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

Abstract

Controlling automatic lane changes to reduce the burden on the occupants of a moving vehicle. [Solution] The mobile body control device comprises: a recognition unit that recognizes the surrounding conditions of a mobile body; a control unit that activates either an activation mode in which the lane change system is activated by the operation of the occupant of the mobile body, or a control mode that controls the lane change of the mobile body when the lane change start conditions are met after the activation mode is activated; and a determination unit that determines whether the mobile body has reached a predetermined range from the lane change area, whether the lane change start conditions have been met after the activation mode is activated, and whether the mobile body has passed through the lane change area. The control unit stops the activation mode when it is determined that the mobile body has reached a predetermined range from the lane change area after the activation mode is activated and the lane change start conditions have not been met, and then restores the activation mode when it is determined that the mobile body has passed through the lane change area.

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 transportation system that takes into account people in vulnerable positions among traffic participants. Toward this realization, research and development focused on further improving traffic safety and convenience through research and development related to autonomous driving technology have been carried out. In this context, conventionally, a technique for suspending a lane change of a vehicle when there is a request for a lane change and the execution conditions are not satisfied is known (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] By the way, in conventional autonomous driving technology, for example, when a vehicle enters a branch road on a highway and the lane change fails and enters a suspended state, the lane change mode may be completely cancelled. As a result, even after passing through the branch road, the lane change mode remains cancelled, and the vehicle occupant needs to manually restart the lane change mode, which may be burdensome for the vehicle occupant.

[0005] <� One object of the present application is to provide a movement control device, a movement control method, and a program that can control a lane change so as to reduce the burden on the occupant of a moving body in order to solve the above problems. And, by extension, it contributes to the development of a sustainable transportation system. [Means for solving the problem]

[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 includes: a recognition unit that recognizes the surrounding conditions of a mobile body based on the output of a detection device that detects the surrounding conditions of the mobile body; a control unit that activates one of a plurality of modes, including an activation mode in which the lane change system is activated by the operation of the occupant of the mobile body, and a control mode in which the lane change control of the mobile body is performed when the lane change start conditions are met after the activation mode is activated; and a control unit that determines whether the mobile body has reached a predetermined range from the lane change area based on at least one of the recognized surrounding conditions and map information, and performs the lane change control after the activation mode is activated. The control unit comprises a determination unit that determines whether a condition has been met and whether the moving body has passed through the lane change area, and the control unit performs lane change control when it is determined that the moving body has reached a predetermined range from the lane change area after the start mode has been activated and the lane change start condition has been met, and when it is determined that the moving body has reached a predetermined range from the lane change area after the start mode has been activated and the lane change start condition has not been met, it stops the start mode, and then when it is determined that the moving body has passed through the lane change area, it restores the start mode.

[0007] (2): In the embodiment of (1) above, the plurality of modes include a standby mode in which the determination unit determines whether the lane change start condition has been met when it determines that the moving body has reached a predetermined range from the lane change area after the start mode has been activated, and an interruption mode in which the lane change system is activated but the lane change control is prohibited, and the control unit activates the interruption mode when it determines that the lane change start condition has not been met in the standby mode, and then restores the start mode when it determines that the moving body has passed the lane change area.

[0008] (3) In the embodiment of (1) above, the determination unit determines that the lane change start condition is not met if it determines, based on the recognized surrounding conditions and at least one of the map information, that a lane change by the lane change control is impossible in the lane change area.

[0009] (4): In the embodiment of (1) above, the lane change area is a branch road or a junction.

[0010] (5) In the embodiment of (1) above, the determination unit further determines whether the moving body is traveling on an expressway or motorway after passing the lane change area, and the control unit restores the start mode if it determines that the moving body is traveling on an expressway or motorway after passing the lane change area.

[0011] (6) In the embodiment of (5) above, the determination unit further determines whether the behavior of the moving body has stabilized based on the output of the sensor that detects the state of the moving body, and the control unit restores the startup mode if it further determines that the behavior of the moving body has stabilized.

