Lane change support device, lane change support method, and computer program

Abstract

This lane change assistance device includes: a conflicting vehicle detecting unit which, in response to an attempt by an automated driving system of a host vehicle to change lanes, detects a conflicting vehicle, which is a vehicle within a prescribed distance from the host vehicle and which is attempting to change lanes; a lane change permitting unit which permits the automated driving system to change lanes, in response to the conflicting vehicle detecting unit not detecting a conflicting vehicle; a priority level output unit which, in response to the conflicting vehicle detecting unit detecting a conflicting vehicle, determines and outputs a lane change priority level for vehicles including the detected conflicting vehicle and the host vehicle; and a lane change control unit which controls the change of lane by the automated driving system in accordance with the priority level.

Description

Technical Field

[0001] This disclosure relates to a lane change assistance device, a lane change assistance method, and a computer program. This application claims priority based on Japanese Application No. 2021-123115 filed on July 28, 2021, and incorporates all the descriptions described in the Japanese application.

Background Art

[0002] Various systems for assisting drivers have been proposed for automobiles, motorcycles, etc. (hereinafter referred to as vehicles), and some have been implemented. The purpose of such systems is to reduce the driver's burden on various problems encountered by the driver when driving a vehicle. One such system is a lane change assistance system.

[0003] There are many opportunities to change lanes when driving a vehicle. Lane changes are made in various scenes when driving a vehicle, such as changing from the driving lane to the overtaking lane when overtaking, changing from the overtaking lane to the driving lane after overtaking, changing from the driving lane to the right-turn lane before an intersection, and changing lanes before a branch on a highway. Merging from an acceleration lane to a driving lane at an entrance to a highway also corresponds to a lane change.

[0004] Thus, the driver of a vehicle has many opportunities to change lanes. Lane changes are made in a situation where the vehicle itself, the surrounding vehicles traveling in the same lane as the vehicle itself, and the vehicles traveling in the lane to be changed are all traveling at a considerable speed. For this reason, when changing lanes, a high level of attention is required from the driver. At a place before a branch on a highway or the like, not only the vehicle itself but also other vehicles often change lanes almost simultaneously, so it is necessary to pay sufficient attention to the movements of other vehicles.

[0005] Meanwhile, research is being conducted on vehicles that communicate wirelessly with infrastructure devices and surrounding vehicles, and use the data received wirelessly to provide driver assistance, such as autonomous driving. Hereafter, vehicles with such wireless communication capabilities will be referred to as "connected vehicles." Even when using information obtained via wireless communication to provide driver assistance, a system that supports safe lane changes is required, just as with conventional vehicles.

[0006] Patent Document 1, listed below, discloses an autonomous driving system that prevents a phenomenon called "hunting," which occurs when multiple autonomous vehicles with the same function are traveling in the same lane and simultaneously change lanes. This problem can occur not only between autonomous vehicles with the same function, but also between vehicles that determine their course using similar methods. The autonomous driving system disclosed in Patent Document 1 proposes varying the execution intervals of the lane selection decision-making process when multiple autonomous vehicles that may change lanes simultaneously change lanes. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2018-025993 [Overview of the project] [Means for solving the problem]

[0008] The lane change support device relating to the first aspect of this disclosure includes: a competing vehicle detection unit that detects a competing vehicle within a predetermined distance from the vehicle that is attempting to change lanes in response to the vehicle's automated driving system attempting to change lanes; a lane change permission unit that permits the automated driving system to change lanes in response to the competing vehicle detection unit not detecting a competing vehicle; a priority output unit that determines and outputs the priority of lane changes among vehicles, including the detected competing vehicle and the vehicle itself, in response to the competing vehicle detection unit detecting a competing vehicle; and a lane change control unit that controls the lane change by the automated driving system according to the priority.

[0009] The lane change assistance method relating to the second aspect of this disclosure includes the steps of: a computer detecting a competing vehicle within a predetermined distance from its own vehicle that is also attempting to change lanes, in response to the automated driving system of the vehicle equipped with the computer attempting to change lanes; a computer permitting the automated driving system to change lanes in response to the absence of a competing vehicle; a computer determining and outputting a priority for lane changes among vehicles, including the detected competing vehicle and its own vehicle, in response to the detection of a competing vehicle in the step of detecting a competing vehicle; and a computer controlling the lane change by the automated driving system according to the priority.

[0010] The computer program relating to the third aspect of this disclosure causes the computer to function as a competing vehicle detection unit that detects a competing vehicle within a predetermined distance from the vehicle that is attempting to change lanes in response to the autonomous driving system of the vehicle on which the computer is installed attempting to change lanes; a lane change permission unit that permits the autonomous driving system to change lanes in response to the competing vehicle detection unit not detecting a competing vehicle; a priority output unit that determines and outputs the priority of lane changes among vehicles, including the detected competing vehicle and the vehicle itself, in response to the competing vehicle detection unit detecting a competing vehicle; and a lane change control unit that controls the lane change by the autonomous driving system according to the priority. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a schematic diagram showing the road conditions to which the lane change assistance method according to the first embodiment of this disclosure is applied. [Figure 2] Figure 2 is a functional block diagram of an in-vehicle device that implements the lane change support method according to the first embodiment of this disclosure. [Figure 3] Figure 3 is a hardware block diagram of the in-vehicle device shown in Figure 2. [Figure 4] Figure 4 is a flowchart showing the control structure of the program for lane change assistance executed by the in-vehicle device shown in Figure 2. [Figure 5] Figure 5 is a schematic diagram illustrating the lane change method in the first embodiment. [Figure 6] Figure 6 is a schematic diagram illustrating the lane changing method in a first modified example of the first embodiment. [Figure 7] Figure 7 is a schematic diagram illustrating the lane changing method in a second modified example of the first embodiment. [Figure 8] Figure 8 is a flowchart showing the control structure of the program for lane change assistance in a second embodiment of this disclosure. [Figure 9] Figure 9 is a flowchart showing the control structure of some of the routines in the program shown in Figure 8. [Figure 10] Figure 10 is a flowchart showing the control structure of some of the other routines in the program shown in Figure 8. [Modes for carrying out the invention]

[0012] [Issues this disclosure aims to address] The technology disclosed in Patent Document 1 can reduce the possibility of multiple autonomous vehicles changing lanes simultaneously. However, the technology disclosed in Patent Document 1 only results in variations in the timing of lane changes by individual vehicles. Therefore, in some cases, a particular vehicle may not be able to make the necessary lane change. Depending on the vehicle's travel plan, if such a lane change is not possible, the vehicle may have to take a long detour. If such a vehicle is large, this will result in a significant social loss due to increased fuel consumption. If a vehicle that needs to reach its destination quickly is unable to make the necessary lane change, it can sometimes result in a large social loss. For example, if a vehicle carrying fresh food has to take a long detour, the food on board may spoil and go to waste. The technology disclosed in Patent Document 1 lacks the perspective of minimizing such social losses. Furthermore, the technology disclosed in Patent Document 1 attempts to solve problems that may arise when multiple autonomous vehicles with similar functions exist. However, actual roads are much more diverse. For example, there are often vehicles other than connected vehicles (hereinafter referred to as "unconnected vehicles"). The technology disclosed in Patent Document 1 cannot solve the problem of lane changes when unconnected vehicles are present in the vicinity, as well as connected vehicles.

