Vehicle control device, vehicle control method, and program

Abstract

To improve convenience for an occupant of a vehicle.SOLUTION: A vehicle control device automatically controls steering of the vehicle and perform an automated lane change based on surrounding conditions and instruction information that is a lane change instruction. The instruction information includes first instruction information transmitted in response to operation of a first operator and second instruction information transmitted in response to operation of a second operator different from the first operator. When determining that a lane change is possible based on the surrounding conditions when the first instruction information is acquired, the vehicle control device executes first lane change control to allow the vehicle to change the lane to an adjacent lane. In response to acquisition of the second instruction information, the vehicle control device transitions to a lane change standby state, maintains the standby state until a lane change is possible based on the surrounding conditions, and, when determining that a lane change is possible based on the surrounding conditions in the standby state, the vehicle control device executes second lane change control to allow the vehicle to change the lane to an adjacent lane.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] In recent years, efforts to provide a sustainable transportation system that takes various situations into consideration have been active. Toward this realization, research and development focusing on further improving traffic safety and convenience through research and development of driving support technologies have been carried out. For example, a driving control device that automatically changes lanes when a system proposes a lane change and the proposal is accepted, or that automatically changes lanes when a driver operates a direction indicator lever, has been disclosed (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional technology, the convenience for vehicle occupants (e.g., drivers) may not be sufficient. For example, there may be only one type of lane change according to the driver's will, and it may not be possible to realize an automatic lane change that reflects the driver's will, resulting in insufficient convenience.

[0005] The present invention has been made in consideration of such circumstances, and one of its objectives is to provide a vehicle control device, a vehicle control method, and a program that can improve the convenience for vehicle occupants (e.g., drivers). Ultimately, it contributes to the development of a sustainable transportation system.

Means for Solving the Problems

[0006] The vehicle control device, vehicle control method, and program according to this invention employ the following configuration. (1) A vehicle control device according to one aspect of the present invention includes a recognition unit that recognizes the surrounding conditions of a vehicle, and a control unit that automatically controls the steering of the vehicle to perform an automatic lane change based on the surrounding conditions recognized by the recognition unit and instruction information which is an instruction to change lanes, wherein the instruction information includes first instruction information transmitted in response to the operation of a first operator and second instruction information transmitted in response to the operation of a second operator different from the first operator, and the control unit, upon acquisition of the first instruction information, executes a first lane change control to change the vehicle to an adjacent lane if it determines that a lane change is possible based on the surrounding conditions at the time the first instruction information was acquired, and upon acquisition of the second instruction information, transitions to a waiting state for the lane change, maintains the waiting state until a lane change becomes possible based on the surrounding conditions, and executes a second lane change control to change the vehicle to an adjacent lane if it determines that a lane change is possible based on the surrounding conditions in the waiting state.

[0007] (2) In the embodiment of (1) above, the control unit illuminates the turn signal when the first operator is operated.

[0008] (3) In the embodiment of (1) above, when the second operator is operated, the control unit does not illuminate the turn signal from the time the operation is performed until the standby state ends, and illuminates the turn signal after the standby state ends.

[0009] (4) In any embodiment of (3) above, the control unit, based on the surrounding conditions in the standby state of the second lane change control, determines that a lane change is possible and turns on the turn signal a predetermined time before starting to change the vehicle to an adjacent lane.

[0010] (5) In the embodiment of (1) above, the control unit determines that the lane change is possible when the first condition is met and executes the first lane change control, and determines that the lane change is possible when the second condition, which is more difficult to satisfy than the first condition, is met and executes the second lane change control.

[0011] (6): In the embodiment of (5) above, the first and second conditions are that the distance between the vehicle and another vehicle in the lane to which the vehicle is changing lanes is equal to or greater than a first threshold, and that the time it takes for the other vehicle to reach a reference position set for the vehicle is equal to or greater than a second threshold, or both of these conditions are met.

[0012] (7) In the embodiment of (1) above, the first operator is a turn signal lever switch, and the second operator is a button switch.

[0013] (8) In the embodiment of (1) above, if the control unit determines that a lane change is not possible based on the surrounding conditions at the time the first instruction information was acquired, it causes the vehicle to continue traveling in the lane in which it is traveling.

[0014] (9): In the embodiment of (1) above, the control unit causes the vehicle to continue traveling in the lane in which the vehicle is traveling during the standby state of the second lane change control.

[0015] (10): In the embodiment of (1) above, the control unit cancels the execution of the second lane change control in response to the acquisition of the second instruction information if the standby state continues for a predetermined time or if the vehicle travels a predetermined distance while in standby state.

[0016] (11): In the embodiment of (1) above, the second lane change control maintains the waiting state until it becomes possible to change lanes, even if it is determined that a lane change is not possible due to the surrounding conditions, namely the presence of other vehicles around the vehicle, while in the waiting state. When it is determined that a lane change is possible based on the surrounding conditions in the waiting state, the control causes the vehicle to change lanes to the adjacent lane.

[0017] (12): In the embodiment of (1) above, the first lane change control causes the vehicle to change lanes after a first hour has elapsed from the time the first instruction information is acquired, if there are no vehicles around the vehicle that would interfere with the vehicle's lane change, and the second lane change control causes the vehicle to change lanes after a second hour has elapsed from the time the second instruction information is acquired, if there are no vehicles around the vehicle that would interfere with the vehicle's lane change while the vehicle is in the lane change waiting state, and the second hour is longer than the first hour.