[0012] (7) A mobile body control method according to another aspect of the present invention, wherein a computer recognizes the surrounding conditions of a mobile body based on the output of a detection device that detects the surrounding conditions of the mobile body, activates one of a plurality of modes including an activation mode in which the lane change system is activated by the operation of the occupant of the mobile body, and a control mode in which lane change control of the mobile body is performed when the lane change start conditions are met after the activation mode has been activated, determines whether the mobile body has reached a predetermined range from the lane change area based on the recognized surrounding conditions and map information, and activates the activation mode The system then determines whether the lane change initiation conditions have been met, whether the moving vehicle has passed through the lane change area, and if, after the activation mode has been activated, the moving vehicle has reached a predetermined range from the lane change area and it is determined that the lane change initiation conditions have been met, the lane change control is performed. If, after the activation mode has been activated, the moving vehicle has reached a predetermined range from the lane change area and it is determined that the lane change initiation conditions have not been met, the activation mode is stopped. Subsequently, if it is determined that the moving vehicle has passed through the lane change area, the activation mode is restored.

[0013] (8) A program according to another aspect of the present invention causes a computer to recognize the surrounding conditions of a moving body based on the output of a detection device that detects the surrounding conditions of the moving body, and activates one of a plurality of modes, including an activation mode in which the lane change system is activated by the operation of the occupant of the moving body, and a control mode in which lane change control of the moving body is performed when the lane change start conditions are met after the activation mode is activated, and determines whether the moving body has reached a predetermined range from the lane change area based on at least one of the recognized surrounding conditions and map information, and after the activation mode is activated The system determines whether the lane change initiation conditions have been met, whether the moving vehicle has passed through the lane change area, and if, after the activation mode is activated, the moving vehicle reaches a predetermined range from the lane change area and it is determined that the lane change initiation conditions have been met, the system performs the lane change control. If, after the activation mode is activated, the moving vehicle reaches a predetermined range from the lane change area and it is determined that the lane change initiation conditions have not been met, the system stops the activation mode, and if it is determined that the moving vehicle has passed through the lane change area, the system resumes the activation mode. [Effects of the Invention]

[0014] According to the embodiments described in (1) to (8) above, lane changes can be controlled in a manner that reduces the burden on the occupants of the moving vehicle.

[0015] According to the embodiment of (2) above, by providing an interruption mode, the occupants of the moving vehicle can determine whether manual operation is required to resume the lane change system.

[0016] According to the embodiment described in (3) above, even if the automatic lane change fails, the lane change system can be automatically restored afterward, reducing the burden on the occupants of the moving vehicle.

[0017] According to the aspect (4) above, even if a vehicle lane change fails before a branch road or a junction, the lane change system can be automatically restored thereafter, reducing the burden on the passengers of the moving body.

[0018] According to the aspect (5) above, it is possible to perform a return control for a vehicle lane change in accordance with the intention of the passenger.

[0019] According to the aspect (6) above, it is possible to safely perform the return control for a vehicle lane change.

Brief Description of the Drawings

[0020] [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 showing an example of a scene to which the process of this embodiment is applied. [Figure 3] It is a diagram showing an example of a screen to be displayed on the HMI 30 when a vehicle lane change is executed. [Figure 4] It is a diagram showing another example of a scene to which the process of this embodiment is applied. [Figure 5] It is a flowchart showing an example of the flow of processing executed by the driving support device 100.

Mode for Carrying Out the Invention

[0021] [Overall Configuration] FIG. 1 is a configuration diagram of a vehicle system 1 using 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 electric power generated by a generator connected to the internal combustion engine, or discharge power of a secondary battery or a fuel cell. Although this embodiment will be described as being applied to a vehicle, it may be applied to other moving bodies instead of a vehicle.

[0022] 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".

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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 provided in the center of the instrument panel of vehicle M and displays various information in vehicle M, such as a speedometer that shows the vehicle's speed or a tachometer that shows the rotational speed of the internal combustion engine of vehicle M. In this embodiment, the HMI30 displays, for example, a button to activate the ALC (Auto Lane Change) function for causing vehicle M to perform an automatic lane change. When the button is pressed on the HMI30, the control unit 130 switches the ALC function from OFF to ON and activates the activation mode. Subsequently, if it is determined that vehicle M has reached a predetermined range from a lane change area (for example, an interchange or junction on an expressway or highway), the control unit 130 transitions from the activation mode to the standby mode and waits until the conditions for initiating a lane change are met. Then, in the standby mode, if the conditions for initiating a lane change (for example, the condition that there are no surrounding vehicles within a predetermined range around vehicle M) are met, the control unit 130 transitions from the standby mode to the control mode and executes the automatic lane change. Since the standby mode is a mode that is transitioned to immediately before the automatic lane change (for example, a few seconds to tens of seconds before), by providing a standby mode between the activation mode and the control mode, it is possible to prevent occupants from feeling that the execution of the automatic lane change is abrupt. The ALC function is an example of a "lane change system" in the claims.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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. In this embodiment, when the ALC function is in standby mode and the lane change start condition is met, the HMI 30 displays information indicating that the lane change will be performed automatically. In other words, in this embodiment, the control unit 130 performs an automatic lane change without receiving approval for the lane change from the user (Advanced Lane Change). For example, when the lane change is performed from the right to the left, the HMI 30 displays information indicating that the lane change will be performed automatically from the right to the left. Also, for example, when the lane change is performed from the left to the right, the HMI 30 displays information indicating that the lane change will be performed automatically from the left to the right. At the same time, the control unit 130 transitions from standby mode to control mode and performs the automatic lane change of vehicle M.