[0013] Therefore, this disclosure aims to provide a lane change support device, a lane change support method, and a computer program that can reduce the social losses incurred when multiple vehicles change lanes.

[0014] This disclosure also aims to provide a lane change assistance device, a lane change assistance method, and a computer program that can reduce the social losses incurred by lane changes of multiple vehicles, even when unconnected vehicles are present in the vicinity.

[0015] [Effects of this disclosure] According to this disclosure as described above, it is possible to provide a lane change support device, a lane change support method, and a computer program that can reduce social losses caused by lane changes of multiple vehicles.

[0016] The above and other objects, features, aspects, and advantages of this disclosure will become apparent from the following detailed description of this disclosure, which is to be understood in conjunction with the accompanying drawings.

[0017] [Description of Embodiments of the Present Disclosure] In the following description and drawings, the same parts are denoted by the same reference numerals. Therefore, detailed descriptions thereof will not be repeated. Note that one or more of the following optional features may be combined.

[0018] (1) The lane change support device according to the first aspect of this disclosure includes a competing vehicle detection unit that detects, in response to the fact that the automatic driving system of the host vehicle is about to change lanes, a vehicle within a predetermined distance from the host vehicle that is a competing vehicle about to change lanes; a lane change permission unit that permits the lane change by the automatic driving system in response to whether the competing vehicle detection unit has detected a competing vehicle or not; a priority output unit that determines and outputs the priority of lane change in the vehicles including the detected competing vehicle and the host vehicle in response to the fact that the competing vehicle detection unit has detected a competing vehicle; and a lane change control unit that controls the lane change by the automatic driving system according to the priority.

[0019] When a vehicle is planning to change lanes, if the competing vehicle detection unit does not detect any competing vehicles, the lane change permission unit authorizes the vehicle to change lanes. If a competing vehicle is detected, the priority output unit determines the priority of the lane change between the competing vehicle and the vehicle itself, and the lane change control unit controls the lane change by the automated driving system according to this priority. Even if multiple vehicles attempt to change lanes almost simultaneously, the order and timing of their lane changes are controlled according to the priority. As a result, the automated driving system can safely perform lane changes. By determining the priority in a way that minimizes the occurrence of any social losses, a lane change support device that can minimize social losses can be provided.

[0020] (2) The competing vehicle detection unit may include a vehicle line detection unit that detects competing vehicles from a line of vehicles that are within a predetermined distance of each other.

[0021] Competing vehicles are detected within a convoy of vehicles that are within a certain distance of each other. Since lane change conflicts are resolved only with vehicles that are likely to be involved in a conflict, unnecessary processing to resolve conflicts with other vehicles is avoided.

[0022] (3) The vehicle convoy detection unit may not detect vehicles that are more than a predetermined distance away from any vehicle in the convoy as competing vehicles.

[0023] This avoids unnecessary processing that would otherwise be required to resolve lane change conflicts with vehicles located at a distance.

[0024] (4) The vehicle convoy detection unit may include a first detection unit that detects competing vehicles in the vehicle convoy by wireless communication with vehicles present in the vehicle convoy.

[0025] By communicating wirelessly with competing vehicles, information can be collected directly from each vehicle regarding whether or not there is a lane change conflict with the vehicle itself. As a result, competing vehicles can be detected with high accuracy.

[0026] (5) The vehicle queue detection unit may further include a second detection unit that detects competing vehicles in the vehicle queue based on the output of sensors mounted on the vehicle itself.

[0027] The second detection unit appropriately processes the sensor output to obtain dynamic information about surrounding vehicles. Based on this dynamic information, the behavior of each vehicle can be determined. When a vehicle that cannot communicate wirelessly is nearby, its behavior can be used to determine whether or not it plans to change lanes.

[0028] (6) The vehicle queue detection unit may include a detection unit that detects competing vehicles in the vehicle queue based on the output of sensors mounted on the vehicle.

[0029] The detection unit appropriately processes the sensor output to obtain dynamic information about surrounding vehicles. Based on this dynamic information, the behavior of each vehicle can be determined. When a vehicle that cannot communicate wirelessly is nearby, its behavior can be used to determine whether or not it plans to change lanes.

[0030] (7) The priority output unit may include a priority determination unit that determines the priority of competing vehicles using wireless communication with a competing vehicle that is capable of wireless communication.

[0031] Information regarding lane changes can be obtained from each vehicle via wireless communication. As a result, competing vehicles can be detected accurately.

[0032] (8) The priority determination unit may include a master vehicle determination unit that determines a master vehicle from among competing vehicles and the vehicle itself; a master processing execution unit that, in response to the vehicle itself becoming the master vehicle, determines the priority of the competing vehicles according to predetermined criteria and performs processing to notify the competing vehicles capable of wireless communication using wireless communication; and a priority receiving unit that, in response to the vehicle itself not becoming the master vehicle, receives the vehicle's priority from the master vehicle.

[0033] When determining the priority of each vehicle among multiple vehicles, it is not possible to determine the priority of each vehicle individually. By selecting a master vehicle and using its determined priority to resolve lane change conflicts, lane changes can be performed safely and reliably.

[0034] (9) The master processing execution unit may set the priority of any competing vehicle that cannot communicate wirelessly with the unit to be the highest.

[0035] Vehicles that are unable to communicate wirelessly and are detected as planning to change lanes cannot exchange necessary information with other vehicles. By having these vehicles change lanes earlier than vehicles that can communicate wirelessly, the vehicles that can communicate wirelessly can then change lanes. Even when there is a mix of vehicles that can communicate and vehicles that cannot communicate, having the vehicles that cannot communicate change lanes earlier than the other vehicles in this way can avoid confusion in lane changes between vehicles that can and cannot communicate.

[0036] (10) The master processing execution unit may determine the priority of competing vehicles according to the vehicle type of the competing vehicle.

[0037] The priority for lane changes is determined according to the vehicle type of the competing vehicle. Vehicles of a specific vehicle type can change lanes preferentially. By prioritizing vehicles that would incur significant social losses if they were unable to change lanes, the social losses that occur when lane changes fail can be prevented or reduced.

[0038] (11) The master processing execution unit may determine priority for competing vehicles other than those with which it cannot communicate wirelessly, according to one or any combination thereof of the following: the type of vehicle of the competing vehicle, the position of the vehicle in the vehicle line, the length of the planned driving distance, the level of fuel consumption efficiency, the amount of remaining battery charge for driving, and whether or not the vehicle is subscribed to a specific service.

[0039] By determining the priority of lane changes according to these criteria, the social losses incurred when a vehicle is unable to change lanes can be minimized.

[0040] (12) The lane change support device may further include a hold instruction unit that instructs the autonomous driving system to postpone the lane change in response to the autonomous driving system of the vehicle attempting to change lanes.

[0041] When an autonomous driving system attempts to change lanes, the lane change is put on hold. During this hold, the system detects surrounding competing vehicles to ensure a safe lane change, and if necessary, determines the priority of the lane change. By controlling the lane change according to this priority, problems during the lane change can be prevented.