[0018] (13): A vehicle control method according to another aspect of the present invention includes a computer that recognizes the surrounding conditions of a vehicle and automatically controls the steering of the vehicle to change lanes based on the recognized surrounding conditions and instruction information which is an instruction to change lanes, wherein the instruction information includes first instruction information transmitted in response to the operation of a first operator and second instruction information transmitted in response to the operation of a second operator different from the first operator, and in response to the acquisition of the first instruction information, if it is determined that a lane change is possible based on the surrounding conditions at the time the first instruction information was acquired, a first lane change control is executed to change the vehicle to an adjacent lane, and in response to the acquisition of the second instruction information, the system transitions to a waiting state for the lane change, maintains the waiting state until a lane change becomes possible based on the surrounding conditions, and if it is determined that a lane change is possible based on the surrounding conditions in the waiting state, a second lane change control is executed to change the vehicle to an adjacent lane.

[0019] (14) A program according to another aspect of the present invention causes a computer to recognize the situation around a vehicle, and automatically control the steering of the vehicle based on the recognized surrounding situation and instruction information which is an instruction for lane change, so as to perform an automatic lane change. The instruction information includes first instruction information transmitted in response to an operation of a first operator, and second instruction information transmitted in response to an operation of a second operator different from the first operator. In response to the acquisition of the first instruction information, when it is determined that a lane change is possible based on the surrounding situation when the first instruction information is acquired, a first lane change control for changing the lane of the vehicle to an adjacent lane is executed. In response to the acquisition of the second instruction information, the vehicle shifts to a standby state for lane change, maintains the standby state until a lane change becomes possible based on the surrounding situation, and when it is determined that a lane change is possible based on the surrounding situation in the standby state, a second lane change control for changing the lane of the vehicle to an adjacent lane is executed.

Advantages of the Invention

[0020] (1)-(14) According to the aspects, convenience for a vehicle occupant (e.g., a driver) can be improved. For example, since lane change control according to an operation is performed, the vehicle occupant can select lane change control according to their preference.

[0021] (2) According to the aspect, the intention of a vehicle occupant who wants to perform a lane change early can be reflected.

[0022] (3) According to the aspect, the direction indicator can be lit at an appropriate timing according to the timing when the standby state ends and the lane change starts.

[0023] (4) According to the aspect, the direction indicator can be lit at an appropriate timing before starting a lane change, so that the start of the lane change can be notified to other surrounding vehicles.

[0024] According to the aspect of (5), it is possible to realize a lane change that more reflects the intention of the vehicle occupants. It is considered that the first lane change control operates after checking the surroundings to some extent because the occupant intends to change lanes at that timing. Therefore, by actively changing lanes, the behavior of the vehicle can be made to conform to the intention of the occupant. The second lane change control is a lane change based on the intention of the occupant to change lanes at the timing when the system determines that a lane change is possible. Therefore, it is possible to make a lane change with a large safety margin and with a margin.

[0025] According to the aspect of (6), the first lane change control can perform a lane change even if the inter-vehicle distance or the time until reaching another vehicle is somewhat small, and the second lane change control can perform a lane change with a large safety margin and with a margin.

[0026] According to the aspect of (7), the turn lever switch performs control in accordance with the intention of the occupant to change lanes, and the button operation can perform a lane change with a margin that prioritizes the judgment of the system. Thus, the lane change control can be properly used according to the operating element.

[0027] According to the aspect of (8), when the lane change control is not performed, the vehicle can be maintained to travel in the travel lane. Therefore, even when the vehicle cannot change lanes, the traveling behavior of the vehicle is suppressed from being disturbed.

[0028] According to the aspect of (9), in order to maintain the vehicle traveling in the lane in which the vehicle travels in the standby state of the second lane change control, the traveling behavior during the standby state becomes stable.

[0029] According to the aspect of (10), it is possible to prevent the lane change from being unintentionally performed when the occupant forgets.

Brief Description of the Drawings

[0030] [Figure 1]This is a diagram showing the configuration of a vehicle system 1 that utilizes a vehicle control system according to an embodiment. [Figure 2] This diagram illustrates the first operator 84, the second operator 86, the first lane change control, and the second lane change control. [Figure 3] This diagram illustrates an example of a scenario in which the first lane change control is executed. [Figure 4] This diagram illustrates an example of a situation in which the control for changing to the first lane is not executed. [Figure 5] This diagram illustrates an example of a scenario in which the second lane change control is executed. [Figure 6] This diagram compares the control for changing between the first lane and the control for changing between the second lane. [Figure 7] This flowchart shows an example of the processing flow for controlling a change to the first lane. [Figure 8] This flowchart shows an example of the processing flow for controlling a change to the second lane. [Modes for carrying out the invention]

[0031] [Overall structure] Figure 1 is a diagram showing the configuration of a vehicle system 1 utilizing a vehicle control system according to an embodiment. The vehicle on which the vehicle system 1 is installed is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a generator connected to the internal combustion engine, or power discharged from a secondary battery or fuel cell.

[0032] Vehicle system 1 includes, for example, a camera 10, a radar device 12, a LiDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, an MPU 60, an operator 80, a turn signal 90, a driver assistance device 100, a driving force output device 200, a brake device 210, and a steering device 220. These devices and equipment are connected to each other by multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, etc. The configuration shown in Figure 1 is merely an example, and some of the configuration may be omitted, or other configurations may be added. The driver assistance device 100 is an example of a "vehicle control device".

[0033] Camera 10 is a digital camera that utilizes a solid-state image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). Camera 10 is mounted at any location on the vehicle (hereinafter referred to as vehicle M) on which the vehicle system 1 is installed. When imaging the area in front, camera 10 is mounted on the top of the front windshield, behind the rearview mirror, etc. Camera 10 periodically and repeatedly images the area around vehicle M. Camera 10 may also be a stereo camera.

