Mobile device control device, mobile device control method, and program

Abstract

To provide a mobile body control device, a mobile body control method, and a program capable of appropriately setting a reference time for canceling a lane change, which is one item of setting information.SOLUTION: A mobile body control device comprises: a lane change control unit that causes a mobile body to change lanes from a first lane in which the mobile body is located to a second lane adjacent to the first lane independently of operation of an occupant; a lane change control unit that suspends control related to the lane change if a predetermined event continues for a first period of time; and a setting change unit that changes a setting of the first period of time based on setting information for the lane change.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transport system that takes into account people in vulnerable positions among traffic participants. Towards this realization, research and development focusing on further improving traffic safety and convenience through research and development related to autonomous driving and advanced driving assistance have been underway. In this technology, setting various setting information to appropriate values is an important factor. For example, Patent Document 1 describes determining a lane change start section so that a lane change can be executed reflecting a driver's preference.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, there can be a plurality of setting information in autonomous driving and advanced driving assistance. In the conventional technology, no consideration has been given to reflecting other setting information when changing one piece of setting information. For this reason, there has been a possibility that the setting information is not set appropriately.

[0005] The present invention has been made in consideration of such circumstances, and one of its purposes is to provide a movement control device, a movement control method, and a program that can appropriately set the reference time for canceling a lane change, which is one of the setting information. And by extension, it contributes to the development of a sustainable transport system.

Means for Solving the Problems

[0006] The mobile device control device, mobile device control method, and program according to this invention employ the following configuration. (1) A mobile body control device according to one aspect of the present invention is a lane change control unit that causes a mobile body to change lanes from a first lane in which the mobile body is located to a second lane adjacent to the first lane without the operation of the occupants, and comprises a lane change control unit that cancels the control related to the lane change if a predetermined event continues for a first hour, and a setting change unit that changes the setting of the first hour based on the setting information of the lane change.

[0007] (2) In the embodiment of (1) above, the setting information is the second time from the time the lane change control unit decides to perform control related to the lane change until the moving body starts lateral movement for the lane change, and the setting change unit sets the first time shorter the shorter the second time.

[0008] (3) In the embodiment of (1) above, the setting information is the lateral speed during the lane change, and the setting change unit sets the first time to be shorter the greater the lateral speed.

[0009] (4) In the embodiment of (1) above, the setting change unit changes the setting of the first time according to the destination country of the mobile body.

[0010] (5) In the embodiment of (1) above, the lane change control unit does not discontinue the control related to the lane change even if the predetermined event continues for a first hour, if the predetermined part of the moving body crosses the road markings during the first hour.

[0011] (6) In the embodiment of (1) above, the lane change control unit does not discontinue the control related to the lane change even if the predetermined event continues for a first hour, if the moving body starts moving laterally for the lane change during the first hour.

[0012] (7) In the embodiment of (1) above, the predetermined event is that the occupant is not holding the steering control.

[0013] (8) A mobile body control device according to another aspect of the present invention is a lane change control device that causes a mobile body to change lanes from a first lane in which the mobile body is located to a second lane adjacent to the first lane without the operation of an occupant, and comprises a lane change control device that discontinues the control related to the lane change if a predetermined event continues for a first hour, wherein the first hour is set to be shorter the shorter the second hour is from the time the lane change control device decides to perform the control related to the lane change until the mobile body starts lateral movement for the lane change.

[0014] (9): Another aspect of the present invention relates to a mobile body control method, which is performed by a mobile body control device and comprises: causing a mobile body to change lanes from a first lane in which the mobile body is located to a second lane adjacent to the first lane without the operation of an occupant, and stopping the control related to the lane change if a predetermined event continues for a first hour; and changing the setting of the first hour based on the setting information of the lane change.