[0042] (13) A lane change assistance method relating to the second aspect of this disclosure includes the steps of: a computer detecting a competing vehicle within a predetermined distance from the vehicle that is attempting to change lanes, in response to the automated driving system of the vehicle equipped with the computer attempting to change lanes; a computer permitting the automated driving system to change lanes in response to the computer not detecting a competing vehicle in the step of detecting a competing vehicle; a computer determining and outputting a priority for lane changes among vehicles including the detected competing vehicle and the vehicle itself, in response to the computer detecting a competing vehicle in the step of detecting a competing vehicle; and a computer controlling the lane change by the automated driving system according to the priority.

[0043] If the in-vehicle computer, which is planning a lane change, does not detect any competing vehicles during the lane change detection step, the lane change is permitted. If a competing vehicle is detected, the lane change priority for the competing vehicle and the vehicle itself is output. The lane change by the automated driving system is controlled according to this priority. Even if multiple vehicles attempt to change lanes at almost the same time, the order and timing of their lane changes are controlled according to the priority. As a result, lane changes can be performed safely. Furthermore, by determining the priority in a way that minimizes the occurrence of any social losses, a lane change support method that minimizes social losses can be provided.

[0044] (14) The computer program relating to the third aspect of this disclosure causes the computer to function as a competing vehicle detection unit that detects a competing vehicle within a predetermined distance from the vehicle that is attempting to change lanes in response to the autonomous driving system of the vehicle on which the computer is installed attempting to change lanes; a lane change permission unit that permits the autonomous driving system to change lanes in response to the competing vehicle detection unit not detecting a competing vehicle; a priority output unit that determines and outputs the priority of lane changes among vehicles, including the detected competing vehicle and the vehicle itself, in response to the competing vehicle detection unit detecting a competing vehicle; and a lane change control unit that controls the lane change by the autonomous driving system according to the priority.

[0045] According to this computer program, when the vehicle's autonomous driving system plans to change lanes, the competing vehicle detection unit detects competing vehicles that are also attempting to change lanes. If no competing vehicles are detected, the lane change permission unit authorizes the autonomous driving system to change lanes. When the lane change support device detects competing vehicles attempting to change lanes, the priority output unit determines and outputs the priority of the lane change between the competing vehicle and the vehicle itself. The lane change by the autonomous driving system is controlled according to this priority. Even if multiple vehicles attempt to change lanes almost simultaneously, their lane changes are controlled according to the priority. As a result, lane changes can be performed safely. Furthermore, by determining the priority in a way that minimizes the occurrence of any social losses, the occurrence of social losses can be reduced.

[0046] [Details of the embodiments of this disclosure] Specific examples of the lane change support device, lane change support method, and computer program according to the embodiments of this disclosure will be described below with reference to the drawings. However, this disclosure is not limited to these examples and is intended to include all modifications within the meaning and scope of the claims, as indicated by the claims.

[0047] 1. First Embodiment (1) Composition A. Overview Figure 1 shows a road 30 including a branch to which the lane change support method according to this first embodiment is applied, and vehicles on the road 30. Referring to Figure 1, in this example, the road 30 is a single lane of an expressway and includes a main line 40 including a driving lane 50 and a passing lane 52, and a branch line 42 that branches off to the right from the passing lane 52 of the main line 40. The following description of the lane support method concerns lane changes for a series of vehicles 60, 62, 64, 66, and 68 traveling in the driving lane 50 toward the branching point of the branch line 42. In this first embodiment, for the sake of simplicity, it is assumed that vehicles 60, 62, 64, 66, and 68 are all scheduled to branch off to the right at the branch line 42, and therefore all need to change lanes from the driving lane 50 to the passing lane 52. It is also assumed that these vehicles are capable of communicating with each other wirelessly.

[0048] In this embodiment, lane change assistance is provided between a series of vehicles where the distance between them is below a certain level. For example, a vehicle that is far away from the series of vehicles including vehicle 60 (traveling at a position beyond a certain distance from the leading vehicle 60), such as vehicle 70 shown in Figure 1, is not subject to lane change assistance. In Figure 1, vehicle 70 has already traveled past the branching point to the branch line 42, but the same applies when vehicle 70 is traveling before the branching point.

[0049] In the following embodiment, when vehicles 60 and 68 attempt to change lanes to the overtaking lane 52 simultaneously, accidents and traffic congestion associated with the lane change are prevented. However, in this case, some vehicles may not be able to change lanes. In such cases, a function is provided by the lane change support method to determine which vehicle should be given priority for changing lanes.

[0050] B. Vehicle Configuration Figure 2 shows, as an example, a block diagram of the functional elements of the vehicle 60, specifically the parts related to cooperative processing, including lane assist changes. Referring to Figure 2, vehicle 60 includes an external wireless communication device 102 that performs data communication via vehicle-to-vehicle wireless communication between the infrastructure device 90 and other vehicles 62, ..., 70, and various sensors 104, including an external camera, LiDAR (Light Detection and Ranging), and millimeter-wave radar. Vehicle 50 further includes a plurality of ECUs (Electronic Control Units) 106 that electronically control each functional part of the vehicle, and an autonomous driving ECU 108 that controls vehicle 60 within a certain limit. Vehicle 60 further includes an in-vehicle-out-of-vehicle connection unit 100 that generates information for controlling the autonomous driving ECU 108 based on information received from the external wireless communication device 102, various sensors 104, autonomous driving ECU 108, etc., and provides this information to the autonomous driving ECU 108. The vehicle 60 further includes an in-vehicle and out-of-vehicle interconnection unit 100, various sensors 104, an autonomous driving ECU 108, and an in-vehicle network 110 connecting the autonomous driving ECU 108.

[0051] C In-vehicle and external interconnection section 100 Referring to Figure 3, the in-vehicle / out-of-vehicle interconnection unit 100 is essentially a computer and includes a CPU (Central Processing Unit) 150, ROM (Read-Only Memory) 152, and RAM (Random Access Memory) 154. The in-vehicle / out-of-vehicle interconnection unit 100 further includes a bus 156 to which these are commonly connected and which is responsible for both instruction and data communication between them, an input / output interface (I / F) 158 connected to the bus 156 and connected to the external wireless communication device 102 shown in Figure 2, and a network interface (I / F) 160 connected to the bus 156 and connected to the in-vehicle network 110 shown in Figure 2.

[0052] ROM152 is a non-volatile, rewritable memory. ROM152 stores a lane change support processing program that can be executed by the CPU150 to realize the lane change support system according to this first embodiment. At least a portion of this program is rewritable by a new program received from an external source via the external wireless communication device 102.

[0053] The external wireless communication device 102 periodically receives a dynamic map containing information about nearby moving objects from a traffic support server (not shown). This dynamic map is stored in the RAM 154 shown in Figure 3 and used for general driving assistance to the driver. The program for realizing such general driving assistance is also stored in the ROM 152 and can be updated according to information from external sources. General driving assistance includes the CACC (Cooperative Adaptive Cruise Control) function. In cooperative vehicles equipped with the CACC function, the speeds of the preceding vehicle and the following vehicle can be controlled to maintain a constant distance between them according to their respective speeds.