[0034] The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by objects (reflected waves) to determine at least the position (distance and bearing) of the object. The radar device 12 can be mounted at any location on the vehicle M. The radar device 12 may also detect the position and velocity of the object using the FM-CW (Frequency Modulated Continuous Wave) method.

[0035] LIDAR14 irradiates light (or electromagnetic waves with a wavelength close to light) around vehicle M and measures the scattered light. Based on the time from emission to reception, LIDAR14 detects the distance to the target. The irradiated light is, for example, pulsed laser light. LIDAR14 can be attached to any location on vehicle M.

[0036] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, radar device 12, and LIDAR 14 to recognize the position, type, speed, etc., of an object. The object recognition device 16 outputs the recognition results to the driver assistance device 100. The object recognition device 16 may output the detection results from the camera 10, radar device 12, and LIDAR 14 directly to the driver assistance device 100. The object recognition device 16 may be omitted from the vehicle system 1.

[0037] The communication device 20 communicates with other vehicles in the vicinity of vehicle M, or with various server devices via a wireless base station, for example, by using a cellular network, Wi-Fi network, Bluetooth®, DSRC (Dedicated Short Range Communication), etc.

[0038] The HMI30 presents various information to the occupants of vehicle M and accepts input operations from the occupants. The HMI30 includes various display devices, speakers, buzzers, touch panels, switches, keys, etc. The HMI30 is equipped with a display device. The display device is a display device, also known as a multi-information display, that displays various information in vehicle M, such as a speedometer showing the vehicle's speed or a tachometer showing the rotational speed of the internal combustion engine in vehicle M, and is located in the center of the instrument panel of vehicle M.

[0039] The vehicle sensor 40 includes a vehicle speed sensor for detecting the speed of the vehicle M, an acceleration sensor for detecting acceleration, a yaw rate sensor for detecting angular velocity around the vertical axis, and an orientation sensor for detecting the orientation of the vehicle M.

[0040] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 stores first map information 54 in a storage device such as an HDD (Hard Disk Drive) or flash memory. The GNSS receiver 51 determines the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M may be determined or supplemented by an INS (Inertial Navigation System) that utilizes the output of the vehicle sensors 40. The navigation HMI 52 includes a display device, speakers, a touch panel, keys, etc. The navigation HMI 52 may be partially or completely shared with the HMI 30 described above. The route determination unit 53 determines, for example, a route (hereinafter referred to as the route on the map) from the position of the vehicle M determined by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52, by referring to the first map information 54. The first map information 54 is, for example, information in which the road shape is represented by links indicating roads and nodes connected by those links. The first map information 54 may also include information such as road curvature and POI (Point of Interest) information. The route on the map is output to the MPU 60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be implemented, for example, by the functions of a terminal device such as a smartphone or tablet held by an occupant. The navigation device 50 may transmit the current location and destination to the navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0041] The MPU 60 includes, for example, a recommended lane determination unit 61 and stores second map information 62 in a storage device such as an HDD or flash memory. The recommended lane determination unit 61 divides the map route provided by the navigation device 50 into multiple blocks (for example, every 100m with respect to the vehicle's direction of travel) and determines a recommended lane for each block by referring to the second map information 62. The recommended lane determination unit 61 makes decisions such as which lane from the left the vehicle should travel in. If there is a branching point on the map route, the recommended lane determination unit 61 determines a recommended lane so that the vehicle M can travel along a reasonable route to proceed to the branching point. For example, if the vehicle M reaches a predetermined distance before a branching road it is traveling on, the recommended lane determination unit 61 determines the lane connecting to the branching road as the recommended lane. The recommended lane determination unit 61 and the second map information 62 may be functional units or information included in other devices such as the driver assistance device 100.

[0042] The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of lanes or information on lane boundaries. The second map information 62 may also include road information, traffic regulation information, address information (address and postal code), facility information, telephone number information, etc. The second map information 62 may be updated as needed by the communication device 20 communicating with other devices.

[0043] The control elements 80 include, for example, the steering wheel 82, as well as the accelerator pedal, brake pedal, shift lever, and other control elements. Sensors are attached to the control elements 80 to detect the amount of operation or whether or not an operation is performed, and the detection results are output to the driver assistance device 100, or to some or all of the driving force output device 200, brake device 210, and steering device 220. The steering wheel 82 does not necessarily have to be annular, and may take the form of an irregularly shaped steering wheel, joystick, buttons, etc. The control elements 80 include a first control element 84 and a second control element 86. The turn signal 90 lights up or turns off in response to the operation of the first control element 84. Details of the first control element 84 and the second control element 86 will be described later.

[0044] The driver assistance device 100 includes, for example, a recognition unit 110 and a control unit 150. The recognition unit 110 and the control unit 150 are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), or SOC (System On Chip), or by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device with a non-transient storage medium) such as the HDD or flash memory of the driver assistance device 100, or it may be stored in a removable storage medium such as a DVD or CD-ROM and installed in the HDD or flash memory of the driver assistance device 100 when the storage medium (non-transient storage medium) is mounted on a drive device.

[0045] The recognition unit 110 recognizes the position and state of objects around the vehicle M, such as their speed and acceleration, based on information input from the camera 10, radar device 12, and LIDAR 14 via the object recognition device 16. The position of an object is recognized as a position on an absolute coordinate system with a representative point of the vehicle M (such as the center of gravity or the center of the drive axis) as the origin, and is used for control. The position of an object may be represented by a representative point such as the center of gravity or a corner of the object, or it may be represented by a region. The "state" of an object may include the object's acceleration, jerk, or "action state" (for example, whether or not it is changing lanes or attempting to change lanes).