[0015] (10): Another aspect of the present invention is a program that causes the processor of a mobile body control device to change the lane of a mobile body from the first lane in which the mobile body is located to the second lane adjacent to the first lane, without the operation of the occupants, and to discontinue the control related to the lane change if a predetermined event continues for a first hour, and to change the setting of the first hour based on the setting information of the lane change. [Effects of the Invention]

[0016] According to the embodiments of (1) to (10), the reference time for canceling a lane change, which is one of the setting information, can be set appropriately. [Brief explanation of the drawing]

[0017] [Figure 1] This is a diagram showing a part of the configuration of a vehicle M equipped with a vehicle control device 100. [Figure 2] This is a functional configuration diagram of the first control unit 120 and the second control unit 160. [Figure 3] This is a diagram illustrating a scenario where an automatic lane change is performed. [Figure 4] This is a flowchart showing an example of the process flow by the lane change control unit 142. [Figure 5] This is a diagram illustrating a scenario where a passenger feels a sense of discomfort at the timing of canceling an automatic lane change. [Figure 6] This is a diagram showing an example of the setting information change table 154. [Figure 7] This is a flowchart showing an example of the process flow executed by the setting change unit 144. [Embodiments for Carrying Out the Invention]

[0018] Hereinafter, with reference to the drawings, embodiments of the movement control device, movement control method, and program of the present invention will be described. The moving body is one that moves in an area such as a road where lanes exist, and may include all autonomous movable things such as a so-called vehicle, a self-propelled robot, and an electric kick scooter in addition to the vehicle. In the following description, it will be described by referring to a vehicle control device which is an example of the movement control device. The drive source of the vehicle controlled by the vehicle control device 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 the electric power generated by a generator connected to the internal combustion engine, or the discharge power of a secondary battery or a fuel cell.

[0019] [Configuration] FIG. 1 is a diagram showing a part of the configuration of a vehicle M equipped with a vehicle control device 100. In the vehicle M, 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 (Map Positioning Unit) 60, a driving operator 80, a vehicle control device 100, a traveling driving force output device 200, a brake device 210, and a steering device 220 are mounted. These devices and apparatuses are connected to each other by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. Note that the configuration shown in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

[0020] The camera 10 is, for example, a digital camera using a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to an arbitrary position of the vehicle M. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the back surface of the rearview mirror, or the like. The camera 10, for example, periodically and repeatedly images the periphery of the vehicle M. The camera 10 may be a stereo camera.

[0021] The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves (reflected waves) reflected by an object to detect at least the position (distance and azimuth) of the object. The radar device 12 is attached to an arbitrary position of the vehicle M. The radar device 12 may detect the position and speed of an object by an FM-CW (Frequency Modulated Continuous Wave) method.

[0022] 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.

[0023] The object recognition device 16 performs sensor fusion processing on some or all of the detection results from 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 vehicle control 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 vehicle control device 100. The object recognition device 16 may be omitted from the vehicle system 1.

[0024] 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.

[0025] The HMI30 displays 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.

[0026] 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.

[0027] 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.

[0028] 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 in 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.

[0029] 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.

[0030] The driver controls 80 include, for example, the steering wheel 82, as well as the accelerator pedal, brake pedal, shift lever, and other controls. The driver controls 80 are equipped with sensors that detect the amount of operation or whether or not an operation is performed, and the detection results are output to the vehicle control 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 is an example of a "control that accepts steering operations by the driver." The controls do not necessarily have to be ring-shaped and may take the form of an irregularly shaped steering wheel, joystick, button, etc. The steering wheel 82 is equipped with a steering grip sensor 84. The steering grip sensor 84 is implemented by a capacitive sensor or the like and outputs a signal to the vehicle control device 100 that can detect whether or not the driver is gripping the steering wheel 82 (meaning making contact with it in a state where force can be applied).

[0031] The vehicle control device 100 includes, for example, a first control unit 120 and a second control unit 160. The first control unit 120 and the second control unit 160 are each implemented by a hardware processor, such as a CPU (Central Processing Unit), executing a program (software). Some or all of these components may be implemented 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 they may be implemented through 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 vehicle control 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 vehicle control device 100 when the storage medium (non-transient storage medium) is mounted on a drive device.