[0054] Structure of the D lane change support processing program Referring to Figure 4, the lane change support processing program for realizing the lane change support method according to this first embodiment has the following control structure. This program is executed repeatedly at very short, fixed time intervals.

[0055] This program includes a step 200 to acquire dynamic information about the surrounding traffic conditions from sensor data output by various sensors 104 shown in Figure 2, and a step 202 to construct and update a dynamic map from the sensor data acquired in step 200. This program further includes a step 204 to observe the output for the vehicle's autonomous driving from the autonomous driving ECU 108 shown in Figure 2, and a step 206 to understand the vehicle's behavior based on the output from the autonomous driving ECU 108 obtained in step 204.

[0056] This program further includes step 208, following step 206, which branches the control flow according to whether the vehicle's behavior as determined in step 206 is a lane change or not. When the determination in step 208 is negative, i.e., when a lane change will not occur, the execution of this program ends. This program further includes step 209, which is executed when the determination in step 208 is positive, instructing the autonomous driving ECU 108 to postpone the lane change, and step 210, following step 209, which determines whether there is a vehicle within a predetermined distance range from the vehicle and branches the control flow according to the result. This program further includes step 211, which, when the determination in step 210 is negative, instructs the autonomous driving ECU 108 to release the postponed lane change process and ends the execution of this program. In step 210, vehicles within a predetermined distance range from the detected vehicle are further detected recursively. As a result, a line of vehicles consisting of consecutive vehicles around the vehicle that are within a predetermined distance range from each other is detected.

[0057] This program further includes step 212, which is executed when the determination in step 210 is affirmative, and which collects information regarding whether or not a lane change is planned as the vehicle's path through vehicle-to-vehicle communication with each vehicle detected in step 210. This program further includes step 214, which determines, based on the information collected in step 212, whether or not there are any vehicles in the surrounding area that are planning to change lanes, and branches the control flow according to the determination. If the determination in step 214 is negative, the control proceeds to step 211. That is, even if there are vehicles in the surrounding area, if there are no vehicles among them that are planning to change lanes, the suspension of the vehicle's lane change is released and the execution of this program ends.

[0058] This program further includes step 216, which is executed after step 214 and determines a master vehicle from among the vehicles that are scheduled to change lanes, as detected in step 212, according to predetermined rules. The master vehicle is the single vehicle selected from among multiple vehicles scheduled to change lanes, which determines which vehicle will be given priority for lane change. Speed ​​of processing is required to become a master vehicle. Therefore, it is desirable that the vehicle having an in-vehicle / out-of-vehicle interconnection unit 100 that meets predetermined performance requirements become the master vehicle. For example, if there is only one vehicle in a series that meets these conditions, that vehicle will be designated as the master vehicle. If there are two or more vehicles that meet the conditions for being a master vehicle, the master vehicle will be determined from among them. Various rules can be considered for this purpose. Some examples are given below.

[0059] (a) The leading vehicle among the candidate vehicles will be designated as the master vehicle.

[0060] (b) The last vehicle among the candidates for master vehicle shall be designated as the master vehicle.

[0061] (c) A random number with a range of [0, 1] is generated for each of the master vehicle candidates, and the vehicle with the largest (or smallest) value is designated as the master vehicle.

[0062] If no vehicle meets the requirements for a master vehicle, a master vehicle will be selected from all vehicles according to one of the above (a) to (c).

[0063] This program further includes, following step 216, step 218, which branches the control flow depending on whether the vehicle has become the master vehicle as a result of the processing performed in step 216, and step 220, which determines the priority of lane changes for each vehicle according to predetermined decision criteria if the determination in step 218 is affirmative. This program further includes step 222, which notifies the autonomous driving ECU 108 of each vehicle and the vehicle itself of the priority determined in step 220 and terminates the execution of the program. This program further includes, in response to the determination in step 218 being negative, step 224, which receives the priority of the vehicle determined by the master vehicle from the master vehicle, and step 226, which notifies the autonomous driving ECU 108 of the vehicle itself of the priority received in step 224 and terminates the execution of this program.

[0064] In response to this notification, the autonomous driving ECU 108 will change lanes if possible, after a predetermined time has elapsed since a vehicle with a higher priority than itself has completed its lane change. If the vehicle has reached a position where changing lanes is difficult before it is its turn to change lanes, the autonomous driving ECU 108 will cancel the lane change.

[0065] E. Rules for determining priority In this embodiment, emergency vehicles are given the highest priority. Vehicles used for logistics are given the next highest priority. So-called owner-occupied cars are given a further lower priority. Within the same vehicle type, larger vehicles are given higher priority. In this embodiment, buses are classified as vehicles used for logistics.

[0066] Prioritizing vehicles by type is done for the following reasons: Emergency vehicles are naturally given the highest priority. Vehicles involved in logistics have time constraints, and the social losses incurred when they are late are relatively large, so they are given the second highest priority. In the case of privately owned cars, there are often not such constraints on arrival time, so they are given the lowest priority.

[0067] Prioritizing large vehicles is due to the following reasons: Generally, large vehicles can travel a shorter distance per unit of fuel compared to smaller vehicles. Therefore, if a vehicle is unable to take the correct turn at a branching point and has to detour via another route, more fuel will be consumed. As a result, fuel will be wasted. This also leads to the problem of a larger total amount of exhaust gas emitted from the vehicle. Furthermore, the width of the roads used as detours is small. Therefore, there is a concern that large vehicles using detours will negatively impact traffic. For these reasons, in this embodiment, large vehicles are given higher priority.

[0068] (2) Operation A. Overview Vehicles equipped with this lane change support device operate as follows: The in-vehicle-out-of-vehicle interconnection unit 100 shown in Figure 2 communicates with the external infrastructure device 90 via the external wireless communication device 102 to receive and store traffic conditions and dynamic maps. The in-vehicle-out-of-vehicle interconnection unit 100 also receives various sensor data from various sensors 104 (step 200 in Figure 4) and transmits it to the infrastructure device 90. The in-vehicle-out-of-vehicle interconnection unit 100 also stores the received sensor data and, based on this information and the dynamic map received from the infrastructure device 90, constructs and updates a detailed dynamic map (step 202 in Figure 4). The in-vehicle-out-of-vehicle interconnection unit 100 provides the dynamic map thus obtained to the autonomous driving ECU 108. The autonomous driving ECU 108 creates and constantly updates a driving plan based on these maps and pre-provided departure and destination information and route information between them. If it determines that a lane change is necessary based on this driving plan, the autonomous driving ECU 108 generates the output to be provided to each part of the vehicle in order to implement the lane change. The in-vehicle network 110 reads the output from the autonomous driving ECU 108 before it is distributed to various parts of the vehicle (step 206 in Figure 4) and determines whether or not a lane change is planned (step 208 in Figure 4). If there is no lane change, the execution of this program ends (the determination in step 208 in Figure 4 is denied). If a lane change is planned, the in-vehicle network 110 uses the external wireless communication device 102 to communicate with other vehicles traveling in the same lane and determines whether or not there are other vehicles within a certain distance (step 210). In this process, if there are multiple vehicles that are less than or equal to a certain distance from each other, information about those vehicles is obtained recursively.