[0046] The recognition unit 110 recognizes, for example, the lane in which the vehicle M is traveling. For example, the recognition unit 110 recognizes the driving lane by comparing the pattern of road markings (for example, an arrangement of solid and dashed lines) obtained from the second map information 62 with the pattern of road markings around the vehicle M recognized from the image captured by the camera 10. The recognition unit 110 may also recognize the driving lane by recognizing not only road markings, but also road boundaries (road boundaries) including road markings, shoulders, curbs, median strips, guardrails, etc. In this recognition, the position of the vehicle M obtained from the navigation device 50 and the processing results by INS may also be taken into consideration. The recognition unit 110 recognizes stop lines, obstacles, red lights, toll booths, and other road events.

[0047] When recognizing a driving lane, the recognition unit 110 recognizes the position and orientation of the vehicle M relative to the driving lane. For example, the recognition unit 110 may recognize the deviation of the vehicle M's reference point from the center of the lane, and the angle it makes with a line connecting the centers of the lanes in the direction of travel, as the relative position and orientation of the vehicle M relative to the driving lane. Alternatively, the recognition unit 110 may recognize the position of the vehicle M's reference point relative to any side edge of the driving lane (road marking or road boundary), etc., as the relative position of the vehicle M relative to the driving lane.

[0048] The control unit 150 performs driver assistance control. For example, the control unit 150 automatically controls the vehicle speed M by controlling the driving force output device 200 and the brake device 210 without relying on the driver's operation. The control unit 150 also performs so-called ACC (Adaptive Cruise Control).

[0049] The control unit 150 controls the steering device 220 to prevent the vehicle M from deviating from its lane. For example, the control unit 150 controls the steering device 220 so that the vehicle M travels in the center or near the center of the lane recognized by the recognition unit 110. Hereinafter, this control may be referred to as "lane keeping control". The control unit 150 performs both hands-on lane keeping control and hands-off lane keeping control.

[0050] Hands-on lane keeping control is a control system that is performed when the driver is holding the steering wheel (when the steering grip sensor, not shown, detects that the driver is gripping the steering wheel). The conditions under which hands-on lane keeping control can be performed are less stringent than the conditions under which hands-off lane keeping control can be performed.

[0051] Hands-off lane keeping control is a control system that is performed when the driver is not holding the steering wheel (when the steering grip sensor, not shown, does not detect that the driver is holding the steering wheel). Hands-off lane keeping control can be performed, for example, when the following conditions are met: the speed of vehicle M is above a predetermined speed, vehicle M is traveling on a predetermined road (for example, a road or type of road that has been set in advance as being capable of performing hands-off lane keeping control), and the driver is monitoring the road ahead. Hands-off lane keeping control is performed when the driver is monitoring the road ahead, and is not performed or is stopped when the driver is not monitoring the road ahead.

[0052] The conditions under which hands-on lane keeping control and hands-off lane keeping control can be performed, as described above, are examples, and other conditions (for example, that vehicle M is following the vehicle in front) may be included, or some conditions may be omitted. The conditions under which hands-on lane keeping control can be performed are less stringent than the conditions under which hands-off lane keeping control can be performed (and the conditions under which hands-off lane keeping control can be performed are stricter than the conditions under which hands-on lane keeping control can be performed). The driver assistance device 100 recognizes whether the driver is monitoring the road ahead based on images captured by a camera (not shown) that captures images of the driver.

[0053] The control unit 150 automatically changes the vehicle M's lane. Details of this control will be described later. The automatic lane change control may be conditional on the execution of hands-off lane keeping control or hands-on lane keeping control.

[0054] The driving force output device 200 outputs driving force (torque) to the drive wheels for the vehicle M to move. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU that controls them. The ECU controls the above configuration according to information input from the driver assistance device 100 or from the operator 80.

[0055] The braking system 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the driver assistance device 100 or from the control element 80, so that brake torque corresponding to the braking operation is output to each wheel.

[0056] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor to change the direction of the steering wheels according to information input from the driver assistance device 100 or from the control element 80.

[0057] [Control related to lane changes] In response to the acquisition of first instruction information, the control unit 150 executes a first lane change control to change vehicle M to an adjacent lane if it determines that a lane change is possible based on the surrounding conditions at the time the first instruction information was acquired. The phrase "when" the first instruction information is acquired includes not only that specific moment but also a certain period of time. In response to the acquisition of second instruction information, the control unit 150 transitions to a lane change standby state and maintains the standby state until a lane change becomes possible based on the surrounding conditions. If it determines that a lane change is possible based on the surrounding conditions in the standby state, it executes a second lane change control to change vehicle M to an adjacent lane. The second lane change control maintains the standby state until a lane change becomes possible, even if it is determined that a lane change is not possible in the lane change standby state due to the presence of other vehicles around vehicle M. If it determines that a lane change is possible based on the surrounding conditions in the standby state, it changes vehicle M to an adjacent lane. If it is determined that a lane change is not possible based on the surrounding conditions, this may be due to (or alternatively to) the presence of other vehicles around vehicle M as described above, as well as other external environmental factors. Other external environmental factors include, for example, the shape of the road such as a sharp curve, or changes in the surrounding perception such as a sudden change in weather, which may cause the control unit 150 to hesitate in changing lanes.

[0058] The first lane change control causes vehicle M to change lanes one hour after receiving the first instruction information, provided that there are no other vehicles around vehicle M that would interfere with vehicle M's lane change. The second lane change control causes vehicle M to change lanes two hours after receiving the second instruction information, provided that there are no other vehicles around vehicle M that would interfere with vehicle M's lane change while it is in a lane change waiting state. The second hour is longer than the first hour. As described above, even if vehicle M is capable of changing lanes, the lane change performed by the second lane change control is performed at a later timing than the lane change performed by the first lane change control.