[0032] Figure 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160. The first control unit 120 includes, for example, a recognition unit 130, an action plan generation unit 140, and a storage unit 150. The action plan generation unit 140 includes a lane change control unit 142 and a setting change unit 144. The storage unit 150 is RAM (Random Access Memory), HDD, flash memory, etc. The recognition unit 130 and the action plan generation unit 140 implement, for example, functions using AI (Artificial Intelligence) and functions using a pre-defined model in parallel. For example, the function of "recognizing intersections" may be implemented by executing intersection recognition using deep learning, etc., and recognition based on pre-defined conditions (such as pattern-matchable signals and road markings) in parallel, and then scoring both and comprehensively evaluating them. This ensures the reliability of autonomous driving.

[0033] The recognition unit 130 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).

[0034] Furthermore, the recognition unit 130 recognizes, for example, the lane in which the vehicle M is traveling. For example, the recognition unit 130 recognizes the driving lane by comparing the pattern of road markings obtained from the second map information 62 (for example, an arrangement of solid and dashed lines) with the pattern of road markings around the vehicle M recognized from the image captured by the camera 10. Note that the recognition unit 130 may recognize the driving lane not only by road markings, but also by recognizing the road boundary (road boundary) 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. In addition, the recognition unit 130 recognizes stop lines, obstacles, red lights, toll booths, and other road events.

[0035] When recognizing a driving lane, the recognition unit 130 recognizes the position and orientation of the vehicle M relative to the driving lane. For example, the recognition unit 130 may recognize the deviation of the vehicle M's reference point from the center of the lane, and the angle the vehicle M 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 130 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.

[0036] The action plan generation unit 140, in principle, drives the vehicle M along the recommended lane determined by the recommended lane determination unit 61, and further generates a target trajectory for the vehicle M to travel in the future, automatically (without driver intervention) so as to avoid approaching objects recognized by the recognition unit 130 (excluding road markings, road signs, manholes, and other objects that can be driven over). For example, the recognition unit 130 sets a risk area centered on the object whose state has been outputted, and within the risk area, the recognition unit 130 sets a risk as an index value indicating the degree to which the vehicle M should not approach. The action plan generation unit 140 generates a target trajectory so as not to pass through points where the risk exceeds a predetermined value. Since objects include moving objects, the risk distribution is not one per control cycle, but is set for multiple future points in time, taking into account the predicted future position of the object based on the object's velocity. The target trajectory includes, for example, a velocity element. For example, the target trajectory is expressed as a sequence of points (trajectory points) that the vehicle M should reach. Track points are points that vehicle M should reach at predetermined distances along the road (e.g., a few meters), and separately, target speed and target acceleration are generated as part of the target trajectory at predetermined sampling time intervals (e.g., a few tenths of a second). Alternatively, track points may be the positions that vehicle M should reach at each sampling time interval. In this case, the target speed and target acceleration information is represented by the intervals between track points.

[0037] The action plan generation unit 140 may set autonomous driving events when generating a target trajectory. Autonomous driving events include constant speed driving events, low-speed follow driving events, lane change events, branching events, merging events, and takeover events. The action plan generation unit 140 generates a target trajectory according to the activated event.

[0038] The vehicle control device 100 (action plan generation unit 140) performs the following types of lane changes. There are two types of lane changes: lane changes requested by the system (1) and lane changes requested by the driver (2). Lane changes (1) include lane changes for overtaking, which are performed when the speed of the preceding vehicle is lower than a certain standard relative to the vehicle's speed, and lane changes for proceeding towards the destination (lane changes due to a change in the recommended lane). Lane changes (2) are performed when conditions related to speed and positional relationship with surrounding vehicles are met, and the driver operates the turn signal, causing the vehicle M to change lanes in the direction of the operation.

[0039] The second control unit 160 controls the driving force output device 200, the braking device 210, and the steering device 220 so that the vehicle M passes through the target trajectory generated by the action plan generation unit 140 at the scheduled time.

[0040] The driving force output device 200 outputs driving force (torque) to the drive wheels for the vehicle 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 (Electronic Control Unit) that controls them. The ECU controls the above configuration according to information input from the second control unit 160 or information input from the driver control unit 80.

[0041] The brake 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 second control unit 160 or from the driver control unit 80, so that brake torque corresponding to the braking operation is output to each wheel. The brake system 210 may also include a backup mechanism that transmits hydraulic pressure generated by the operation of the brake pedal included in the driver control unit 80 to the cylinder via a master cylinder. The brake system 210 is not limited to the configuration described above, and may also be an electronically controlled hydraulic brake system that controls an actuator according to information input from the second control unit 160 to transmit hydraulic pressure from the master cylinder to the cylinder.