[0035] The control unit 130 may accept an approval operation from the user for a lane change before executing the automatic lane change. In this case, the approval operation may be pressing an approval switch provided on the steering wheel 82, or alternatively, the approval operation may be performing an operation in which the turn signal lever switch is held in a predetermined position in the direction of the desired lane change for a predetermined period of time. When the driver performs such an approval operation to the first operator 84, the control unit 130 transitions from standby mode to control mode and executes the automatic lane change of the vehicle M. In other words, the approval operation is an operation that triggers the execution of the automatic lane change.

[0036] The driver assistance device 100 includes, for example, a recognition unit 110, a determination unit 120, and a control unit 130. The recognition unit 110, the determination unit 120, and the control unit 130 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.

[0037] 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).

[0038] 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.

[0039] 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.

[0040] The determination unit 120 performs various determinations regarding the execution of the ALC function. The control unit 130 performs driving assistance control, including various controls regarding the execution of the ALC function. Various determinations and controls regarding the execution of the ALC function will be described later. For example, the control unit 130 automatically controls the driving force output device 200 and the brake device 210 without relying on the driver's operation to automatically control the speed of the vehicle M. The control unit 130 performs what is known as ACC (Adaptive Cruise Control). The control unit 130 controls the vehicle M to travel at a set speed, or to follow the vehicle in front at a predetermined distance from the vehicle in front.

[0041] The control unit 130 controls the steering device 220 to prevent the vehicle M from deviating from its lane. For example, the control unit 130 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 130 performs hands-on lane keeping control and hands-off lane keeping control. The control related to automatic lane changes, which will be described later, may be conditional on the execution of hands-on lane keeping control or hands-off lane keeping control.

[0042] 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.

[0043] Hands-off lane keeping control is a control system that is performed when the driver is not gripping the steering wheel (when the steering grip sensor, not shown, does not detect that the driver is gripping 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 pre-set as 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.

[0044] The conditions under which hands-on lane keeping control and hands-off lane keeping control can be performed, as described above, are examples, and other conditions (for example, that vehicle M is following the vehicle in front) may be included, or some conditions may be omitted. The conditions under which hands-on lane keeping control can be performed are less stringent than the conditions under which hands-off lane keeping control can be performed (and the conditions under which hands-off lane keeping control can be performed are stricter than the conditions under which hands-on lane keeping control can be performed). The driver assistance device 100 recognizes whether the driver is monitoring the road ahead based on images captured by a camera (not shown) that captures images of the driver.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] [Change of lane for automobiles] The following describes the processing details of the determination unit 120 and the control unit 130. The following description assumes that the destination has been entered by the occupant via the navigation HMI 52. That is, once the destination is entered, the route to the destination is determined, and the ALC function is controlled along that route.

[0049] When the ALC function is set to ON on the HMI30 and in startup mode, the determination unit 120 first determines, based on the surrounding conditions recognized by the recognition unit 110 and at least one of the second map information 62, whether the vehicle M has reached a predetermined range (for example, within a predetermined distance from the starting point of a branch road or junction) on the route from a lane change section (for example, a branch road or junction on an expressway or highway) where an automatic lane change is to be performed. If the determination unit 120 determines that the vehicle M has reached a predetermined range from a lane change section in the startup mode of the ALC function, the control unit 130 transitions the startup mode to standby mode.