[0059] The first instruction information is transmitted to the control unit 150 in response to the operation of the first operator 84. The first instruction information is, for example, information (e.g., a signal) output by the first operator 84 when it is operated. The second instruction information is transmitted to the control unit 150 in response to the operation of a second operator 86, which is different from the first operator 84. The second instruction information is, for example, information (e.g., a signal) output by the second operator 86 when it is operated. The standby state is a state in which vehicle M is traveling in the driving lane without initiating a lane change (see Figure 5 and its description below for details).

[0060] Figure 2 illustrates the first operator 84, the second operator 86, the first lane change control, and the second lane change control. The first operator 84 is, for example, a turn signal lever switch. For example, when a driver performs a predetermined operation on the first operator 84, the first operator 84 outputs first instruction information. The predetermined operation is, for example, operating the turn signal lever switch in the direction in which the lane change is desired for a predetermined time, or pushing the turn signal lever switch to a predetermined position. More specifically, the predetermined operation is performing an operation on the turn signal lever switch while maintaining it in the direction in which the lane change is desired and in a predetermined position for a predetermined time. The first lane change control is executed in response to the operation of the first operator 84.

[0061] The second operator 86 is, for example, a button switch. The second operator 86 is mounted in a position easily accessible to the driver, such as on the spokes of the steering wheel or on the instrument panel, as shown in Figure 2. For example, when the driver performs a predetermined operation on the second operator 86 (by operating a button), the second operator 86 outputs second instruction information. The second lane change control is executed in response to the operation of the second operator 86.

[0062] The first operator 84 or the second operator 86 may be a button on a touch panel or in another form instead of the above. The first operator 84 may be, for example, a button or other form used to operate the turn signal 90, and the second operator 86 may be in a different form from the first operator 84.

[0063] [Lane 1 Change Control] Figure 3 illustrates an example of a scenario in which the first lane change control is executed. At time T, the driver performs an operation on the first operator 84 to automatically change the vehicle M from lane L1 to lane L2. Lane L1 is the lane in which the vehicle M is traveling. Lane L2 is the lane adjacent to lane L1. The control unit 150 illuminates the turn signal 90 in response to the above operation. The control unit 150 illuminates the turn signal 90 when the first operator 84 is operated. For example, the turn signal 90 illuminates at the moment the operation is performed.

[0064] Furthermore, the control unit 150 determines, based on the surrounding conditions, whether or not vehicle M can change lanes from lane L1 to lane L2 in response to the above operation. For example, it determines whether or not a lane change is possible when the above operation is performed or within a predetermined time period from the time the operation is performed. The control unit 150 determines that a lane change is possible if, for example, the first condition is met. The first condition is that, for example, the degree to which the vehicle M interferes with the driving of surrounding vehicles, such as other vehicle m1 traveling in lane L2, is less than or equal to the first threshold. The first condition is that, for example, the distance between vehicle M and other vehicle m1 in the lane to which vehicle M will change lanes is greater than or equal to the first threshold, and the time it takes for other vehicle m1 to reach a reference position set for vehicle M is greater than or equal to the second threshold, or both of these conditions are met. In the following example, it will be explained that the first condition is met when both conditions are met, and the first condition is not met when either one is not met.

[0065] In the example in Figure 3, the distance from vehicle M to other vehicle m1 is greater than or equal to the first threshold, and the time it takes for other vehicle m1 to reach a reference position set relative to vehicle M (X1 in Figure 3) is greater than or equal to the second threshold. When the control unit 150 determines that the first condition is met, it causes vehicle M to change lanes to lane L2 within a predetermined time (immediately). In the example in Figure 3, at time T+1, the control unit 150 causes vehicle M to change lanes in front of other vehicle m1. In this example, the turn signal may be illuminated after the first condition is met. As described above, the control unit 150 can quickly cause vehicle M to change lanes in response to the operation of the first operator 84.

[0066] Figure 4 illustrates an example of a scenario in which the first lane change control is not performed. Assume that at time T, the driver performs an operation on the first operator 84 to automatically change the vehicle M from lane L1 to lane L2. The control unit 150 illuminates the turn signal 90 in response to the above operation. The control unit 150 illuminates the turn signal 90 when the first operator 84 is operated.

[0067] Furthermore, the control unit 150 determines whether the first condition is met in response to the above operation. In the example in Figure 4, the distance from vehicle M to other vehicle m1 is less than the first threshold, and the time it takes for other vehicle m1 to reach the reference position set for vehicle M (X2 in Figure 4) is less than the second threshold. At time T, the control unit 150 determines that the first condition is not met and notifies the driver of an invalidation notice indicating that the first lane change control cannot be performed. In other words, the first lane change control is canceled. The notification may be made using, for example, voice or images, or by vibrating the steering wheel, driver's seat, driver's seat belt, etc. For example, the control unit 150 outputs an invalidation notice by voice using the HMI 30. The control unit 150 also turns off the turn signal 90. The timing of turning off the turn signal 90 may be before the invalidation notice, after the invalidation notice, or at the same time as the invalidation notice. In the case of a one-touch turn signal operation input, the turn signal 90 will illuminate a number of times corresponding to the one-touch turn signal (for example, three times), and will remain off after that number of times. Depending on the subsequent decision on whether or not to change lanes, the turn signal 90 may continue to illuminate or remain off. A one-touch turn signal is a function in which, when the turn signal lever switch is operated to a predetermined degree (for example, lightly), the turn signal 90 illuminates a predetermined number of times and then automatically turns off. Furthermore, if the first operator 84 is a switch different from the turn signal lever switch, the turn signal 90 does not need to illuminate at all until the vehicle M changes lanes.