[0042] 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 second control unit 160 or from the driver control unit 80.

[0043] [Change of lane for automobiles] The following describes the operation and setting changes related to automatic lane changes. The following description is solely about "automatic lane changes to proceed towards the destination (automatic lane changes due to changes in the recommended lane)." The memory unit 150 stores information for automatic lane changes, such as setting information 152 and setting information change table 154.

[0044] The lane change control unit 142 causes vehicle M to change lanes from the first lane L1, where vehicle M is located, to the second lane L2, which is adjacent to the first lane L1, without any operation by the occupants. Figure 3 is an example of a scenario in which an automatic lane change is performed. Beyond the second lane L2 is a branch road BL leading to a destination set by the occupants, and the recommended lane RL switches from the first lane L1 to the second lane L2 in order to enter that branch road. In the figure, K is the path of vehicle M during the lane change. The timing of the switch of the recommended lane RL is set to match the length of the second time period T2, with the switch becoming earlier the longer the second time period T2 is.

[0045] At this time, the lane change control unit 142 stops the control related to the lane change if a predetermined event continues for the duration of the first time period T1. Here, the lane change control unit 142 performs processes such as recognizing the relative position of the vehicle in the second lane and confirming the safety of the lane change from the time a trigger for a lane change occurs (for example, when the recommended lane is changed, as described above) until the second time period T2 has elapsed, and controls the steering device 220 to start the lateral movement of the vehicle M. The first time period T1 and the second time period T2 are each stored in the storage unit 150 as setting information 152. The predetermined event is, for example, that the occupant is not gripping the steering wheel 82, which is an example of a steering control, that is, is hands-free or only lightly touching the steering wheel 82. Furthermore, even if a predetermined event continues for a period of time 1, the lane change control unit 142 will not discontinue the lane change control if a predetermined part of the vehicle M (for example, the center of gravity or tip of the front wheel on the second lane side of the left and right front wheels) crosses the road marking between the first lane and the second lane during the first period T1.

[0046] Figure 4 is a flowchart showing an example of the processing flow by the lane change control unit 142. The processing in this flowchart starts when a lane change trigger occurs. First, the lane change control unit 142 starts measuring the second time T2 (step S1) and starts checking the surrounding conditions of vehicle M (step S2). Next, the lane change control unit 142 determines whether a predetermined event has occurred (step S3). If the predetermined event has not occurred, the lane change control unit 142 determines whether the second time T2 has elapsed (step S4). Steps S3 and S4 are repeated until the second time T2 has elapsed.

[0047] When the second time T2 has elapsed, the lane change control unit 142 determines whether or not it is possible to change lanes (step S5). For example, the lane change control unit 142 makes the determination in step S5 based on the width of the space at the destination lane in the second lane. If it is possible to change lanes, the lane change control unit 142 starts the lateral movement of the vehicle M (step S6). Thereafter, the lane change control unit 142 moves the vehicle M at a predetermined lateral movement speed until the lane change is completed.

[0048] If the lane change control unit 142 determines that a predetermined event has occurred in step S3, it executes the processes in steps S10 to S13 in parallel with the processes in steps S4 to S6. The lane change control unit 142 starts measuring the first time T1 (step S10). Next, the lane change control unit 142 determines whether the first time T1 has elapsed while the predetermined event is still ongoing (step S11). If the first time T1 has elapsed while the predetermined event is still ongoing, the lane change control unit 142 determines whether the vehicle M has started to move laterally and whether a predetermined part of the vehicle M has crossed the road markings (step S12). If a negative result is obtained in step S12, the lane change control unit 142 cancels the lane change control. The lane change control unit 142 also cancels the automatic lane change if it determines in step S5 that the situation is not such that a lane change is possible. At this point, if the lane change control unit 142 has not canceled the lane change trigger, it restarts processing from step S1.