[0069] If there are no surrounding vehicles within a certain distance (the determination in step 210 is negative), the control proceeds to step 211, where a command is issued to the automatic driving ECU 108 to release the hold on lane change, and the execution of this program ends. If there are surrounding vehicles within a certain distance (the determination in step 210 is positive), in step 212, information indicating whether or not each of those vehicles is scheduled to change lanes is collected via vehicle-to-vehicle communication using the external wireless communication device 102 (step 212). Using this schedule, it is determined in step 214 whether or not there are any vehicles scheduled to change lanes. If there are no such vehicles (the determination in step 214 is negative), in step 211, a command is issued to the automatic driving ECU 108 to release the hold on lane change, and the execution of this program ends.

[0070] If the determination in step 214 is positive, step 216 is executed to determine the master vehicle among the vehicles scheduled to change lanes. The method for determining the master vehicle in step 216 is as described above. In the following step 218, it is determined whether the vehicle itself has become the master vehicle as a result of the processing in step 216. If the vehicle itself is the master vehicle, in step 220 the priority is determined for each of the vehicles scheduled to change lanes, and in step 222 the result is notified to each vehicle and the autonomous driving ECU 108. After this, the execution of this program ends. The autonomous driving ECU 108 plans and executes a driving plan to start the lane change at an appropriate time according to this priority. If the lane change is not possible, the autonomous driving ECU 108 revises the driving plan by determining a detour, etc., and continues driving according to the new driving plan. If the vehicle itself is not the master vehicle, control is transferred from step 218 to step 224, and the in-vehicle / out-of-vehicle interconnection unit 100 waits for priority notification from the master vehicle. Upon receiving notification of priority, the in-vehicle / out-of-vehicle interconnection unit 100 notifies the automatic driving ECU 108 of that priority and terminates the execution of this program. As a result, even vehicles that are not the master vehicle will have a driving plan created and executed to change lanes at the timing determined according to the priority set by the master vehicle. If a lane change is not possible, the driving plan will be revised by setting a detour, and driving will continue according to the new driving plan.

[0071] Example of changing lane B Figure 5 schematically shows the results of lane changes actually performed in this embodiment. In this example, vehicle 60 is a medium-sized passenger car, vehicle 62 is a large bus, vehicle 64 is a small passenger car, vehicle 66 is a small truck, and vehicle 68 is a light passenger car. Therefore, vehicle 62, being a large bus, has the highest priority. Consequently, vehicle 62 changes lanes first. Next is vehicle 66. After that, the order is vehicles 60 and 64, and then vehicle 68. However, in this example, vehicle 60, being at the front, is likely to get too close to the branch line 42 at the timing according to priority and be unable to change lanes. As a result, it is expected that vehicle 60 will detour to another road, and vehicles 64 and 68 will change lanes in this order and enter the branch line 42. This priority determination process is performed by the master vehicle. In this example, for example, vehicle 60 is the master vehicle.

[0072] (3) Variant A. First variation In the first embodiment described above, priority was determined by the vehicle type and size. However, this disclosure is not limited to such embodiments. In this first modification, assuming that each vehicle is an electric vehicle, priority is given to those with low remaining battery charge. Low battery charge means that the driving distance that can be covered by that battery is short. An example of this is shown in Figure 6.

[0073] In the example shown in Figure 6, vehicle 60 has the lowest battery level, followed by vehicle 68. As a result, vehicle 60 has the highest priority, followed by vehicle 68, and these two vehicles change lanes in succession. Priorities are also assigned to the other vehicles 62, 64, and 66, and each vehicle changes lanes at the timing determined according to its priority. If a vehicle changes lanes at the timing determined according to its priority but cannot enter the branch line 42, that vehicle will revise its travel plan, continue traveling on the main line according to that plan, and reach its destination via a detour.

[0074] B. Second Variation Other criteria for determining priority can also be considered besides those mentioned above. For example, consider a case where the organization managing the main line 40 and branch line 42 provides some kind of service related to road use for a fee. It is also conceivable that one must subscribe to this service in order to travel on this road. Furthermore, it is assumed that this service has several classes, and the fees differ depending on the class. In such a case, for example, vehicles or drivers belonging to a class that requires a higher fee could be given higher priority, and vehicles or drivers belonging to a class that requires a lower fee could be given lower priority.

[0075] For example, in Figure 7, if the drivers (or their operating companies) of vehicles 64 and 68 belong to a higher-grade class, and the drivers (or their operating companies) of vehicles 60, 62, and 66 belong to a lower-grade class, then vehicles 64 and 68 will change lanes first, followed by vehicles 60, 62, and 66. In the case of drivers belonging to the same class, the priority can be determined by applying, for example, the method of the first embodiment.

[0076] As described above, according to this embodiment, when multiple vehicles capable of vehicle-to-vehicle communication plan to change lanes simultaneously at approximately the same location, it is possible to prevent these lane changes from occurring at the same time. Specifically, when the lane change support device of a vehicle planning to change lanes detects a competing vehicle for a lane change, the priority output unit outputs the priority of the lane change between the competing vehicle and the vehicle itself. The lane change control unit permits or cancels the execution of the lane change by the automated driving system according to this priority. Even if there are multiple vehicles attempting to change lanes at approximately the same time, the order and timing of their lane changes are controlled according to the priority. As a result, lane changes can be performed safely. The priority given to each vehicle's lane change is determined in such a way that it minimizes the occurrence of some form of social loss, such as fuel loss, adverse impact on traffic, increased exhaust emissions, and loss of welfare benefits for drivers who have purchased some service, that would occur if that vehicle were unable to change lanes. By determining the priority in such a way that it minimizes the occurrence of some form of social loss, it is possible to provide a lane change support device that can minimize the occurrence of social losses.

[0077] The competing vehicle detection unit may also include a vehicle line detection unit that detects competing vehicles from a line of vehicles, including the own vehicle, that are within a predetermined distance of each other. Competing vehicles are detected within a line of vehicles that are within a certain distance of each other. Since lane change conflicts are resolved only with vehicles that are likely to cause conflict, unnecessary processing that would resolve conflicts with other vehicles can be avoided.

[0078] The vehicle queue detection unit may choose not to detect vehicles that are significantly farther from the queue than a predetermined distance as competing vehicles. This avoids unnecessary processing to resolve lane change conflicts with vehicles located at a distance.

[0079] The lane change support device further includes a wireless communication device capable of communicating wirelessly with other vehicles, and the vehicle queue detection unit may include a first detection unit that detects competing vehicles in the vehicle queue by wireless communication with other vehicles in the vehicle queue. By communicating wirelessly with competing vehicles, information can be collected directly from each vehicle regarding whether or not there is a lane change conflict with the vehicle itself. As a result, competing vehicles can be detected with high accuracy.

[0080] The vehicle queue detection unit may further include a second detection unit that detects competing vehicles within the vehicle queue using the output of sensors mounted on its own vehicle. By appropriately processing the sensor output, the second detection unit can obtain dynamic information about surrounding vehicles. Based on this dynamic information, the behavior of each vehicle can be determined. When a vehicle that cannot communicate wirelessly is nearby, it is possible to determine from the behavior of that vehicle whether or not it plans to change lanes.