[0068] At time T+1, a predetermined time has elapsed since the notification of impossibility was issued, the control unit 150 controls vehicle M to travel in lane L1. In response to the acquisition of the first instruction information, if the control unit 150 determines that a lane change is not possible based on the surrounding conditions at the time the first instruction information was acquired, it causes vehicle M to continue traveling in the lane it is currently traveling in. As described above, the control unit 150 can realize control according to the surrounding conditions.

[0069] [Second Lane Change Control] Figure 5 illustrates an example of a scenario in which the second lane change control is executed. At time T, the driver performs an operation on the second operator 86 to automatically change the vehicle M from lane L1 to lane L2. At time T+1, the control unit 150 receives the lane change notification and notifies the driver that the notification has been received. The notification is made, for example, by voice, image, or vibration, as described above.

[0070] When a lane change is detected, the control unit 150 determines whether the second condition is met. The second condition is that either or both of the following conditions are met: the distance between vehicle M and another vehicle m1 in the lane to which vehicle M is changing is greater than or equal to the third threshold, and the time it takes for the other vehicle m1 to reach the reference position set for vehicle M is greater than or equal to the fourth threshold. In the following example, the second condition is described as being met when both conditions are met, and not being met when either one is not met.

[0071] The second condition is a condition that is more difficult to satisfy (a condition that is hard to achieve) than the first condition mentioned above. The second condition is a condition in which the degree to which vehicle M interferes with the progress of other vehicles when it changes lanes is lower than in the first condition. A lower degree of interference means that the speed changes of other vehicles are less likely to occur, or that the impact on the drivers of other vehicles caused by vehicle M changing lanes is smaller. For example, the third threshold is a longer distance than the first threshold of the first lane change control. For example, the fourth threshold is a longer time than the second threshold of the first lane change control.

[0072] In the example shown in Figure 5, the distance from vehicle M to other vehicle m1 is less than the third threshold, and the time it takes for other vehicle m1 to reach the reference position set for vehicle M is less than the fourth threshold. In this case, at time T+2, the control unit 150 maintains the state in which vehicle M is traveling in lane L1 while in standby state for the second lane change control (maintaining vehicle M traveling in the lane it is currently traveling in) and waits for other vehicle m1 to pass. "Waiting for other vehicle m1 to pass" means waiting until other vehicle m1 overtakes vehicle M.

[0073] After the other vehicle m1 overtakes vehicle M, at time T+3, the control unit 150 notifies the driver of the start of the vehicle change. The notification is made, for example, by voice, image, or vibration, as described above. In the above example, we have described an example of "letting it pass" based on vehicle M waiting until the other vehicle m1 overtakes vehicle M, but the same process may be performed in the case of "letting it pass" based on the other vehicle m1 waiting until vehicle M overtakes the other vehicle m1 and vehicle M is a predetermined distance away from the other vehicle m1.

[0074] After notification is given, at time T+4, the control unit 150 illuminates the turn signal 90. For example, if the second operator 86 is operated, the control unit 150 does not illuminate the turn signal from the time of operation until the standby state ends, and illuminates the turn signal 90 after the standby state ends. Based on the surrounding conditions in the standby state of the second lane change control, the control unit 150 determines that a lane change is possible and illuminates the turn signal 90 a predetermined time before starting to change the vehicle M to the adjacent lane.

[0075] "Standby state" refers to the state between the first timing and the second timing. The first timing is the timing when the second operator 86 is operated or when the acceptance of the lane change is completed. The second timing is the timing when it is determined that the second condition is met, the timing when the turn signal 90 is turned on (for example, the timing immediately before it is turned on), the timing when notification of the start of the lane change is given, the timing when the lane change is started, or predetermined timings associated with these.

[0076] At time T+5, after the turn signal 90 has been illuminated for a predetermined time, the control unit 150 initiates a lane change for vehicle M. At time T+6, the control unit 150 causes vehicle M to enter lane L2.

[0077] As described above, the control unit 150 can allow vehicle M to change lanes even if another vehicle is present in the lane to which it is changing lanes, by letting the other vehicle pass.

[0078] Thus, in the first lane change control, if a lane change is not possible based on the surrounding conditions at the time the driver expresses their intention to change lanes (when the first operator 84 is operated), the first lane change control is canceled. This is because the driver wants to change lanes at the moment they operate the first operator 84, and if a lane change is not possible at this time, canceling the lane change early reflects the driver's intention.

[0079] In contrast, with the second lane change control, the driver expresses their intention to change lanes at an appropriate time (by operating the second operator 86). Therefore, even if a lane change is not possible based on the surrounding conditions, the second lane change control is not canceled, and the vehicle M is made to wait until an appropriate time arrives. Then, when an appropriate time arrives, the second lane change control makes the vehicle M change lanes. When the driver operates the second operator 86, they want to change lanes at an appropriate time, not at the time the second operator 86 is operated. Therefore, even if a lane change is not possible at the time the second operator 86 is operated, making the vehicle M change lanes after waiting reflects the driver's intention.

[0080] This allows the driver to change lanes according to their own will, improving convenience. For example, if the driver wants to drive as far ahead of other vehicles m1 as possible, or if they want to reach the lane closest to a junction as quickly as possible, they operate the first operator 84. In this case, the first lane change control according to the driver's will is executed. If the driver wants to change lanes in a way that minimizes the impact on other vehicles m1, or if they want to change lanes at a time that is appropriate for the surrounding conditions, they operate the second operator 86. In this case, the second lane change control according to the driver's will is executed. This improves driver convenience.

