Control device, control method, and program

Abstract

To issue an alarm suitable for an occupant (for example, a driver) of a mobile object.SOLUTION: A control device performs: issuing a first alarm when it is estimated that a mobile object is to move to a second lane, in which an object is present in the second lane adjacent to a first lane in which the mobile object is traveling and is present around the mobile object, in response to operation; starting automatic lane change control for automatically changing a lane of the mobile object to the second lane in which the object is present in response to operation; automatically changing the lane of the mobile object to the second lane when it is determined that the lane change is possible; and issuing a second alarm for notifying an occupant that the lane of the mobile object cannot be automatically changed to the second lane when it is determined that the lane change is not possible. Even if a condition in which the other alarm is to be issued is satisfied when one alarm of the first alarm and the second alarm is issued, the control device suppresses issuing the other alarm.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] In recent years, efforts have been actively made to provide a sustainable transportation system that takes various situations into consideration. Toward this realization, research and development have focused on further improving traffic safety and convenience through research and development of driving support technologies. For example, when it is estimated that a driver recognizes the state of a road on the rear side of an adjacent driving lane while the road is congested, if the driver operates a direction indicator to attempt to change lanes, even when a vehicle detects another vehicle approaching within a predetermined range on the rear side of the adjacent driving lane where the vehicle is attempting to change lanes, a rear-side approaching object warning device that suppresses the output of an alarm is disclosed (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional technology, the relationship with the function of outputting other alarms has not been considered. For this reason, the alarm may not be suitable for the occupant (e.g., driver) of the moving body. For example, the occupant of the moving body may feel annoyed by the alarm.

[0005] The present invention has been made in consideration of such circumstances, and one of its purposes is to provide a control device, a control method, and a program that can output an alarm suitable for the occupant (e.g., driver) of the moving body. For example, it is possible to suppress the annoyance of the occupant of the moving body. Consequently, it contributes to the development of a sustainable transportation system. [Means for solving the problem]

[0006] The control device, control method, and program according to this invention employ the following configuration. (1) A control device according to one aspect of the present invention includes a recognition unit that recognizes an object located in a second lane adjacent to a first lane on which a moving body is traveling and located around the moving body; a first processing unit that issues a first alarm when it is estimated that the moving body will move to the second lane where the object is located in response to an operation performed by the occupant of the moving body; and a second processing unit that activates automatic lane change control to automatically change the moving body to the second lane where the object is located in response to an operation performed by the occupant, and if it is determined that the lane change is possible, it automatically changes the moving body to the second lane, and if it is determined that the lane change is not possible, it issues a second alarm to inform the occupant that the moving body cannot be automatically changed to the second lane, wherein the processing unit suppresses the issuing of a different alarm even if the conditions for issuing a different alarm are met when either the first alarm or the second alarm is issued.

[0007] (2) In the embodiment of (1) above, the processing unit suppresses the performance of the different alarm when the conditions for performing the different alarm for the first object are met after the one alarm for the first object has been performed.

[0008] (3) In the embodiment of (1) above, the processing unit does not suppress the different alarm when the conditions for issuing the different alarm to a second object that is different from the first object are met after issuing the one alarm to the first object which is the object.

[0009] (4) In any embodiment of (1) above, the first alarm is issued when the operation is performed by the occupant, and the second alarm is issued when it is determined that the automatic lane change is not possible after a predetermined time has elapsed since the operation was performed by the occupant.

[0010] (5) In the embodiment of (1) above, the processing unit, in response to an operation performed by the occupant, activates the first alarm, and if it determines that the moving body is not able to change lanes to the second lane where the object is located, it suppresses the second alarm. Subsequently, if the occupant activates the auto lane change control again in response to an operation performed by the occupant, it activates the second alarm.

[0011] (6) In the embodiment of (1) above, the processing unit issues the different alarm after a predetermined time has elapsed or the moving body has moved a predetermined distance, if the conditions for issuing a different alarm are met.

[0012] (7) In the embodiment of (1) above, the operation performed by the occupant of the mobile body that triggers the first alarm and the second alarm is an operation on the same control element.

[0013] (8) In the embodiment of (1) above, the operator is an operator for turning on the turn signal.

[0014] (9): In the embodiment of (1) above, the first alarm is an alarm that notifies the presence of another moving object in a blind spot to the side of the moving object where it is difficult for the occupant of the moving object to see, and when the occupant turns on the turn signal to change lanes into the lane in which the other moving object is traveling.