[0050] Next, the determination unit 120 determines whether the lane change initiation conditions (for example, the condition that there are no surrounding vehicles within a predetermined range around vehicle M) have been met in standby mode. If it is determined that the lane change initiation conditions have been met in standby mode, the control unit 130 transitions from standby mode to control mode and executes an automatic lane change. More specifically, the control unit 130 controls at least the steering device 220 so that vehicle M executes an automatic lane change along the route. Meanwhile, while determining whether the lane change initiation conditions have been met, the determination unit 120 simultaneously determines whether an automatic lane change by lane change control is impossible (in other words, whether the lane change initiation conditions are not met) based on the surrounding conditions recognized by the recognition unit 110 and at least one of the second map information 62. "Lane change is impossible" means, for example, that there are other vehicles within a predetermined distance around vehicle M. In other embodiments, "lane change is impossible" may mean that vehicle M reaches a point within a predetermined distance from the end of the lane change area, or that a predetermined period of time has elapsed since the ALC function transitioned to standby mode.

[0051] Next, if automatic lane changes are controlled in control mode, the determination unit 120 determines whether vehicle M has passed through the lane change area based on the surrounding conditions recognized by the recognition unit 110 and at least one of the second map information 62. If it determines that vehicle M has passed through the lane change area, the control unit 130 returns the control mode to the start mode. On the other hand, if it determines that automatic lane changes by lane change control are impossible, the control unit 130 transitions the standby mode to the interruption mode. Here, interruption mode represents a state in which the ALC function is disabled without the ALC function being turned OFF (in other words, without requiring occupant operation to restart). Subsequently, if the ALC function is disabled in interruption mode, the determination unit 120 determines whether vehicle M has passed through the lane change area based on the surrounding conditions recognized by the recognition unit 110 and at least one of the second map information 62. If it determines that vehicle M has passed through the lane change area, the control unit 130 returns the interruption mode to the start mode.

[0052] When returning the control mode or interruption mode to the start mode, the determination unit 120 determines whether the return conditions have been met. Here, the return conditions include the vehicle M traveling on a predetermined type of road suitable for the use of the ALC function after passing through a lane change area. In this embodiment, the predetermined type of road is, for example, an expressway or an expressway. More specifically, it is a main road. The determination unit 120 can determine whether the vehicle M is traveling on an expressway or an expressway by comparing the second map information 62 with the current position of the vehicle M. Furthermore, as a return condition, the determination unit 120 determines whether the behavior of the vehicle M has stabilized based on the output of the vehicle sensor 40. Here, "the behavior of the vehicle M is stable" means, for example, that the absolute value of the lateral acceleration of the vehicle M is less than or equal to a predetermined value. The return conditions may also be that both the vehicle M is traveling on an expressway or an expressway after passing through a lane change area and the behavior of the vehicle M is stable. If the determination unit 120 determines that the recovery conditions are not met, the control unit 130 sets the ALC function to OFF (i.e., manual operation by the occupant is required to restart the ALC function). In addition, the recovery conditions may also include the condition that the ACC function is enabled, or that the LKAS (Lane Keep Assist System) function is enabled.

[0053] Thus, in conventional technology, if an automatic lane change fails, the automatic lane change mode is completely canceled, and manual operation by the occupant is required to resume it. In contrast, according to this embodiment, even if the ALC function enters the interruption mode, it returns to the activation mode when the recovery conditions are met. In other words, this makes it possible to control the automatic lane change in a way that reduces the burden on the occupants of the moving vehicle.

[0054] [Scenario 1] Figure 2 shows an exemplary scenario in which the processing of this embodiment is applied. Figure 2 shows, for example, a scenario in which vehicle M is traveling in the first lane L1 on a highway or expressway and changes lanes to the second lane L2 adjacent to the first lane L1. The second lane L2 is a lane that serves as a branch road BL branching off from the first lane L1. Furthermore, the following control assumes that vehicle M has set the route to its destination to travel in the second lane L2, and that the occupants of vehicle M have set the ALC function to ON on the HMI 30 prior to changing lanes, and that the ALC function's activation mode is enabled. Furthermore, the following control may be performed, for example, when hands-off lane keeping control or hands-on lane keeping control is being performed.

[0055] First, the determination unit 120 determines whether the vehicle M has reached a predetermined range from the branch road BL in the startup mode. For example, the determination unit 120 determines whether the distance between the vehicle M and the starting point SP of the branch road BL, which is recognized by the recognition unit 110 or identified from the second map information 62, is within a predetermined distance d. When the startup mode of the ALC function is enabled, the control unit 130 illuminates, for example, the indicator I1 on the HMI 30 to indicate that the startup mode of the ALC function is enabled.