[0081] [Comparison of lane change control for the first lane and lane change control for the second lane] Figure 6 is a diagram for comparing the first lane change control and the second lane change control. In the example in Figure 6, it is assumed that there are no other vehicles in the vicinity that would interfere with vehicle M's lane change, and that the vehicle can change lanes at any time. When the first operator 84 is operated, the control unit 150 illuminates the turn signal 90 and starts the lane change if the first condition is met. In the first lane change control, the turn signal 90 is illuminated and the lane change is started at an earlier timing than in the second lane change control described later, from the moment the driver's intention to change lanes is expressed (when the first operator 84 is operated). The first lane change control is a control that respects the driver's intention to change lanes at the time the first operator 84 is operated. In the first lane change control, the first condition described above is more relaxed than the second condition, and the control is more likely to reflect the driver's intention.

[0082] When the second operator 86 is operated, the control unit 150 illuminates the turn signal 90 and initiates a lane change if the second condition is met. The timing for illuminating the turn signal 90 in the second lane change control is, for example, later than the timing for illuminating the turn signal 90 in the first lane change control. The timing for initiating the lane change in the second lane change control is, for example, later than the timing for initiating the lane change in the first lane change control. The timing for determining that the second condition of the second lane change control is met is, for example, later than the timing for determining that the first condition of the first lane change control is met.

[0083] As described above, the timing of the lane change operation of the first lane change control is earlier than the timing of the lane change operation of the second lane change control. By recognizing this characteristic or the control philosophy for lane changes and operating the first operator 84 or the second operator 86, the control becomes more responsive to the driver's intentions, improving user convenience.

[0084] In the above explanation, it was stated that the timing of the lane change operation of the first lane change control and the timing of the lane change operation of the second lane change control are different in situations where a lane change can be made at any time. However, instead, these timings may be the same.

[0085] [Flowchart (Lane 1 Change Control)] Figure 7 is a flowchart showing an example of the processing flow for the first lane change control. First, the control unit 150 determines whether or not the first operator 84 has been operated (step S100). If the first operator 84 has been operated, the control unit 150 illuminates the turn signal 90 and determines whether or not the first condition is met (step S102). If the first condition is met, the control unit 150 causes the vehicle M to change lanes (step S104). The illumination of the turn signal 90 may occur at the timing of step S104 instead of the timing of step S102. In other words, the timing of illumination of the turn signal 90 may correspond to the timing of the lane change. For example, if the first operator 84 is a switch different from the turn signal lever switch, the turn signal 90 may illuminate at the timing of step S104.

[0086] If the first condition is not met, the control unit 150 notifies the driver of an unacceptable request indicating that the vehicle change cannot be accepted (step S106). Next, the control unit 150 instructs vehicle M to maintain its lane (step S108). This completes the processing of one routine in this flowchart. As described above, if the first condition is met, the control unit 150 can perform the lane change of vehicle M earlier than the timing of the operation of the first operator 84.

[0087] [Flowchart (Second Lane Change Control)] Figure 8 is a flowchart showing an example of the processing flow for second lane change control. First, the control unit 150 determines whether or not the second operator 86 has been operated (step S200). If the second operator 86 has been operated, the control unit 150 determines whether or not the second condition is met (step S202). If the second condition is met, the control unit 150 causes the vehicle M to change lanes (step S204). For example, as explained in Figure 5 above, the lane change begins after notification of the start of the lane change and illumination of the turn signal 90. This completes the processing of one routine in this flowchart.

[0088] If the second condition is not met, the control unit 150 causes the vehicle M to travel in the driving lane in a standby state (step S206) and returns to the process in step S202. In this way, the vehicle M remains in a standby state until the second condition is met. The control unit 150 may cancel the execution of the second lane change control if the standby state continues for a predetermined time or if the vehicle M travels a predetermined distance in the standby state.

[0089] As described above, even if the second condition is not met, the control unit 150 can wait in standby mode to let other vehicle m1 pass and then perform the lane change for vehicle M.

[0090] According to the embodiments described above, the control unit 150, when it determines that a lane change is possible based on the surrounding conditions at the time it acquires the first instruction information, executes a first lane change control to change the vehicle M to an adjacent lane, transitions to a lane change standby state in response to the acquisition of second instruction information, maintains the standby state until a lane change becomes possible based on the surrounding conditions, and executes a second lane change control to change the vehicle M to an adjacent lane when it determines that a lane change is possible based on the surrounding conditions in the standby state, thereby improving convenience for the vehicle occupants (e.g., the driver).

[0091] The embodiments described above can be expressed as follows. A memory device that stores the program, Equipped with a hardware processor, The hardware processor executes the program stored in the memory device, The process of recognizing the surrounding environment of the vehicle, Based on the recognized surrounding conditions and instruction information which is an instruction to change lanes, the system performs a process of automatically controlling the steering of the vehicle to perform an automatic lane change. The instruction information includes first instruction information transmitted in response to the operation of a first operator, and second instruction information transmitted in response to the operation of a second operator different from the first operator. Upon acquiring the first instruction information, if it is determined that a lane change is possible based on the surrounding conditions at the time the first instruction information was acquired, a first lane change control is executed to change the vehicle to an adjacent lane. Upon acquiring the second instruction information, the system transitions to a waiting state for lane changes, maintains the waiting state until a lane change becomes possible based on the surrounding conditions, and, when it is determined that a lane change is possible based on the surrounding conditions in the waiting state, executes a second lane change control to change the vehicle to an adjacent lane. A control device configured in such a way.