[0081] The priority output unit may include a priority determination unit that determines the priority of competing vehicles using wireless communication with any competing vehicles capable of wireless communication. Since information regarding lane changes can be obtained from each vehicle via wireless communication, competing vehicles can be detected accurately.

[0082] The priority determination unit may include a master vehicle determination unit that determines the master vehicle among competing vehicles and the vehicle itself, and a master processing execution unit that, in response to the vehicle itself becoming the master vehicle, determines the priority of competing vehicles according to predetermined criteria and notifies competing vehicles capable of wireless communication using wireless communication. The priority determination unit may further include a priority receiving unit that, in response to the vehicle itself not becoming the master vehicle, receives the vehicle's priority from the master vehicle. When determining the priority of each vehicle among multiple vehicles, each vehicle cannot be determined individually. By selecting a master vehicle as in the above embodiment and using the priority determined by the master vehicle to resolve lane change conflicts, lane changes can be performed safely and reliably.

[0083] The master processing execution unit may determine the priority of competing vehicles according to the vehicle type of the competing vehicle. The priority for lane changes is determined according to the vehicle type of the competing vehicle. Vehicles of a specific vehicle type can change lanes preferentially. By prioritizing lane changes for vehicles that would incur significant social losses if they could not change lanes, it is possible to prevent or reduce the social losses that occur when lane changes fail.

[0084] 2. Second Embodiment (1) Composition A. Overview In the first embodiment described above, it is assumed that all vehicles in the series are connected vehicles. However, it is considered rare for all vehicles on actual roads to be connected vehicles. At least until autonomous driving is put into practical use and becomes widespread, it is likely that connected vehicles will be less common. In such cases, even if there are non-connected vehicles in the series, it is necessary to mediate regarding vehicles that are competing for lane changes, in the same manner as in the first embodiment. The second embodiment relates to such a case.

[0085] B configuration In this second embodiment, the in-vehicle-out-of-vehicle interconnection unit 100 (Figures 2 and 3) of the first embodiment can be used as hardware as is. However, the control structure of the lane change support processing program stored in the ROM 152 in Figure 3 is different from that shown in Figure 4.

[0086] Control structure of the C lane change support processing program Referring to Figure 8, this program is similar to the one shown in Figure 4. However, the control structure of the program shown in Figure 8 differs from that shown in Figure 4 in the following respects. Specifically, this program includes a step 250 that determines whether a lane change is planned for each vehicle traveling in the same lane within a certain distance from the vehicle, based on the vehicle's sensor output, information received from surrounding cooperative vehicles, and dynamic information from the infrastructure device 90. This program also differs from that shown in Figure 4 in that it includes a step 252 that is executed when the determination in step 218 is affirmative (when the vehicle is the master vehicle) and a step 254 that is executed when the determination in step 218 is negative (when the vehicle is not the master vehicle), replacing steps 220 to 226 in Figure 4. In other respects, the flowchart shown in Figure 8 is the same as that shown in Figure 4.

[0087] In step 250, the system determines whether a lane change is planned not only for connected vehicles capable of vehicle-to-vehicle communication, but also for unconnected vehicles. In the case of connected vehicles, information regarding whether a lane change is planned can be collected wirelessly from the vehicle. In the case of unconnected vehicles, the system determines whether a lane change is planned based primarily on sensor information collected by sensors installed on the vehicle. Whether a lane change is planned can be determined, for example, by the flashing of turn signals indicating a lane change, the lateral movement of the vehicle within the driving lane, and the driver's gaze. The most effective tool for this determination is a neural network. Typically, the neural network is trained with training data consisting of images of a line of vehicles taken from the front or rear in various scenarios, and labels indicating whether a vehicle in that line of vehicles has changed lanes. During estimation, by inputting actual images into the neural network, the probability of whether a vehicle in the line of vehicles is planning to change lanes is obtained as the output of the neural network. If this probability is greater than a predetermined threshold, it can be determined that the vehicle is planning to change lanes.

[0088] Referring to Figure 9, step 252 shown in Figure 8 includes step 300, which determines whether or not there are unconnected vehicles among the vehicles scheduled to change lanes and branches the control flow according to the determination, and step 302, which sets the priority of the detected unconnected vehicle to the highest level if the determination in step 300 is affirmative.

[0089] This program further includes step 304, which is executed when the determination in step 300 is negative, and when the determination in step 300 is positive and the processing in step 302 is completed, to determine the priority for each connected vehicle scheduled to change lanes and to determine which vehicle will change lanes. This program further includes step 306, which notifies each connected vehicle and the autonomous driving ECU 108 of the priority determined in step 304 and terminates the execution of this routine.

[0090] Referring to Figure 10, step 254, which is performed on vehicles other than the master vehicle, has the following control structure. Specifically, step 254 includes step 350, which determines whether the lane-changing vehicle includes an unconnected vehicle and branches the control flow according to the determination, and step 352, which, if the determination in step 350 is affirmative, sets the priority of the unconnected vehicle scheduled to change lanes to the highest level.

[0091] This program further includes step 354, which is executed when the determination in step 350 is negative, and when the determination in step 350 is positive and the processing in step 352 is completed, to receive information regarding the lane change priority from the master vehicle. This program further includes step 356, which notifies the vehicle's autonomous driving ECU 108 of the priority received in step 354 and terminates the execution of this routine.

[0092] (2) Operation A. Overview In the second embodiment, when there is an unconnected vehicle among the vehicles scheduled to change lanes, the highest priority is assigned to the unconnected vehicle, and other connected vehicles are assigned priority using the same method as disclosed in the first embodiment. In other respects, the operation of this second embodiment is the same as that of the first embodiment.

[0093] Connected vehicles can communicate their driving plans to each other via vehicle-to-vehicle communication. However, this is not possible for unconnected vehicles. Therefore, if priority is determined only by connected vehicles and unconnected vehicles are ignored, there is a risk of confusion in lane changes. However, in this embodiment, unconnected vehicles among those scheduled to change lanes are assigned the highest priority value for lane changes. After the lane change of unconnected vehicles is completed, the lane change of connected vehicles is performed according to the priority. The lane changes of unconnected vehicles and connected vehicles are separated in time and, as a result, spatially. Lane changes can be performed safely. Although unconnected vehicles cannot be given the same priority setting as connected vehicles, at least the risk of lane changes between connected and unconnected vehicles overlapping can be reduced. Furthermore, connected vehicles can enjoy the same advantages as in the first embodiment.

[0094] In other words, in this second embodiment, even when an unconnected vehicle is present among the vehicles changing lanes, the priority given to which connected vehicle's lane change is determined in a way that minimizes the social loss incurred when that vehicle is unable to change lanes. Therefore, according to this second embodiment, it is possible to provide a lane change support device, a lane change support method, and a computer program that can minimize the social loss incurred when multiple vehicles change lanes, even in environments where connected and unconnected vehicles are mixed.

[0095] The vehicle queue detection unit includes a detection unit that detects competing vehicles within the vehicle queue using the output of sensors mounted on the vehicle itself. By appropriately processing the sensor output, the detection unit obtains dynamic information about surrounding vehicles. Based on this dynamic information, the behavior of each vehicle can be determined. When a vehicle that cannot communicate wirelessly is nearby, it is possible to determine from the behavior of that vehicle whether or not it plans to change lanes.

