the vicinity of the host vehicle 100, and is, for example, a radio wave sensor such as a radar sensor (e.g., millimeter wave radar), a sound wave sensor such as an ultrasonic sensor (clearance sonar), or an optical sensor such as a laser radar (LiDAR). The electromagnetic wave sensor 52 is electrically connected to the ECU 90. The vehicle control device 10 acquires information (target information) about objects in the vicinity of the host vehicle 100 via the electromagnetic wave sensor 52 as periphery detection information IF.

[0031] <Vehicle control device operation> Next, we will explain the operation of the vehicle control device 10. The vehicle control device 10 executes the routine shown in Fig. 2 at a predetermined calculation cycle, and thereby performs lane change control to automatically change lanes of the vehicle 100 when predetermined conditions are met.

[0032] At a predetermined timing, the vehicle control device 10 starts the processing from step S200 of the routine shown in FIG. 2, and proceeds to step S205 to determine whether the overtaking lane change condition C1 is satisfied.

[0033] As shown in FIG. 3, the overtaking lane change condition C1 is a condition under which it is estimated that the driver desires to perform overtaking lane change control, which will be described later. More specifically, the overtaking lane change condition C1 is a condition under which, for example, the distance from the host vehicle 100 to the preceding vehicle 200 (inter-vehicle distance D) is equal to or less than a predetermined distance (predetermined inter-vehicle distance Dth) and the host vehicle speed Vego is greater than the traveling speed Vpre of the preceding vehicle 200 by a predetermined speed ΔV or more (Vego≧Vpre+ΔV). The vehicle control device 10 acquires the inter-vehicle distance D and the traveling speed Vpre of the preceding vehicle 200 based on the periphery detection information IF. The overtaking lane change condition C1 may also include a condition that lane keeping control is being executed. The lane keeping control is a control that assists the host vehicle 100 in steering so that the host vehicle 100 travels while maintaining a center position in the lane. The predetermined speed ΔV is set to a value greater than zero.

[0034] If the vehicle control device 10 determines "Yes" in step S205, the process proceeds to step S210, where it performs a process of proposing to change to an overtaking lane. The process of proposing to change to an overtaking lane is a process of proposing to change the vehicle 100 to an adjacent lane to overtake the preceding vehicle 200 (overtaking lane change proposal). In this example, the process of proposing to change to an overtaking lane is a process of performing at least one of displaying the overtaking lane change proposal on the display 31 and outputting the overtaking lane change proposal from the speaker 32.

[0035] Next, the vehicle control device 10 proceeds to step S215 to determine whether an approval operation has been performed by the driver. In this example, the approval operation in step S215 is the driver's operation of the accelerator pedal 41 (accelerator operation or acceleration operation) or the driver's operation of the set vehicle speed increase button 43 (set vehicle speed increase operation or acceleration operation).

[0036] If the vehicle control device 10 determines "Yes" in step S215, it proceeds to step S220, terminates the overtaking lane change suggestion process, and then proceeds to step S225, where it executes overtaking lane change control. The overtaking lane change control is a lane change control that controls the steering force applied to the host vehicle 100 to change lanes into an adjacent lane. Next, the vehicle control device 10 proceeds to step S295, where it temporarily terminates the processing of this routine.

[0037] That is, when the vehicle control device 10 proposes changing lanes to an adjacent lane to overtake the preceding vehicle 200, if the driver accelerates, the vehicle control device 10 determines that the driver has approved the proposal to change lanes to an adjacent lane, and executes overtaking lane change control.

[0038] On the other hand, if the vehicle control device 10 determines "No" in step S215, the process proceeds to step S230, where it determines whether or not a denial operation has been performed by the driver. In this example, the denial operation in step S230 is the driver's operation of the brake pedal 42 (braking operation or deceleration operation) or operation of the set vehicle speed decrease button 44 (set vehicle speed decrease operation or deceleration operation).

[0039] If the vehicle control device 10 determines "Yes" in step S230, the process proceeds to step S235, where the process of proposing a change to an overtaking lane ends, and then the process proceeds to step S295, where the process of this routine ends for the time being.

[0040] In other words, if the driver performs a deceleration operation when a lane change to an adjacent lane is proposed, the vehicle control device 10 determines that the driver has rejected the proposal to change to an adjacent lane, and does not execute overtaking lane change control.

[0041] On the other hand, if the vehicle control device 10 determines "No" in step S230, the process proceeds to step S295 and temporarily ends the process of this routine.

[0042] The vehicle control device 10 may be configured to determine that the driver has rejected the overtaking lane change proposal and terminate the overtaking lane change proposal process when the time (overtaking proposal time T1) that has elapsed since the start of the overtaking lane change proposal process in step S210 becomes equal to or greater than a predetermined time (predetermined overtaking proposal time T1_th). Of course, in this case, the overtaking lane change control is not performed.

[0043] If the vehicle control device 10 determines "No" in step S205, the process proceeds to step S240, where it determines whether or not the return lane change condition C2 is satisfied.