[0015] (10): A control device according to another aspect of the present invention includes a recognition unit that recognizes an object located in a second lane adjacent to a first lane on which a moving body is traveling and located around the moving body; a first processing unit that, in response to a first operation by the occupant of the moving body to an operator, estimates that the moving body will move to the second lane where the object is located and issues a first alarm; and a second processing unit that, in response to a second operation by the occupant to the operator, activates an automatic lane change control to automatically change the moving body to the second lane where the object is located, and, if it determines that the lane change is possible, automatically changes the moving body to the second lane, and if it determines that the lane change is not possible, issues a second alarm to inform the occupant that the moving body cannot be automatically changed to the second lane. The processing unit issues the first alarm in response to the first operation when the first operation is performed and the second operation is performed in conjunction with the first operation, and suppresses the second alarm when it determines that the lane change is not possible in response to the second operation performed in conjunction with the first operation.

[0016] (11): A control method according to another aspect of the present invention includes a computer that recognizes an object located in a second lane adjacent to a first lane on which a moving body is traveling and located around the moving body, and when the computer estimates that the moving body will move to the second lane where the object is located in response to an operation performed by the occupant of the moving body, it issues a first alarm, activates automatic lane change control to automatically change the moving body to the second lane where the object is located in response to an operation performed by the occupant, and when it determines that the lane change is possible, it automatically changes the moving body to the second lane, and when it determines that the lane change is not possible, it issues a second alarm to inform the occupant that the moving body cannot be automatically changed to the second lane, and when either the first alarm or the second alarm is issued, it suppresses the issuing of a different alarm even if the conditions for issuing a different alarm are met.

[0017] (12): A program according to another aspect of the present invention causes a computer to perform the following: a process of recognizing an object located in a second lane adjacent to a first lane in which a moving body is traveling and located around the moving body; a process of issuing a first warning when it is estimated that the moving body will move to the second lane in which the object is located in response to an operation performed by the occupant of the moving body; a process of activating automatic lane change control to automatically change the moving body to the second lane in which the object is located in response to an operation performed by the occupant; a process of automatically changing the moving body to the second lane if it is determined that the lane change is possible; a process of issuing a second warning to inform the occupant that the moving body cannot be automatically changed to the second lane if it is determined that the lane change is not possible; and a process of suppressing the issuing of a different warning even if the conditions for issuing a different warning are met when either the first warning or the second warning is issued. [Effects of the Invention]

[0018] According to embodiments (1)-(12), it is possible to output alarms that are suitable for the occupants of a mobile vehicle (e.g., the driver). For example, it is possible to reduce inconvenience for the occupants of a mobile vehicle.

[0019] According to the embodiment of (2), since alarms for the same object can be suppressed, the inconvenience to the occupants of the moving vehicle can be reduced.

[0020] According to the embodiment of (3), since alarms are issued for different objects, the occupants of the moving vehicle can recognize different objects.

[0021] According to the embodiment of (4), even when the determination of a lane change is made a predetermined time after the operation, the second alarm can be suppressed to reduce inconvenience for the occupants of the moving vehicle.

[0022] According to the aspect of (5), when the driver of the moving body performs an operation of changing lanes multiple times, since there is a high possibility that the driver does not recognize an object, a second warning is issued. This enables the driver of the moving body to more surely recognize other moving bodies.

[0023] According to the aspect of (6), it is possible to more surely make the occupant recognize an object.

[0024] According to the aspect of (7), when different functions are executed by the same operator, the second warning can be suppressed.

Brief Description of the Drawings

[0025] [Figure 1] It is a configuration diagram of a vehicle system 1 using a vehicle control system according to an embodiment. [Figure 2] It is a diagram for explaining the first process of the first control unit 152. [Figure 3] It is a diagram for explaining the second process of the second control unit 154. [Figure 4] It is a timing chart of the second process. [Figure 5] It is a diagram for explaining the processes of the comparative example and the present embodiment. [Figure 6] It is a diagram showing the timing chart of the process of the comparative example and the timing chart of the process of the present embodiment. [Figure 7] It is a flowchart showing an example of the process flow executed by the first control unit 152. [Figure 8] It is a flowchart showing an example of the process flow executed by the first control unit 152. [Figure 9] It is a diagram showing an example of the reference information 160. [Figure 10] It is a diagram for explaining the scene where the second warning is suppressed.

Modes for Carrying Out the Invention

[0026] [Overall Configuration] Figure 1 is a diagram showing the configuration of a vehicle system 1 utilizing a vehicle control system according to an embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a generator connected to the internal combustion engine, or power discharged from a secondary battery or fuel cell. This embodiment may be applied to a mobile body other than a vehicle instead of a vehicle.

[0027] Vehicle system 1 includes, for example, a camera 10, a radar device 12, a LiDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, an MPU 60, an operator 80, a turn signal 90, a driver assistance device 100, a driving force output device 200, a brake device 210, and a steering device 220. These devices and equipment are connected to each other by multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, etc. The configuration shown in Figure 1 is merely an example, and some of the configuration may be omitted, or other configurations may be added. The driver assistance device 100 is an example of a "control device".