[0056] At time T, the determination unit 120 determines that the vehicle M has reached a predetermined range from the branch road BL, and accordingly, the control unit 130 transitions the start mode to the standby mode. When the standby mode is enabled, the control unit 130 lights up an indicator I1 on the HMI 30, for example, to indicate that the standby mode of the ALC function is enabled. In this embodiment, the indicator I1 indicating that the standby mode of the ALC function is enabled is the same as the indicator I1 indicating that the start mode of the ALC function is enabled, but these indicators may have different displays.

[0057] The determination unit 120 then determines whether the lane change start condition has been met in standby mode. In the scenario shown in Figure 2, there are no other vehicles around vehicle M, so the determination unit 120 determines, for example, that the lane change start condition has been met at time T1+1. Accordingly, the control unit 130 transitions from standby mode to control mode, executes the automatic lane change, and completes the automatic lane change at time T+2. At this time, while the ALC function control mode is activated and the automatic lane change is being executed, the control unit 130 illuminates, for example, an indicator I1 on the HMI 30 that indicates the ALC function control mode is activated. In this embodiment, the indicator I1 that indicates the ALC function control mode is activated is the same as the indicator I1 that indicates the ALC function start mode and standby mode are activated, but these indicators may have different displays.

[0058] Figure 3 shows an example of a screen displayed on the HMI 30 when an automatic lane change is performed. As an example, Figure 3 shows the screen displayed on the HMI 30 when the lane change start condition is met in standby mode and the ALC function transitions to control mode. As shown at the top of Figure 3, for example, in standby mode, the control unit 130 displays information on the HMI 30's MID (Multi-Information Display) indicating that a lane change is planned ahead of the vehicle M in the direction of travel. Subsequently, when the lane change start condition is met in standby mode, as shown at the bottom of Figure 3, the control unit 130 displays information on the HMI 30's MID indicating that the vehicle M will perform an automatic lane change. At the same time, the control unit 130 performs the automatic lane change of vehicle M. This prevents occupants from feeling abrupt or uncomfortable when the lane change is automatically initiated in response to the meeting of the lane change start condition. Note that the screen in Figure 3 may be displayed not only when transitioning from standby mode to control mode, but also when transitioning from start mode to standby mode.

[0059] At time T+2, if the automatic lane change is completed, the control unit 130 transitions the ALC function from control mode to interruption mode, and the occupant manually drives vehicle M to merge onto the highway from merging lane MR. While the interruption mode is active, the determination unit 120 determines whether the above-mentioned return conditions are met. At time T+3, the determination unit 120 determines that both of the following return conditions are met: for example, that vehicle M is traveling on a highway or expressway after passing junction BL, and that the behavior of vehicle M is stable. Therefore, the control unit 130 returns the interruption mode to the activation mode. As a result, even if vehicle M subsequently enters a highway or expressway junction again, the occupant of vehicle M can perform an automatic lane change without having to manually set the ALC function to ON again.

[0060] [Scenario 2] Figure 4 shows another example of a scenario in which the processing of this embodiment is applied. Similar to Figure 3, Figure 4 also shows a scenario in which, for example, vehicle M is traveling in the first lane L1 on a highway or expressway and changes lanes to the second lane L2 adjacent to the first lane L1.

[0061] First, the determination unit 120 determines whether the vehicle M has reached a predetermined range from the branch road BL in the startup mode. For example, the determination unit 120 determines whether the distance between the vehicle M and the starting point SP of the branch road BL, which is recognized by the recognition unit 110 or identified from the second map information 62, is within a predetermined distance d. When the startup mode of the ALC function is enabled, the control unit 130 illuminates, for example, the indicator I1 on the HMI 30 to indicate that the startup mode of the ALC function is enabled.

[0062] At time T, the determination unit 120 determines that vehicle M has reached a predetermined range from the branch road BL, and accordingly, the control unit 130 transitions the activation mode to standby mode. When standby mode is enabled, the control unit 130 illuminates indicator I1 on the HMI 30, for example, to indicate that the standby mode of the ALC function is enabled. This allows the occupants of vehicle M to visually recognize that vehicle M has entered preparation for automatic lane change.