[0092] Although embodiments for carrying out the present invention have been described above using examples, the present invention is not limited in any way to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention. [Explanation of Symbols]

[0093] 1. Vehicle System 10 Cameras 80 Operators 84 1st controller 86 2nd controller 90 Turn signal 100 Driving support devices 110 Recognition part 150 Control Unit

Claims

1. A recognition unit that recognizes the surrounding conditions of the vehicle, The system includes a control unit that automatically controls the steering of the vehicle to perform a lane change based on the surrounding conditions recognized by the recognition unit and instruction information which is an instruction to change lanes, The instruction information includes first instruction information transmitted in response to the operation of a first operator, which is a turn signal lever switch, when a lane change is not suggested, and second instruction information transmitted in response to the operation of a second operator, which is different from the first operator, which is a turn signal lever switch, when a lane change is not suggested. The control unit, Upon acquiring the first instruction information, if it is determined that a lane change is possible based on the surrounding conditions at the time the first instruction information was acquired, a first lane change control is executed to change the vehicle to an adjacent lane. Upon acquiring the second instruction information, the system transitions to a waiting state for lane changes, maintains the waiting state until a lane change becomes possible based on the surrounding conditions, and, when it is determined that a lane change is possible based on the surrounding conditions in the waiting state, executes a second lane change control to change the vehicle to an adjacent lane. Vehicle control system.

2. The control unit illuminates the turn signal when the first operator is operated. The vehicle control device according to claim 1.

3. The control unit, when the second operator is operated, will not illuminate the turn signal from the time the operation is performed until the standby state ends, and will illuminate the turn signal after the standby state ends. The vehicle control device according to claim 1.

4. The control unit, based on the surrounding conditions in the standby state of the second lane change control, determines that a lane change is possible and illuminates the turn signal a predetermined time before initiating a lane change of the vehicle to the adjacent lane. The vehicle control device according to claim 3.

5. The control unit, If the first condition is met, it is determined that the lane change is possible and the first lane change control is executed. If a second condition, which is more stringent to satisfy than the first condition, is met, it is determined that the lane change is possible, and the second lane change control is executed. The vehicle control device according to claim 1.

6. The first and second conditions are that the distance between the vehicle and another vehicle in the lane to which the vehicle is changing lanes is equal to or greater than a first threshold, and that the time it takes for the other vehicle to reach a reference position set for the vehicle is equal to or greater than a second threshold, or both of these conditions are met. The vehicle control device according to claim 5.

7. The second operator is a button switch. The vehicle control device according to claim 1.

8. In response to acquiring the first instruction information, if the control unit determines that a lane change is not possible based on the surrounding conditions at the time the first instruction information was acquired, it causes the vehicle to continue traveling in the lane it is currently traveling in. The vehicle control device according to claim 1.

9. The control unit maintains the vehicle traveling in the lane it is currently traveling in during the standby state of the second lane change control. The vehicle control device according to claim 1.

10. The control unit cancels the execution of the second lane change control in response to the acquisition of the second instruction information if the standby state continues for a predetermined time, or if the vehicle travels a predetermined distance while in standby mode. The vehicle control device according to claim 9.

11. The aforementioned second lane change control is, In the aforementioned waiting state for a lane change, even if it is determined that a lane change is not possible due to the surrounding conditions, such as the presence of other vehicles around the vehicle, the waiting state will be maintained until a lane change becomes possible, and when it is determined that a lane change is possible based on the surrounding conditions in the waiting state, the vehicle will be made to change lanes to the adjacent lane. The vehicle control device according to claim 1.

12. The first lane change control, if there are no vehicles around the vehicle that would interfere with the vehicle's lane change, causes the vehicle to change lanes after a first time has elapsed since the acquisition of the first instruction information. The second lane change control, if there are no vehicles around the vehicle that would interfere with the vehicle's lane change while the vehicle is waiting for the lane change, will cause the vehicle to change lanes after a second time has elapsed since the acquisition of the second instruction information. The second time is longer than the first time. The vehicle control device according to claim 1.

13. Computers Recognize the surrounding conditions of the vehicle, Based on the recognized surrounding conditions and instruction information that instructs a lane change, the steering of the vehicle is automatically controlled to perform an automatic lane change. The instruction information includes first instruction information transmitted in response to the operation of a first operator, which is a turn signal lever switch, when the lane change is not suggested, and second instruction information transmitted in response to the operation of a second operator, which is different from the first operator, which is a turn signal lever switch, when the lane change is not suggested. Upon acquiring the first instruction information, if it is determined that a lane change is possible based on the surrounding conditions at the time the first instruction information was acquired, a first lane change control is executed to change the vehicle to an adjacent lane. Upon acquiring the second instruction information, the system transitions to a waiting state for lane changes, maintains the waiting state until a lane change becomes possible based on the surrounding conditions, and, when it is determined that a lane change is possible based on the surrounding conditions in the waiting state, executes a second lane change control to change the vehicle to an adjacent lane. Vehicle control method.

14. On the computer, Allow the vehicle to recognize the surrounding environment, Based on the recognized surrounding conditions and instruction information that instructs a lane change, the steering of the vehicle is automatically controlled to perform an automatic lane change. The instruction information includes first instruction information transmitted in response to the operation of a first operator, which is a turn signal lever switch, when the lane change is not suggested, and second instruction information transmitted in response to the operation of a second operator, which is different from the first operator, which is a turn signal lever switch, when the lane change is not suggested. Upon acquiring the first instruction information, if it is determined that a lane change is possible based on the surrounding conditions at the time the first instruction information was acquired, a first lane change control is executed to change the vehicle to an adjacent lane. Upon acquiring the second instruction information, the system transitions to a waiting state for lane changes, maintains the waiting state until a lane change becomes possible based on the surrounding conditions, and, when it is determined that a lane change is possible based on the surrounding conditions in the waiting state, executes a second lane change control to change the vehicle to an adjacent lane. A program for that purpose.

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