[0028] Camera 10 is a digital camera that utilizes a solid-state image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). Camera 10 is mounted at any location on the vehicle (hereinafter referred to as vehicle M) on which the vehicle system 1 is installed. When imaging the area in front, camera 10 is mounted on the top of the front windshield, behind the rearview mirror, etc. Camera 10 periodically and repeatedly images the area around vehicle M. Camera 10 may also be a stereo camera.

[0029] The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by objects (reflected waves) to determine at least the position (distance and bearing) of the object. The radar device 12 can be mounted at any location on the vehicle M. The radar device 12 may also detect the position and velocity of the object using the FM-CW (Frequency Modulated Continuous Wave) method.

[0030] 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.

[0031] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, radar device 12, and LIDAR 14 to recognize the position, type, speed, etc., of an object. The object recognition device 16 outputs the recognition results to the driver assistance device 100. The object recognition device 16 may output the detection results from the camera 10, radar device 12, and LIDAR 14 directly to the driver assistance device 100. The object recognition device 16 may be omitted from the vehicle system 1.

[0032] 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.

[0033] The HMI30 presents various information to the occupants of vehicle M and accepts input operations from the occupants. The HMI30 includes various display devices, speakers, buzzers, touch panels, switches, keys, etc. The HMI30 is equipped with a display device. The display device is a so-called multi-information display, which is located in the center of the instrument panel of vehicle M and displays various information about vehicle M, such as a speedometer showing the vehicle's speed or a tachometer showing the rotational speed of the internal combustion engine of vehicle M.

[0034] 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.

[0035] 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.

[0036] The MPU 60 includes, for example, a recommended lane determination unit 61 and stores second map information 62 in a storage device such as an HDD or flash memory. The recommended lane determination unit 61 divides the map route provided by the navigation device 50 into multiple blocks (for example, every 100m with respect to the vehicle's direction of travel) and determines a recommended lane for each block by referring to the second map information 62. The recommended lane determination unit 61 makes decisions such as which lane from the left the vehicle should travel in. If there is a branching point on the map route, the recommended lane determination unit 61 determines a recommended lane so that the vehicle M can travel along a reasonable route to proceed to the branching point. For example, if the vehicle M reaches a predetermined distance before a branching road it is traveling on, the recommended lane determination unit 61 determines the lane connecting to the branching road as the recommended lane. The recommended lane determination unit 61 and the second map information 62 may be functional units or information included in other devices such as the driver assistance device 100.

[0037] 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.

[0038] The control elements 80 include, for example, the steering wheel 82, as well as the accelerator pedal, brake pedal, shift lever, and other control elements. The control elements 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 driver assistance device 100, or to some or all of the driving force output device 200, brake device 210, and steering device 220. The steering wheel 82 does not necessarily have to be annular, and may take the form of an irregularly shaped steering wheel, joystick, buttons, etc. The control elements 80 include a first control element 84. The turn signal 90 lights up or turns off in response to the operation of the first control element 84.

[0039] The first operator 84 is, for example, a turn signal lever switch. For example, when the driver operates the first operator 84, the turn signal 90 illuminates in response to the operation. When the driver performs a predetermined operation on the first operator 84, the control unit 150 activates the ALC (Auto Lane Change) function and causes the vehicle M to perform an automatic lane change. The predetermined operation is an operation that triggers the activation of the ALC function. The predetermined operation is, for example, operating the turn signal lever switch in the direction in which the lane change is desired for a predetermined time, or pushing the turn signal lever switch to a predetermined position. More specifically, the predetermined operation is to operate the turn signal lever switch in the direction in which the lane change is desired and maintain a predetermined position for a predetermined time.

[0040] The driver assistance device 100 includes, for example, a recognition unit 110 and a control unit 150. The recognition unit 110 and the control unit 150 are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), or SOC (System On Chip), or by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device with a non-transient storage medium) such as the HDD or flash memory of the driver assistance device 100, or it may be stored in a removable storage medium such as a DVD or CD-ROM and installed in the HDD or flash memory of the driver assistance device 100 when the storage medium (non-transient storage medium) is mounted on a drive device.

[0041] The recognition unit 110 recognizes the position and state of objects around the vehicle M, such as their speed and acceleration, based on information input from the camera 10, radar device 12, and LIDAR 14 via the object recognition device 16. The position of an object is recognized as a position on an absolute coordinate system with a representative point of the vehicle M (such as the center of gravity or the center of the drive axis) as the origin, and is used for control. The position of an object may be represented by a representative point such as the center of gravity or a corner of the object, or it may be represented by a region. The "state" of an object may include the object's acceleration, jerk, or "action state" (for example, whether or not it is changing lanes or attempting to change lanes).