[0063] The determination unit 120 then determines whether the lane change start condition has been met in standby mode. In the scenario shown in Figure 4, since another vehicle M1 is present around vehicle M, the determination unit 120 determines, for example, that the lane change start condition has not been met at time T1+1. Accordingly, the control unit 130 transitions from standby mode to interruption mode, and the occupant of vehicle M performs a lane change by manual driving. Subsequently, while the interruption mode is active, the determination unit 120 determines whether the above-mentioned return condition has been met.

[0064] At time T+3, the determination unit 120 determines that, as recovery conditions, for example, that vehicle M is traveling on a highway or expressway after passing through junction BL, and that the behavior of vehicle M is stable. Therefore, the control unit 130 returns the interruption mode to the activation mode. As a result, even if vehicle M subsequently enters a highway or expressway junction again, the occupants of vehicle M can perform an automatic lane change without having to manually set the ALC function to ON again.

[0065] [flowchart] Figure 5 is a flowchart showing an example of the processing flow performed by the driver assistance device 100. The flowchart shown in Figure 5 is executed, for example, when the ALC function is manually set to ON by the occupant of vehicle M.

[0066] First, the determination unit 120 acquires the location information of vehicle M (step S100). Next, the determination unit 120 acquires navigation information (step S102). Navigation information includes information about the destination set in the navigation device 50, information about the target route for vehicle M guided by the navigation device 50, and the structure of the roads around the target route. Next, the determination unit 120 determines whether or not vehicle M is within a predetermined range from the lane change area (step S104).

[0067] If it is determined that vehicle M is not within a predetermined range from the lane change area, the determination unit 120 returns the process to step S100. On the other hand, if it is determined that vehicle M is within a predetermined range from the lane change area, the control unit 130 transitions the ALC function's activation mode to standby mode (step S106). Next, the determination unit 120 determines whether or not the lane change start condition has been met (step S108).

[0068] If it is determined that the conditions for initiating a lane change have been met, the control unit 130 transitions from standby mode to control mode and executes the automatic lane change (step S110). On the other hand, if it is determined that the conditions for initiating a lane change have not been met, the control unit 130 transitions from standby mode to interruption mode (step S112). Next, the determination unit 120 determines whether the road after the lane change is an expressway or an expressway (step S114).

[0069] If the control unit 130 determines that the road after the lane change is not a highway or an expressway, it sets the ALC function to OFF (step S116). On the other hand, if the road after the lane change is determined to be a highway or an expressway, the determination unit 120 determines whether the behavior of vehicle M is stable or not (step S118). If the behavior of vehicle M is determined to be unstable, the determination unit 120 waits for a certain period of time and then makes a new determination. On the other hand, if the behavior of vehicle M is determined to be stable, the control unit 130 transitions the ALC function to activation mode (step S120). This completes the processing of this flowchart.

[0070] In this embodiment, the times T to T+3 in Scenario Example 1 and Scenario Example 2 are examples of the timing for changing the ALC function mode, and may be set appropriately based on the timing when the various conditions described above (e.g., lane change start condition, return condition, etc.) are met. Furthermore, in this embodiment, the return condition is described as including at least one of the following: that vehicle M is traveling on a highway or expressway after passing through a lane change area, and that the behavior of vehicle M is stable. More generally, the return condition may be determined to be met when the current environment is an environment in which the ALC function can be provided (e.g., an environment in which the vehicle M is traveling in a lane with at least two lanes), and the interruption mode may be transitioned to the activation mode.

[0071] According to the embodiments described above, even if the ALC function transitions to the interruption mode due to a failure in automatic lane changing, the ALC function will return to the activation mode without requiring manual operation by the vehicle occupants once the recovery conditions are met. This makes it possible to control automatic lane changes in a way that reduces the burden on the occupants of the moving vehicle.

[0072] 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, Based on the output of a detection device that detects the surrounding conditions of a moving object, the surrounding conditions of the moving object are recognized. One of a plurality of modes is enabled, including an activation mode in which the lane change system is activated by the operation of the occupant of the mobile vehicle, and a control mode in which lane change control of the mobile vehicle is performed when the lane change start conditions are met in the activation mode. Based on the recognized surrounding conditions and at least one of the map information, it is determined whether the moving body has reached a predetermined range from the lane change area, whether the lane change start condition has been met in the startup mode, and whether the moving body has passed through the lane change area. In the aforementioned startup mode, if the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has been met, the lane change control is performed. In the aforementioned startup mode, if it is determined that the moving body has reached a predetermined range from the lane change area and the lane change start condition has not been met, the startup mode is stopped. Subsequently, if it is determined that the moving body has passed the lane change area, the startup mode is restored. A control device configured in such a way.