[0049] If a positive result is obtained in step S12, the lane change control unit 142 continues the automatic lane change without canceling it. Also, if a predetermined event disappears after the measurement of the first time T1 has started (for example, if the occupant grips the steering wheel 82), the lane change control unit 142 resets the measurement of the first time T1 and continues the automatic lane change.

[0050] [Change settings] Here, the second time zone (T2) is set variably depending on the destination of vehicle M (the country to which vehicle M is exported (domestic if it is domestic)) before export. The optimal second time zone (T2) differs depending on the legal system and national characteristics of the destination country, and doing so can increase user satisfaction. In other words, there are countries where lane changes should be made early and with ample time before reaching an intersection, and countries where lane changes should be made relatively close to the exit, and it is preferable to switch the control timing accordingly.

[0051] However, if only the second time period T2 is made variable, there may be situations where the occupants feel uncomfortable with the timing of the cancellation of the automatic lane change. Figure 5 illustrates a situation in which the occupants feel uncomfortable with the timing of the cancellation of the automatic lane change. In this example, the second time period T2 is set to be relatively short, and accordingly, the switching of the recommended lane RL occurs relatively close to the junction BL. In this situation, if the first time period T1 is set to be long, as shown in the figure, the automatic lane change may be canceled after the vehicle M starts moving laterally, when a predetermined event occurs and the first time period T1 has elapsed. This can lead to inconsistency in the behavior of the vehicle M and cause the occupants to feel uncomfortable. Therefore, if the second time period T2 is short, it is desirable to also shorten the corresponding first time period.

[0052] Therefore, the setting change unit 144 of the vehicle control device 100 changes the setting of the first time T1 based on the second time T2, which is one of the setting information for lane changes. The setting change unit 144 sets the first time T1 to be shorter the shorter the second time T2 is.

[0053] Figure 6 shows an example of a setting information change table 154. The setting information change table 154 is information that defines a set of first time T1 and second time T2 for each destination of vehicle M. In the setting information change table 154, the set of first time T1 and second time T2 is defined such that the shorter the second time T2, the shorter the first time T1 becomes. The setting change unit 144 changes the second time T2 so that the relationship between the first time T1 and second time T2 defined in the setting information change table 154 is maintained.

[0054] Figure 7 is a flowchart showing an example of the processing flow performed by the setting change unit 144. The processing in this flowchart starts, for example, when a specified external device is connected to the vehicle control device 100. A specified external device is a computer device such as a tablet terminal, personal computer, or smartphone.

[0055] First, the configuration change unit 144 communicates with an external device and performs authentication processing for the external device and the operator (step S20). The configuration change unit 144 displays the candidate destinations specified in the configuration information change table 154 on the external device and accepts the operator's selection of a destination from among them (step S21). The configuration change unit 144 sets the first time T1 and the second time T2 according to the selected destination and stores them in the storage unit 150 as configuration information 152 (step S22).

[0056] This ensures that the second hour T2, which is the standard time for suspending lane changes, is set appropriately.

[0057] In the above embodiment, the setting change unit 144 changes the setting of the first time T1 based on the second time T2, which is one of the setting information for lane changes. However, instead of this (or in addition to this), the first time T1 may be set to be shorter the greater the lateral speed during the lane change, which is one of the setting information for lane changes.

[0058] Furthermore, in the above embodiment, the lane change control unit 142 does not discontinue control related to lane changes even if a predetermined event continues for a first time period T1, if a predetermined part of the vehicle M crosses the road marking between the first lane and the second lane during the first time period T1. Alternatively, the lane change control unit 142 may not discontinue control related to lane changes even if a predetermined event continues for a first time period T1, if the vehicle M begins lateral movement for lane changes during the first time period T1.

[0059] The embodiments described above can be expressed as follows. A storage medium that stores computer-readable instructions, A processor connected to the storage medium, The processor executes the computer-readable instructions to: The moving body is made to change lanes from the first lane in which the moving body is located to the second lane adjacent to the first lane, without the operation of the occupants. If the predetermined event continues for a period of 1 hour, the control related to the lane change will be discontinued. Based on the lane change setting information, the setting for the first time is changed. Mobile device control system.