[0042] The recognition unit 110 recognizes, for example, the lane in which the vehicle M is traveling. For example, the recognition unit 110 recognizes the driving lane by comparing the pattern of road markings (for example, an arrangement of solid and dashed lines) obtained from the second map information 62 with the pattern of road markings around the vehicle M recognized from the image captured by the camera 10. The recognition unit 110 may also recognize the driving lane by recognizing not only road markings, but also road boundaries (road boundaries) including road markings, shoulders, curbs, median strips, guardrails, etc. In this recognition, the position of the vehicle M obtained from the navigation device 50 and the processing results by INS may also be taken into consideration. The recognition unit 110 recognizes stop lines, obstacles, red lights, toll booths, and other road events.

[0043] When recognizing a driving lane, the recognition unit 110 recognizes the position and orientation of the vehicle M relative to the driving lane. For example, the recognition unit 110 may recognize the deviation of the vehicle M's reference point from the center of the lane, and the angle it makes with a line connecting the centers of the lanes in the direction of travel, as the relative position and orientation of the vehicle M relative to the driving lane. Alternatively, the recognition unit 110 may recognize the position of the vehicle M's reference point relative to any side edge of the driving lane (road marking or road boundary), etc., as the relative position of the vehicle M relative to the driving lane.

[0044] The control unit 150 performs driver assistance control. For example, the control unit 150 automatically controls the vehicle speed M by controlling the driving force output device 200 and the brake device 210 without relying on the driver's operation. The control unit 150 also performs so-called ACC (Adaptive Cruise Control).

[0045] The control unit 150 controls the steering device 220 to prevent the vehicle M from deviating from its lane. For example, the control unit 150 controls the steering device 220 so that the vehicle M travels in the center or near the center of the lane recognized by the recognition unit 110. Hereinafter, this control may be referred to as "lane keeping control". The control unit 150 performs both hands-on lane keeping control and hands-off lane keeping control.

[0046] Hands-on lane keeping control is a control system that is performed when the driver is holding the steering wheel (when the steering grip sensor, not shown, detects that the driver is gripping the steering wheel). The conditions under which hands-on lane keeping control can be performed are less stringent than the conditions under which hands-off lane keeping control can be performed.

[0047] Hands-off lane keeping control is a control system that is performed when the driver is not holding the steering wheel (when the steering grip sensor, not shown, does not detect that the driver is holding the steering wheel). Hands-off lane keeping control can be performed, for example, when the following conditions are met: the speed of vehicle M is above a predetermined speed, vehicle M is traveling on a predetermined road (for example, a road or type of road that has been set in advance as being capable of performing hands-off lane keeping control), and the driver is monitoring the road ahead. Hands-off lane keeping control is performed when the driver is monitoring the road ahead, and is not performed or is stopped when the driver is not monitoring the road ahead.

[0048] The conditions under which the hands-on lane keeping control and hands-off lane keeping control described above are examples, and other conditions (for example, that vehicle M is following the vehicle in front) may be included, or some conditions may be omitted. The conditions under which hands-on lane keeping control is possible are less stringent than the conditions under which hands-off lane keeping control is possible (and the conditions under which hands-off lane keeping control is possible are stricter than the conditions under which hands-on lane keeping control is possible). The driver assistance device 100 recognizes whether the driver is monitoring the road ahead based on images captured by a camera (not shown) that images the driver. The control unit 150 includes a first control unit 152 and a second control unit 154. Details of these will be described later.

[0049] The driving force output device 200 outputs driving force (torque) to the drive wheels for the vehicle M to move. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU that controls them. The ECU controls the above configuration according to information input from the driver assistance device 100 or from the operator 80.

[0050] The braking system 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the driver assistance device 100 or from the control element 80, so that brake torque corresponding to the braking operation is output to each wheel.

[0051] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor to change the direction of the steering wheels according to information input from the driver assistance device 100 or from the control element 80.

[0052] [First processing of the first control unit] The first control unit 152 issues a first alarm when it estimates that vehicle M will move to a second lane adjacent to the first lane in which vehicle M is traveling, in response to an operation performed by the occupant of vehicle M, where an object exists. The first control unit 152 implements a so-called blind spot information function. The first alarm is an alarm that notifies the occupant of the presence of another vehicle in a blind spot to the side of vehicle M, where it is difficult for the occupant of vehicle M to see, and when the occupant turns on the turn signal to change lanes into the lane in which the other vehicle is traveling. The first alarm is an operation performed when an operation is performed by the occupant (for example, the operation of turning on the turn signal 90).

[0053] Figure 2 is a diagram illustrating the first processing of the first control unit 152. At time T, vehicle M is traveling in the first lane L1, and vehicle M1 is traveling in the second lane. Based on the recognition result of the recognition unit 110, the first control unit 152 notifies the driver of the presence of vehicle M1 if vehicle M1 is present in the first region AR1. The notification is made, for example, by lighting up a predetermined indicator provided on vehicle M. The first region AR1 is, for example, an area that is difficult for the driver to see, such as the side and rear or to the side of vehicle M in the second lane L2, or an area that is not reflected in the door mirror of vehicle M.