[0073] 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]

[0074] 1. Vehicle System 10 Cameras 80 Operators 84 1st controller 90 Turn signal 100 Driving support devices 110 Recognition part 120 Judgment section 130 Control Unit

Claims

1. A recognition unit recognizes the surrounding conditions of a moving object based on the output of a detection device that detects the surrounding conditions of the moving object, A control unit that enables one of a plurality of modes, including an activation mode in which the lane change system is activated by the operation of the occupant of the mobile body, and a control mode in which lane change control of the mobile body is performed when the lane change start conditions are met after the activation mode has been activated, The system includes a determination unit that determines whether the moving body has reached a predetermined range from the lane change area based on the recognized surrounding conditions and at least one of the map information, determines whether the lane change start condition has been met after the activation mode has been activated, and determines whether the moving body has passed through the lane change area. The control unit, If, after the activation mode is activated, the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has been met, the lane change control is performed. If, after the activation mode has been activated, the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has not been met, the activation mode is stopped. Subsequently, if it is determined that the moving body has passed the lane change area, the activation mode is restored. Mobile device control system.

2. The aforementioned plurality of modes include a standby mode in which the determination unit determines whether the lane change start condition has been met when it determines that the moving body has reached a predetermined range from the lane change area after the start mode has been activated, and an interruption mode in which the lane change system is activated but the lane change control is prohibited. If the control unit determines that the lane change start condition is not met in the standby mode, it activates the interruption mode, and then, if it determines that the moving object has passed through the lane change area, it restores the start mode. The mobile device control device according to claim 1.

3. The determination unit determines, based on the recognized surrounding conditions and at least one of the map information, that a lane change by the lane change control is impossible in the lane change area, and determines that the lane change start condition is not met. The mobile device control device according to claim 1.

4. The aforementioned lane change area is a branch road or junction. The mobile device control device according to claim 1.

5. The determination unit further determines whether the moving body is traveling on an expressway or motorway after passing through the lane change area. If the control unit determines that the moving body is traveling on a highway or expressway after passing through the lane change area, it restores the startup mode. The mobile device control device according to claim 1.

6. The determination unit further determines whether the behavior of the moving object has stabilized based on the output of the sensor that detects the state of the moving object. If the control unit further determines that the behavior of the moving body has stabilized, it will restore the startup mode. The mobile device control device according to claim 5.

7. Computers Based on the output of a detection device that detects the surrounding conditions of a moving object, the surrounding conditions of the moving object are recognized. One of a plurality of modes is enabled, including an activation mode in which the lane change system is activated by the operation of the occupant of the mobile vehicle, and a control mode in which lane change control of the mobile vehicle is performed when the lane change start conditions are met after the activation mode has been activated. Based on the recognized surrounding conditions and at least one of the map information, it is determined whether the moving body has reached a predetermined range from the lane change area, whether the lane change start condition has been met after the activation mode has been activated, and whether the moving body has passed through the lane change area. If, after the activation mode is activated, the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has been met, the lane change control is performed. If, after the activation mode has been activated, the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has not been met, the activation mode is stopped. Subsequently, if it is determined that the moving body has passed the lane change area, the activation mode is restored. A method for controlling a mobile object.

8. On the computer, Based on the output of a detection device that detects the surrounding conditions of a moving object, the surrounding conditions of the moving object are recognized. One of a plurality of modes is enabled, including an activation mode in which the lane change system is activated by the operation of the occupant of the mobile vehicle, and a control mode in which lane change control of the mobile vehicle is performed when the lane change start conditions are met in the activation mode. Based on the recognized surrounding conditions and at least one of the map information, it is determined whether the moving body has reached a predetermined range from the lane change area, whether the lane change start condition has been met after the activation mode has been activated, and whether the moving body has passed through the lane change area. If, after the activation mode is activated, the moving object reaches a predetermined range from the lane change area and it is determined that the lane change start condition has been met, the lane change control is performed. If, after the activation mode has been activated, the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has not been met, the activation mode is stopped. Subsequently, if it is determined that the moving body has passed the lane change area, the activation mode is restored. program.

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