[0096] The master processing unit prioritizes vehicles that cannot communicate wirelessly with the system vehicle when it detects such vehicles among the competing vehicles. Vehicles that cannot communicate wirelessly and are also detected to be planning a lane change cannot exchange necessary information with other vehicles. By having these vehicles change lanes earlier than vehicles that can communicate wirelessly, the vehicles that can communicate wirelessly can then change lanes. Even when there is a mix of vehicles that can communicate with each other and vehicles that cannot, having the vehicles that cannot communicate change lanes earlier than other vehicles in this way can avoid confusion in lane changes between vehicles that can and cannot communicate.

[0097] The master processing execution unit determines the priority for lane changes for competing vehicles, excluding those that cannot communicate wirelessly with the vehicle itself, according to the following criteria: the type of vehicle of the competing vehicle, its position in the vehicle queue, the length of the planned distance traveled, the level of fuel consumption efficiency, the remaining battery level, and whether or not it is subscribed to a specific service. Priority may also be determined according to any combination of these criteria. By determining the priority for lane changes according to these criteria, the social loss incurred when a vehicle is unable to change lanes can be reduced.

[0098] As described above, this disclosure enables safe lane changes even in situations where multiple autonomous vehicles with similar functions change lanes almost simultaneously, minimizing the social losses that occur according to certain standards.

[0099] 4. Variations In the above description, embodiments of this disclosure were described for the case where the main road has two lanes. However, this disclosure is not limited to such embodiments. This disclosure can also be applied in the same way to cases where there are three or more lanes. Furthermore, in the above description, the case where there is a right-hand branch on the passing lane side was described. However, this disclosure is not limited to such embodiments. For example, it can also be applied to cases where there is a branch to the left on a highway. It can also be applied to lane changes in special cases such as on roads with three or more lanes where the center lane leads to the entrance of a tunnel.

[0100] In the above embodiment, the following criteria are used as the priority for lane changes.

[0101] (1) Is it a non-connected vehicle or a connected vehicle?

[0102] (2) To which class of service does the vehicle or driver belong?

[0103] (3) What is the type (model) and purpose of the vehicle?

[0104] (4) What are the dimensions of the vehicle?

[0105] (5) In the case of an electric vehicle, what is the remaining battery level?

[0106] (6) How much additional fuel (electricity) is needed when a lane change is not possible?

[0107] (7) What is the required length of the detour when lane changes are not possible?

[0108] (8) When a lane change is not possible and an alternative route is chosen, to what extent does this affect traffic on the alternative route?

[0109] However, the criteria for judgment are not limited to these. For example, the number of passengers or the amount of cargo in a vehicle (prioritizing the larger amount), the time until the estimated time of arrival at the destination (prioritizing the shorter time), or the product of the length of the detour route and the average fuel consumption of each vehicle (prioritizing the one that results in a higher value) may be used as criteria. In any case, these criteria are often interrelated, and it is not necessary to use only one of them. These criteria may be combined to determine priority, or the criteria may be changed depending on factors such as weather, season, and time of day.

[0110] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The technical scope of this disclosure is not defined by the description of the detailed invention but by the claims, and all modifications within the meaning and scope of the equivalents of the claims are intended to be included. [Explanation of symbols]

[0111] 30 road 40 Main Line 42 Branch Line 50 Lane 52 Passing Lane Vehicles 60, 62, 64, 66, 68, 70 90 Infrastructure Equipment 100 Interconnection section inside and outside the vehicle 102 External wireless communication device 104 Various Sensors 106 ECU 108 Autonomous Driving ECU 110 In-vehicle network 150 CPU 152 ROM 154 RAM 156 Bus 158 Input / Output Interfaces 160 Network Interfaces 200, 202, 204, 206, 208, 209, 210, 211, 212, 214, 216, 218, 220, 222, 224, 226, 250, 252, 254, 300, 302, 304, 306, 350, 352, 354, 356 steps

Claims

1. A competing vehicle detection unit detects a competing vehicle that is within a predetermined distance from the vehicle and is also attempting to change lanes, in response to the vehicle's own autonomous driving system attempting to change lanes. In response to the fact that the competing vehicle detection unit did not detect a competing vehicle, a lane change permission unit permits the autonomous driving system to change lanes, In response to the competing vehicle detection unit detecting the competing vehicle, a priority output unit determines and outputs the priority of lane changes for the vehicles, including the detected competing vehicle and the vehicle itself. Includes a lane change control unit that controls lane changes by the automated driving system according to the aforementioned priority, The competing vehicle detection unit includes a vehicle line detection unit that detects competing vehicles from a line of vehicles that are within a predetermined distance of each other. The vehicle queue detection unit includes a first detection unit that detects competing vehicles within the vehicle queue by wireless communication with the vehicles present within the vehicle queue. The priority output unit includes a priority determination unit that determines the priority of the competing vehicles using wireless communication with a vehicle capable of wireless communication among the competing vehicles. The priority determination unit, A master vehicle determination unit that determines a master vehicle from among the competing vehicles and the own vehicle, A master processing execution unit that, in response to the vehicle itself becoming the master vehicle, determines the priority of the competing vehicles according to predetermined criteria and performs a process of notifying the competing vehicles capable of wireless communication using wireless communication, A lane change support device including a priority receiving unit that receives the priority of the vehicle from the master vehicle in response to the fact that the vehicle itself did not become the master vehicle.

2. The lane change support device according to claim 1, wherein the vehicle queue detection unit further includes a second detection unit that detects the competing vehicle in the vehicle queue based on the output of a sensor mounted on the vehicle itself.

3. A competing vehicle detection unit that, in response to the autonomous driving system of the vehicle attempting to change lanes, detects a competing vehicle that is within a predetermined distance from the vehicle and is attempting to change lanes, In response to the fact that the competing vehicle detection unit did not detect a competing vehicle, a lane change permission unit permits the autonomous driving system to change lanes, In response to the competing vehicle detection unit detecting the competing vehicle, a priority output unit determines and outputs the priority of lane changes for the vehicles, including the detected competing vehicle and the vehicle itself. Includes a lane change control unit that controls lane changes by the automated driving system according to the aforementioned priority, The competing vehicle detection unit includes a vehicle line detection unit that detects competing vehicles from a line of vehicles that are within a predetermined distance of each other. The vehicle queue detection unit includes a detection unit that detects competing vehicles within the vehicle queue based on the output of sensors mounted on the vehicle itself. The priority output unit includes a priority determination unit that determines the priority of the competing vehicles using wireless communication with a vehicle capable of wireless communication among the competing vehicles. The priority determination unit, A master vehicle determination unit that determines a master vehicle from among the competing vehicles and the own vehicle, A master processing execution unit that, in response to the vehicle itself becoming the master vehicle, determines the priority of the competing vehicles according to predetermined criteria and performs a process of notifying the competing vehicles capable of wireless communication using wireless communication, A lane change support device including a priority receiving unit that receives the priority of the vehicle from the master vehicle in response to the fact that the vehicle itself did not become the master vehicle.