[0060] 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]

[0061] 100 Vehicle control system 120 First control unit 130 Recognition part 140 Action Plan Generation Unit 142 Lane Change Control Unit 144 Settings Change Section 150 Storage section 152 Configuration Information 154 Configuration Information Change Table

Claims

1. A lane change control unit that causes a moving object to change lanes from a first lane in which the moving object is located to a second lane adjacent to the first lane, without the operation of the occupants, and which discontinues the control related to the lane change if a predetermined event continues for a first hour, A setting change unit that changes the setting of the first time based on the lane change setting information, Equipped with, The aforementioned setting information is a second period from the time the lane change control unit decides to perform control related to the lane change until the moving body begins lateral movement for the lane change. The setting change unit sets the first time shorter the shorter the second time. Mobile device control system.

2. A lane change control unit that causes a moving object to change lanes from a first lane in which the moving object is located to a second lane adjacent to the first lane, without the operation of the occupants, and which discontinues the control related to the lane change if a predetermined event continues for a first hour, A setting change unit that changes the setting of the first time based on the lane change setting information, Equipped with, The aforementioned setting information is the lateral speed during the lane change, The setting change unit sets the first time to be shorter as the lateral speed increases. Mobile device control system.

3. A lane change control unit that causes a moving object to change lanes from a first lane in which the moving object is located to a second lane adjacent to the first lane, without the operation of the occupants, and which discontinues the control related to the lane change if a predetermined event continues for a first hour, A setting change unit that changes the setting of the first time based on the lane change setting information, Equipped with, The setting change unit changes the setting of the first time according to the destination country of the mobile body. Mobile device control system.

4. A lane change control unit that causes a moving object to change lanes from a first lane in which the moving object is located to a second lane adjacent to the first lane, without the operation of the occupants, and which discontinues the control related to the lane change if a predetermined event continues for a first hour, A setting change unit that changes the setting of the first time based on the lane change setting information, Equipped with, Even if the predetermined event continues for a first hour, the lane change control unit will not discontinue the control related to the lane change if the predetermined location of the moving body crosses a road marking during that first hour. Mobile device control system.

5. A lane change control unit that causes a moving object to change lanes from a first lane in which the moving object is located to a second lane adjacent to the first lane, without the operation of the occupants, and which discontinues the control related to the lane change if a predetermined event continues for a first hour, A setting change unit that changes the setting of the first time based on the lane change setting information, Equipped with, Even if the predetermined event continues for a first hour, the lane change control unit will not discontinue the control related to the lane change if the moving body begins lateral movement for the lane change during the first hour. Mobile device control system.

6. The aforementioned predetermined event is that the occupant is not holding the steering control. A mobile device control device according to any one of claims 1 to 5.

7. A lane change control unit that causes a moving object to change lanes from a first lane in which the moving object is located to a second lane adjacent to the first lane, without the operation of the occupant, and comprising a lane change control unit that discontinues the control related to the lane change if a predetermined event continues for a first hour, The aforementioned first time is set to be shorter the shorter the second time is, from the time the lane change control unit decides to perform control related to the lane change until the moving body starts lateral movement for the lane change. Mobile device control system.

8. A method for controlling a mobile object, which is performed by a mobile object control device, A process to change the lane of a moving object from the first lane in which the moving object is located to the second lane adjacent to the first lane, without the operation of the occupants, and to discontinue the control related to the lane change if a predetermined event continues for a period of time of 1 hour, A process to change the setting of the first time based on the lane change setting information, Equipped with, The aforementioned setting information is the second time period from the time it is decided to perform control related to the lane change until the moving body begins lateral movement for the lane change. In the process of making the change, the shorter the second time, the shorter the first time is set. A method for controlling a mobile object.

9. The processor of the mobile control device, A process to change the lane of a moving object from the first lane in which the moving object is located to the second lane adjacent to the first lane, without the operation of the occupants, and to discontinue the control related to the lane change if a predetermined event continues for a period of time of 1 hour, A process to change the setting of the first time based on the lane change setting information, Make it run, The aforementioned setting information is the second time period from the time it is decided to perform control related to the lane change until the moving body begins lateral movement for the lane change. In the process of making the change, the shorter the second time, the shorter the first time is set. program.

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