[0054] At time T+1, when the driver operates the first operation item 84 to illuminate the turn signal 90, the first control unit 152 outputs a first alarm. The first alarm is, for example, by flashing an indicator. The first alarm may be performed by means of an image or sound, or by vibrating the seat belt or steering wheel. The driver's operation of illuminating the turn signal 90 (an operation that illuminates the turn signal 90 for the lane to be changed) is presumed to mean that "vehicle M is moving to the second lane". In this way, the first control unit 152 can inform the driver of vehicle M of the presence of vehicle M1 in the first region AR1, which is difficult for the driver to see.

[0055] [Second processing of the second control unit] The control unit 150 automatically changes the lane of the vehicle M. The control for automatic lane changes may be conditional on the execution of hands-off lane keeping control or hands-on lane keeping control.

[0056] The second control unit 154 activates automatic lane change control, which automatically changes the vehicle M into the second lane where an object is located, in response to an operation performed by the occupant. If it determines that a lane change is possible, it automatically changes the vehicle M into the second lane. If the second control unit 154 determines that a lane change is not possible, it issues a second warning to inform the occupant that it is not possible to automatically change the vehicle M into the second lane.

[0057] Figure 3 is a diagram illustrating the second processing of the second control unit 154. At time T, vehicle M is traveling in the first lane L1, and vehicle M1 is traveling in the second lane L2. When the driver performs a predetermined operation on the turn signal 90, the second control unit 154 activates the automatic lane change function. When the automatic lane change function (ALC) is activated, the second control unit 154, based on the recognition result of the recognition unit 110, issues a second warning to the driver indicating that an automatic lane change is not possible if vehicle M1 is in the second area AR2. The second warning may be issued, for example, by image or sound, or by vibrating the seat belt or steering wheel.

[0058] The second region AR2 is, for example, the region to the side of vehicle M in the second lane L2 and in front of and behind vehicle M in the direction of travel. The second region AR2 includes a position a predetermined distance in front of vehicle M with respect to the direction of travel. The length of the second region AR2 may vary depending on the speed of the vehicle and the speed of other vehicles traveling in the second lane L2. For example, the faster the speed of other vehicles, the longer the length of the second region AR2 in the direction of travel is set. The first region AR1 is the region set to the side of vehicle M in the second lane L2 and behind vehicle M in the direction of travel, while the second region AR2 is the region set to the front of vehicle M in the direction of travel in the second lane L2.

[0059] At time T+1, if another vehicle is present in the second area AR2, the second control unit 154 issues a warning to the driver of vehicle M indicating that an automatic lane change is not possible. If no other vehicle is present in the second area AR2, the second control unit 154 determines that vehicle M can change lanes to the second lane L2 without interfering with other vehicles and instructs vehicle M to perform the automatic lane change.

[0060] Figure 4 is a timing chart for the second process. Figure 4 shows the process in the example in Figure 3. In Figure 4, since the other vehicle M1 is not in the first region AR1 but in the second region AR2, the first process is not executed and the second process is executed. When the driver activates the turn signal 90, the activation condition for the ALC function is met. The second control unit 154 attempts to recognize other vehicles that interfere with the automatic lane change based on the recognition result of the recognition unit 110. If there is another vehicle that interferes with the automatic lane change, the second control unit 154 issues a second warning. As described above, if the other vehicle M1 is not in the first region AR1, the first warning is not issued and the second warning is issued. The second warning is issued when it is determined that an automatic lane change is not possible after a predetermined time has elapsed since the occupant performed an operation (for example, activating the turn signal 90).

[0061] [Comparison between the comparative example and this embodiment] In contrast, as shown in Figure 5, when another vehicle M1 is present in the first region AR1 and the second region AR2, the first and second alarms are issued in the comparative example. As a result, the occupants of vehicle M sometimes felt annoyed.

[0062] In this embodiment, as described below, the control unit 150, in response to an operation, suppresses the activation of a different alarm even if the conditions for activating a different alarm from either the first or second alarm are met, or activates an alarm in a manner different from that of the first alarm.

[0063] The operations performed by the occupant of vehicle M that trigger the first and second alarms described above are operations on the same control element. The control element is, for example, the control element that activates the turn signal (e.g., the turn signal lever switch). The operation may be an operation on a different control element instead of an operation on the same control element. The control element may be a button or a button displayed on a display unit. If the control element is the same, the triggers for the first and second alarms will be the same control element. However, if the control elements are different, the control element that triggers the first alarm is the first control element (e.g., the turn signal lever switch), and the control element that triggers the second alarm is the second control element (the button that activates the automatic lane change).

[0064] The operation performed by the occupant of vehicle M that triggers the second alarm may be the same as the operation that triggers the first alarm, or it may be a different operation. The operation performed by the occupant of vehicle M that triggers the second alarm may be an operation performed consecutively to the operation performed by the occupant of vehicle M that triggers the first alarm. When the first operation is performed and the second operation is performed consecutively to the first operation, the control unit 150 issues a first alarm in accordance with the first operation, and if it determines that a lane change is not possible in accordance with the second operation performed consecutively to the first operation, it suppresses the second alarm.