[0044] As shown in Fig. 4, the return lane change condition C2 is a condition under which it is estimated that the driver desires to perform return lane change control, which will be described later. More specifically, the return lane change condition C2 is a condition under which, for example, after the host vehicle 100 has overtaken the preceding vehicle 200, there is space ahead of the preceding vehicle 200 for the host vehicle 100 to enter. The vehicle control device 10 determines whether there is space ahead of the preceding vehicle 200 for the host vehicle 100 to enter, based on the periphery detection information IF. Furthermore, if the overtaking lane change condition C1 includes a condition that lane keeping control is being executed, the return lane change condition C2 also includes a condition that lane keeping control is being executed.

[0045] If the vehicle control device 10 determines "Yes" in step S240, the process proceeds to step S245, and executes a return lane change proposal process. The return lane change proposal process is a process of proposing that the host vehicle 100 enter ahead of the preceding vehicle 200 (return lane change proposal). In this example, the return lane change proposal process is a process of performing at least one of displaying the return lane change proposal on the display 31 and outputting the return lane change proposal from the speaker 32.

[0046] Next, the vehicle control device 10 proceeds to step S250 to determine whether or not an approval operation has been performed by the driver. In this example, the approval operation in step S250 is a braking operation (deceleration operation) or a set vehicle speed decrease operation (deceleration operation).

[0047] If the vehicle control device 10 determines "Yes" in step S250, it proceeds to step S255, terminates the return lane change suggestion process, and then proceeds to step S260, where it executes return lane change control. The return lane change control is a lane change control that controls the steering force applied to the host vehicle 100 to cause the host vehicle 100 to enter the space ahead of the preceding vehicle 200, thereby causing the host vehicle 100 to change lanes back to the original lane. Next, the vehicle control device 10 proceeds to step S295, where it temporarily ends the processing of this routine.

[0048] That is, when the vehicle control device 10 proposes to change lanes back to the original lane after changing lanes to an adjacent lane and overtaking the preceding vehicle 200, if the driver performs a deceleration operation, the vehicle control device 10 determines that the driver has approved the proposal to change lanes back to the original lane, and executes return lane change control.

[0049] On the other hand, if the vehicle control device 10 determines "No" in step S250, the process proceeds to step S265, where it determines whether or not a denial operation has been performed by the driver. In this example, the denial operation in step S265 is an accelerator operation (acceleration operation) or a set vehicle speed increase operation (acceleration operation) by the driver.

[0050] If the vehicle control device 10 determines "Yes" in step S265, it proceeds to step S270, terminates the return lane change proposal process, and then proceeds to step S295, temporarily terminating the processing of this routine.

[0051] In other words, if the driver accelerates when a lane change to the original lane is suggested, the vehicle control device 10 determines that the driver has rejected the suggestion to change lane to the original lane, and does not execute return lane change control.

[0052] On the other hand, if the vehicle control device 10 determines "No" in step S270, the process proceeds to step S295 and temporarily ends the process of this routine.

[0053] The vehicle control device 10 may be configured to determine that the driver has rejected the return lane change proposal and terminate the return lane change proposal process when the time (return proposal time T2) that has elapsed since the start of the return lane change proposal process in step S245 is equal to or exceeds a predetermined time (predetermined return proposal time T2_th). In this case, the return lane change control is not performed. The predetermined return proposal time T2_th may be set to a time equal to or different from the predetermined overtaking proposal time T1_th.

[0054] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0055] 10...vehicle control device, 30...suggestion device, 31...display, 32...speaker, 41...accelerator pedal, 42...brake pedal, 43...set vehicle speed increase button, 44...set vehicle speed decrease button, 90...ECU, 100...host vehicle, 200...preceding vehicle

Claims

1. A vehicle control device including a control device that performs lane change control to automatically change lanes of a vehicle when a lane change is suggested to a driver and the driver accepts the suggestion, The control device When a lane change to an adjacent lane is proposed to be made in order to overtake a preceding vehicle, if the driver performs an acceleration operation, it is determined that the driver has approved the proposal to change to the adjacent lane, When a proposal to change lanes back to the original lane is made after the vehicle has changed lanes to the adjacent lane and overtaken the preceding vehicle, if the driver performs a deceleration operation, it is determined that the driver has accepted the proposal to change lanes back to the original lane. It is configured as follows: Vehicle control device.

2. 2. The vehicle control device according to claim 1, The control device If the driver performs a deceleration operation when the lane change to the adjacent lane is proposed, it is determined that the driver has denied the proposal to change to the adjacent lane; If the driver performs an acceleration operation when the lane change to the original lane is proposed, it is determined that the driver has denied the proposal to change to the original lane. It is configured as follows: Vehicle control device.

3. 3. The vehicle control device according to claim 1, the control device is configured to suggest a lane change to the adjacent lane when the distance between the host vehicle and the preceding vehicle becomes equal to or shorter than a predetermined distance and the traveling speed of the host vehicle is higher than the traveling speed of the preceding vehicle. Vehicle control device.

4. 3. The vehicle control device according to claim 1, the control device is configured to suggest a lane change back to the original lane when, after changing lanes to the adjacent lane, there is a space in front of the preceding vehicle for the host vehicle to enter after overtaking the preceding vehicle. Vehicle control device.

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