4. The lane change support device according to any one of claims 1 to 3, wherein the vehicle line detection unit does not detect as a competing vehicle any vehicle that is located beyond the predetermined distance from any vehicle in the vehicle line.

5. The lane change support device according to any one of claims 1 to 3, wherein the master processing execution unit sets the priority of the vehicle that cannot communicate wirelessly with the competing vehicle to the highest priority.

6. The lane change support device according to any one of claims 1 to 3, wherein the master processing execution unit determines the priority of the competing vehicle according to the vehicle type of the competing vehicle.

7. The lane change support device according to any one of claims 1 to 3, wherein the master processing execution unit determines priority for competing vehicles other than those that cannot communicate wirelessly with the vehicle itself, according to one of the following or any combination thereof: the vehicle type of the competing vehicle, the position of the vehicle in the vehicle line, the size of the planned driving distance, the level of fuel consumption efficiency, the amount of remaining driving battery, and whether or not the vehicle is subscribed to a specific service.

8. Furthermore, the lane change support device according to any one of claims 1 to 3, further comprising a hold instruction unit that instructs the autonomous driving system to postpone the lane change in response to the autonomous driving system of the vehicle attempting to change lanes.

9. The computer, in response to the autonomous driving system of the vehicle equipped with the computer attempting to change lanes, detects a competing vehicle within a predetermined distance from the vehicle that is also attempting to change lanes. The computer, in response to the step of detecting a competing vehicle, not detecting a competing vehicle, grants permission for the automated driving system to change lanes; The computer, in response to the detection of a competing vehicle, determines and outputs the priority of lane changes among the vehicles, including the detected competing vehicle and the own vehicle. The process includes the steps of a computer controlling lane changes by the automated driving system in accordance with the priority, The step of detecting the competing vehicle includes a vehicle convoy detection step in which a computer detects the competing vehicle from a convoy of vehicles that are within a predetermined distance of each other. The vehicle convoy detection step includes a first detection step in which a computer detects the competing vehicle in the vehicle convoy by wireless communication with the vehicle present in the vehicle convoy, The priority output step includes a priority determination step in which the computer determines the priority of the competing vehicles using wireless communication with a vehicle capable of wireless communication among the competing vehicles, The aforementioned priority determination step is, A master vehicle determination step in which the computer determines a master vehicle from among the competing vehicles and the own vehicle, A master processing execution step in which the computer, in response to its own vehicle becoming the master vehicle, determines the priority of the competing vehicles according to predetermined criteria and performs a process of notifying the competing vehicles capable of wireless communication using wireless communication, A lane change assistance method comprising a priority receiving step in which a computer receives the priority of the vehicle from the master vehicle in response to the fact that the vehicle itself did not become the master vehicle.

10. The computer, in response to the autonomous driving system of the vehicle equipped with the computer attempting to change lanes, detects a competing vehicle within a predetermined distance from the vehicle that is also attempting to change lanes, The computer, in response to the step of detecting a competing vehicle, not detecting a competing vehicle, grants permission for the automated driving system to change lanes; The computer, in response to the detection of a competing vehicle, determines and outputs the priority of lane changes among the vehicles, including the detected competing vehicle and the own vehicle. The process includes the steps of a computer controlling lane changes by the automated driving system in accordance with the priority, The step of detecting the competing vehicle includes a vehicle convoy detection step in which a computer detects the competing vehicle from a convoy of vehicles that are within a predetermined distance of each other. The vehicle queue detection step includes a detection step in which a computer detects the competing vehicle in the vehicle queue based on the output of a sensor mounted on the vehicle, The priority output step includes a priority determination step in which the computer determines the priority of the competing vehicles using wireless communication with a vehicle capable of wireless communication among the competing vehicles, The aforementioned priority determination step is, A master vehicle determination step in which the computer determines a master vehicle from among the competing vehicles and the own vehicle, A master processing execution step in which the computer, in response to its own vehicle becoming the master vehicle, determines the priority of the competing vehicles according to predetermined criteria and performs a process of notifying the competing vehicles capable of wireless communication using wireless communication, A lane change assistance method comprising a priority receiving step in which a computer receives the priority of the vehicle from the master vehicle in response to the fact that the vehicle itself did not become the master vehicle.

11. Computers, In response to the autonomous driving system of the vehicle in which the computer is installed attempting to change lanes, a competing vehicle detection unit detects a competing vehicle that is within a predetermined distance from the vehicle and is also attempting to change lanes. In response to the fact that the aforementioned competing vehicle detection unit did not detect a competing vehicle, a lane change permission unit permits the autonomous driving system to change lanes, In response to the aforementioned competitor vehicle detection unit detecting a competitor vehicle, a priority output unit determines and outputs the priority of lane changes among vehicles including the detected competitor vehicle and the vehicle itself. A computer program that functions as a lane change control unit that controls lane changes by the automated driving system according to the aforementioned priority, The competing vehicle detection unit includes a vehicle line detection unit that detects competing vehicles from a line of vehicles that are within a predetermined distance of each other. The vehicle queue detection unit includes a first detection unit that detects competing vehicles within the vehicle queue by wireless communication with the vehicles present within the vehicle queue. The priority output unit includes a priority determination unit that determines the priority of the competing vehicles using wireless communication with a vehicle capable of wireless communication among the competing vehicles. The priority determination unit, A master vehicle determination unit that determines a master vehicle from among the competing vehicles and the own vehicle, A master processing execution unit that, in response to the vehicle itself becoming the master vehicle, determines the priority of the competing vehicles according to predetermined criteria and performs a process of notifying the competing vehicles capable of wireless communication using wireless communication, A computer program including a priority receiving unit that receives the priority of the vehicle from the master vehicle in response to the fact that the vehicle itself did not become the master vehicle.

12. A computer, In response to the autonomous driving system of the vehicle in which the computer is installed attempting to change lanes, a competing vehicle detection unit detects a competing vehicle that is within a predetermined distance from the vehicle and is also attempting to change lanes. In response to the fact that the aforementioned competing vehicle detection unit did not detect a competing vehicle, a lane change permission unit permits the autonomous driving system to change lanes, In response to the aforementioned competitor vehicle detection unit detecting a competitor vehicle, a priority output unit determines and outputs the priority of lane changes among vehicles including the detected competitor vehicle and the vehicle itself. A computer program that functions as a lane change control unit that controls lane changes by the automated driving system according to the aforementioned priority, The competing vehicle detection unit includes a vehicle line detection unit that detects competing vehicles from a line of vehicles that are within a predetermined distance of each other. The vehicle queue detection unit includes a detection unit that detects competing vehicles within the vehicle queue based on the output of sensors mounted on the vehicle itself. The priority output unit includes a priority determination unit that determines the priority of the competing vehicles using wireless communication with a vehicle capable of wireless communication among the competing vehicles. The priority determination unit, A master vehicle determination unit that determines a master vehicle from among the competing vehicles and the own vehicle, A master processing execution unit that, in response to the vehicle itself becoming the master vehicle, determines the priority of the competing vehicles according to predetermined criteria and performs a process of notifying the competing vehicles capable of wireless communication using wireless communication, A computer program including a priority receiving unit that receives the priority of the vehicle from the master vehicle in response to the fact that the vehicle itself did not become the master vehicle.

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