[0065] The first operation is, for example, an operation to operate the turn signal lever switch to a predetermined degree in the direction in which the vehicle M changes lanes (an operation to operate the turn signal lever switch to a position in which the turn signal 90 is illuminated), and the second operation is, for example, an operation to maintain the above predetermined degree of operation for a predetermined time (an operation to maintain a half-press state). The second operation following the first operation may be an operation to further operate the turn lever switch in the same direction following the first operation.

[0066] Suppressing the issuance of an alarm may mean that no different alarms are issued, or that the degree of alarm for the occupants of vehicle M is less than that of one alarm. A less severe alarm means, for example, that the sound is quieter than that of the other alarm, or that the image displayed is simpler than that of the other alarm. A different type of alarm may mean, for example, that if the first alarm is an audible alarm, the second alarm is a different type of alarm, such as the illumination of an indicator or a different sound from the first alarm.

[0067] Figure 6 shows the timing charts for the processing in the comparative example and the processing in this embodiment. Figure 6 is the timing chart for the processing in the situation shown in Figure 5. In the comparative example, the indicator lights up due to the presence of another vehicle M1. When the driver activates the turn signal 90, a first warning is issued, and then the ALC function is activated. After the ALC function is activated, if it is recognized that there is an object that will interfere with the lane change, a second warning is issued. Thus, in the comparative example, warnings for different functions are issued, which the driver may find annoying.

[0068] In this embodiment, the indicator lights up when another vehicle M1 is present. When the driver activates the turn signal 90, a first warning is issued, and then the ALC function is activated. After the ALC function is activated, the second control unit 154 suppresses the second warning even if it recognizes that there is an object that will interfere with the lane change. In this way, in this embodiment, the warnings of different functions are suppressed, thus reducing the driver's perception of annoyance.

[0069] In the example above, we described a case where the second alarm is suppressed, but if the second alarm (one of the alarms) is issued first, the first alarm (the other alarm) may also be suppressed. For example, if another vehicle M1 is not in the first area AR1 but is in the second area AR2, the second control unit 154 issues the second alarm. Immediately afterward, if the other vehicle M1 comes into the first area AR1 and the turn signal 90 is operated, the first control unit 152 may suppress the first alarm.

[0070] [Flowchart (First Process)] Figure 7 is a flowchart showing an example of the processing flow executed by the first control unit 152. First, the first control unit 152 determines whether or not another vehicle is present in the first area AR1 (step S100). If another vehicle is present in the first area AR1, the first control unit 152 lights up the indicator (step S102). Next, the first control unit 152 determines whether or not the turn signal 90 has been operated (step S104). If the turn signal 90 has not been operated, the process returns to step S100. If the turn signal 90 has been operated, the first control unit 152 outputs the first alarm (step S106). This completes the processing of one routine in this flowchart.

[0071] [Flowchart (Second Process)] Figure 8 is a flowchart showing an example of the processing flow executed by the first control unit 152. The second control unit 154 determines whether or not the ALC function has been activated (step S200). If the ALC function is activated, the second control unit 154 recognizes surrounding objects based on the recognition result of the recognition unit 110 (step S202). Next, the second control unit 154 determines whether or not there is another vehicle M1 that would interfere with the lane change (step S204). If there is no other vehicle M1 that would interfere with the lane change, the second control unit 154 executes the lane change to cause vehicle M to change lanes (step S206).

[0072] If it is determined in step S204 that a vehicle change is not possible, the second control unit 154 determines whether or not a first alarm was issued for the same object (step S208). The second control unit 154 executes the process in step S208 by referring to the reference information in Figure 9, which will be described later.

[0073] If a first alarm is issued for the same object, the second control unit 154 does not issue a second alarm for that object. If a first alarm is not issued for the same object, the second control unit 154 issues a second alarm for that object (step S210). The second control unit 154 suppresses issuing a different alarm for the first object even if the conditions for issuing a different alarm for the first object are met after issuing one alarm for the first object. The second control unit 154 issues an alarm without suppressing the different alarm when the conditions for issuing a different alarm for a second object that is different from the first object are met after issuing one alarm for the first object. This completes the processing of one routine in this flowchart.

[0074] Figure 9 shows an example of reference information 160. Reference information 160 is information that associates the identification information of other vehicles with the location of other vehicles at each time point and whether or not a first alarm was issued. When the first control unit 152 issues a first alarm to other vehicle "001" at time T, it associates information indicating that a first alarm was issued with the corresponding record in reference information 160. The second control unit 154 can refer to reference information 160 to determine whether or not a first alarm was issued to the target vehicle M. Note that the information indicating that a first alarm was issued in reference information 160 is deleted after a predetermined time has elapsed since this information was associated in reference information 160. As a result, the second control unit 154 does not suppress a second alarm before a predetermined time has elapsed after a first alarm has been issued.

[0075] Figure 10 illustrates a scenario in which the second alarm is suppressed. At time T, the first control unit 152 issued a first alarm to other vehicle M1 before the driver activated the turn signal 90 and the ALC function was activated. At time T+2, other vehicle M1 moved in front of vehicle M, outside the first area AR1 and the second area AR2, and other vehicle M2, which was behind other vehicle M1, entered the second area AR2. In this state, the ALC function was activated. In this case, since the second control unit 154 did not issue a first alarm to other vehicle M1, it issued a second alarm to other vehicle M2.

[0076] The above describes the case when another vehicle overtakes vehicle M. However, instead of this (or in addition to this), if vehicle M overtakes the other vehicle that issued the first warning, and then the target of the second warning becomes another other vehicle, the control unit 150 will not suppress the second warning for the other other vehicle.

[0077] As described above, the control unit 150 determines whether or not to include the other vehicle as the target of the second alarm, depending on whether or not the first alarm was issued to the other vehicle, and then issues the second alarm or suppresses the second alarm. This makes it possible to output an alarm that is suitable for the occupants of the moving vehicle.

[0078] The second control unit 154 may issue a first alarm in response to an operation performed by the occupant, activate automatic lane change control to automatically change vehicle M into the second lane where an object is located, and if it determines that a lane change is not possible, it may suppress the second alarm. Subsequently, if the automatic lane change control is activated again in response to an operation performed by the occupant within a predetermined time since the previous operation, it may issue a second alarm. In this case, the second or subsequent first alarms may be omitted or suppressed. This allows the driver of vehicle M to recognize other vehicles more reliably if the driver has performed the lane change operation multiple times, as there is a high possibility that the driver has not recognized other moving objects.

[0079] The control unit 150 may issue a different alarm if a predetermined time has elapsed since issuing either the first or second alarm, or if the conditions for issuing a different alarm are met when the vehicle M has traveled a predetermined distance. This ensures that an appropriate alarm is issued when a predetermined time has elapsed since one alarm, or when the vehicle M has traveled a predetermined distance and the situation of the vehicle M and other vehicles has changed. For example, suppose the control unit 150 issues a first alarm and monitors the surrounding situation, waiting for the right time to change lanes. If a predetermined time has elapsed since the first alarm, or the vehicle M has traveled a predetermined distance since the first alarm, and the other vehicle targeted by the first alarm is in the second area AR2, the control unit 150 issues a second alarm to the other vehicle. In this way, when a predetermined time has elapsed since the first alarm, or the vehicle M has traveled a predetermined distance, the control unit 150 issues a second alarm to ensure that the occupants are aware of the presence of the other vehicle.

[0080] According to the embodiments described above, the control unit 150 can output a warning suitable for the occupants of the vehicle M (e.g., the driver) by suppressing the output of a different warning even if the conditions for issuing a different warning from either the first or second warning are met when either of the first or second warnings is issued.

[0081] The embodiments described above can be expressed as follows. A memory device that stores the program, Equipped with a hardware processor, The hardware processor executes the program stored in the memory device, The system recognizes objects that are located in the second lane adjacent to the first lane on which the moving object is traveling, and that are located around the moving object. When it is estimated that the moving body will move into the second lane where the object is located in response to an operation performed by the occupant of the moving body, a first alarm is issued. In response to the operation performed by the occupant, an automatic lane change control is activated to cause the moving body to automatically change lanes into the second lane where the object is located. If it is determined that the lane change is possible, the moving body will automatically change lanes to the second lane. If it is determined that the lane change is not possible, a second warning is issued to inform the occupant that the moving vehicle cannot be automatically changed into the second lane. If either the first alarm or the second alarm is issued, the system will suppress the issuing of the different alarm even if the conditions for issuing a different alarm are met. A control device configured in such a way.

[0082] 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]

[0083] 1. Vehicle System 10 Cameras 80 Operators 84 1st controller 90 Turn signal 100 Driving support devices 110 Recognition part 150 Control Unit 152 First Control Unit 154 Second Control Unit

Claims

1. A recognition unit that recognizes other vehicles located in the second lane adjacent to the first lane on which the moving object is traveling, and that are located around the moving object, A first processing unit provides a first alarm when, in response to an operation by the occupant of the moving vehicle to operate a turn lever switch to a predetermined degree, it is estimated that another vehicle is located in a blind spot in the second lane where the occupant has difficulty seeing, and that the moving vehicle is moving into the second lane. The system includes a second processing unit which, if it determines that the lane change is not possible by the automatic lane change control that automatically changes the vehicle to the second lane, issues a second warning to inform the occupant that the vehicle cannot be automatically changed to the second lane, and The aforementioned processing unit, After the first alarm was issued, In response to the operation performed by the aforementioned occupant, an automatic lane change control is activated to cause the moving body to automatically change lanes into the second lane where the other vehicle is located. If it is determined that the lane change is possible, the moving body will automatically change lanes to the second lane. If it is determined that the lane change is not possible, the system will suppress the second warning that informs the occupant that the moving body cannot be automatically changed into the second lane. Control device.

2. The processing unit is After the first alarm is issued to notify the occupant of the presence of the other vehicle, If it is determined that the lane change is not possible due to the presence of another vehicle different from the aforementioned vehicle, a second warning is issued to inform the occupant that the moving vehicle cannot be automatically changed into the second lane. The control device according to claim 1.

3. The first alarm is issued when the operation is performed by the crew member. The second warning is issued when it is determined that automatic lane changes are not possible after a predetermined time has elapsed since the operation was performed by the occupant. The control device according to claim 1.

4. A recognition unit that recognizes other vehicles located in the second lane adjacent to the first lane on which the moving object is traveling, and that are located around the moving object, A first processing unit provides a first alarm when, in response to an operation by the occupant of the moving vehicle to operate a turn lever switch to a predetermined degree, it is estimated that another vehicle is located in a blind spot in the second lane where the occupant has difficulty seeing, and that the moving vehicle is moving into the second lane. In response to the operation performed by the occupant, an automatic lane change control is activated to cause the moving body to automatically change lanes into the second lane where the other vehicle is located. If it is determined that the lane change is possible, the moving body will automatically change lanes to the second lane. The processing unit includes a second processing unit that, if it is determined that the lane change is not possible, issues a second warning to inform the occupant that the moving body cannot be automatically changed into the second lane, The processing unit suppresses the issuing of a different alarm even if the conditions for issuing a different alarm are met when either the first alarm or the second alarm is issued. The first alarm is issued when the operation is performed by the crew member. The second warning is issued when it is determined that automatic lane changes are not possible after a predetermined time has elapsed since the operation was performed by the occupant. The aforementioned processing unit, In accordance with the operation performed by the aforementioned crew member, The first alarm is issued, An automatic lane change control is activated, which causes the moving body to automatically change lanes into the second lane where the other vehicle is located. If it is determined that the lane change is not possible, the second warning is suppressed, and then, if the automatic lane change control is activated again in response to an operation performed by the occupant, the second warning is issued. Control device.

5. The aforementioned processing unit, If, after either the first alarm or the second alarm has been sounded, a predetermined time has elapsed, or the moving object has moved a predetermined distance, the conditions for sounding a different alarm are met, then the different alarm will be sounded. The control device according to claim 1.

6. The operations performed by the occupant of the mobile body that trigger the first alarm and the second alarm are operations performed on the same control element. The control device according to claim 1.

7. The aforementioned control is a control that illuminates the turn signal. The control device according to claim 6.

8. Computers The system recognizes other vehicles that are located in the second lane adjacent to the first lane in which the moving object is traveling, and that are located around the moving object. In response to an operation performed by the occupant of the moving vehicle to operate the turn lever switch to a predetermined degree, if it is estimated that another vehicle is located in a blind spot in the second lane where the occupant has difficulty seeing, and that the moving vehicle is moving into the second lane, a first alarm is issued. If the automatic lane change control system determines that the lane change to the second lane is not possible, a second warning is issued to inform the occupant that the moving vehicle cannot be automatically changed to the second lane. After the first alarm was issued, In response to the operation performed by the aforementioned occupant, an automatic lane change control is activated to cause the moving body to automatically change lanes into the second lane where the other vehicle is located. If it is determined that the lane change is possible, the moving body will automatically change lanes to the second lane. If it is determined that the lane change is not possible, the system will suppress the second warning that informs the occupant that the moving body cannot be automatically changed into the second lane. Control method.

9. On the computer, A process for recognizing other vehicles that are located in the second lane adjacent to the first lane in which the moving object is traveling, and that are located around the moving object, When the occupant of the moving vehicle operates the turn lever switch to a predetermined degree, and it is estimated that another vehicle is located in a blind spot in the second lane where the occupant has difficulty seeing, and that the moving vehicle is moving into the second lane, a process is performed to issue a first alarm. If the automatic lane change control system determines that the lane change to the second lane is not possible, the system performs a second warning to inform the occupants that the moving vehicle cannot be automatically changed to the second lane. After the first alarm was issued, In response to the operation performed by the aforementioned occupant, an automatic lane change control is activated to cause the moving body to automatically change lanes into the second lane where the other vehicle is located. If it is determined that the lane change is possible, the moving body will automatically change lanes to the second lane. If it is determined that the lane change is not possible, the process of suppressing the issuing of a second warning to inform the occupant that the moving body cannot be automatically changed into the second lane, A program to execute.

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