Driving assistance systems

Abstract

To provide an operation support device that can eliminate a situation where an own vehicle may interfere with traffic flow, so as to make the traffic flow smooth.SOLUTION: An operation support device 100 is provided with: a peripheral situation recognizing part 12 that recognizes a peripheral situation including a running state of the other vehicle running around an own vehicle; a running route obtaining part 14 that obtains a running route on which the own vehicle runs, on the basis of a running state of the own vehicle and the peripheral situation; and a lane change proposing part 15 that proposes lane change of the own vehicle to an occupant in the own vehicle, on the basis of the peripheral situation and the running route. When a lane mismatch condition for representing that selection of the lane on which the own vehicle is running is a mismatch in the light of the peripheral situation is satisfied on the basis of relative speed of the other vehicle to the own vehicle, the lane change proposing part 15 proposes lane change to a lane for a low-speed vehicle from the lane on which the own vehicle is running to the occupant.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a driving support device.

Background Art

[0002] Conventionally, when a preceding vehicle in an overtaking lane is traveling at a speed lower than a set speed, there is known a technique for overtaking or not overtaking the preceding vehicle in the overtaking lane from the driving lane (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] For example, when the host vehicle is traveling at a speed below the speed limit in the central lane out of three lanes on one side, the flow of other vehicles around the host vehicle may be faster. If such a situation occurs when there is a lane for low-speed vehicles compared to the lane in which the host vehicle is traveling, there is a risk that the host vehicle is obstructing the traffic flow.

Means for Solving the Problems

[0005] One aspect of the present invention includes a surrounding situation recognition unit that recognizes a surrounding situation including the driving states of other vehicles around the host vehicle, a driving route acquisition unit that acquires a driving route on which the host vehicle travels based on the driving state of the host vehicle and the surrounding situation, and a lane change proposal unit that proposes a lane change of the host vehicle to an occupant of the host vehicle based on the surrounding situation and the driving route. The lane change proposal unit proposes a lane change to a lane for low-speed vehicles to the occupant when a lane mismatch condition indicating that the selection of the lane in which the host vehicle is traveling is a mismatch in light of the surrounding situation is satisfied based on the relative speed of other vehicles with respect to the host vehicle.

[0006] In a driving assistance system according to one aspect of the present invention, when a lane mismatch condition is met, indicating that the lane selected by the vehicle is mismatched with the surrounding conditions, the lane change proposal unit proposes to the occupants that they change lanes to a lane for slower vehicles compared to the lane in which the vehicle is currently traveling. For example, if the occupants accept the proposal, the vehicle changes lanes to a lane for slower vehicles, resolving the mismatch in the vehicle's lane selection. This eliminates situations in which the vehicle could obstruct traffic flow, thereby facilitating smoother traffic flow.

[0007] In one embodiment, the lane mismatch condition is when another vehicle traveling in the same lane as the vehicle behind the vehicle changes lanes to a lane for slow vehicles and overtakes the vehicle, or when another vehicle traveling in a lane for slow vehicles behind the vehicle doing Other vehicles Without changing lanes The condition may be met if a predetermined number of other vehicles successively overtake one's own vehicle. In this case, the lane mismatch condition is met when one's own vehicle is overtaken or passed by other vehicles a certain number of times, so that, for example, even if one other vehicle is overtaken or passed by a vehicle that is significantly faster than one's own vehicle, it may not be subject to a suggestion to change lanes.

[0008] In one embodiment, when a lane mismatch condition is met, the lane change suggestion unit does not need to suggest a lane change to a lane for slow-moving vehicles if the surrounding conditions meet a predetermined suggestion cancellation condition. In this case, if the surrounding conditions meet the predetermined suggestion cancellation condition, not changing lanes may reduce the likelihood of the vehicle obstructing traffic flow. Therefore, it is possible to facilitate smoother traffic flow according to the surrounding conditions. [Effects of the Invention]

[0009] According to one aspect of the present disclosure, a driver assistance system can eliminate situations in which the vehicle may obstruct the flow of traffic, thereby enabling smoother traffic flow. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram showing a driver assistance device according to one embodiment. [Figure 2] This is a schematic plan diagram illustrating the conditions under which lane mismatch is met. [Figure 3] This is a schematic plan diagram to explain the situation in which the surrounding circumstances warrant the cancellation of the proposal. [Figure 4] This is a schematic plan diagram to explain the situation in which the surrounding circumstances warrant the cancellation of the proposal. [Figure 5] (a) is a schematic plan diagram illustrating the case where the surrounding conditions meet the criteria for proposal cancellation. (b) is a schematic plan diagram illustrating the case where the lane mismatch condition is met. [Figure 6] Figure 1 is a flowchart showing an example of ECU processing. [Modes for carrying out the invention]

[0011] Embodiments of this disclosure will be described below with reference to the drawings. In the following description, when simply referred to as "vehicle," it means the own vehicle, and when distinguishing between the own vehicle and other vehicles, it may be referred to as "the own vehicle."

[0012] Figure 1 is a block diagram illustrating a driver assistance device according to one embodiment. As shown in Figure 1, the driver assistance device 100 is mounted on a vehicle (the vehicle itself), such as a passenger car or a truck. The driver assistance device 100 performs driver assistance to the occupants of the vehicle, including at least notifying them of suggestions for lane changes. Here, the driver assistance device 100 is, as an example, part of an autonomous driving system that performs autonomous driving control. Autonomous driving control is vehicle control that allows the vehicle to autonomously drive along a planned route without the driver having to perform any driving operations. Note that some functions of the driver assistance device 100 may be executed on a server that can communicate with the vehicle.

[0013] [Configuration of driver assistance systems] The configuration of the driver assistance device 100 according to this embodiment will be described below with reference to Figure 1. As shown in Figure 1, the driver assistance device 100 includes an ECU [Electronic Control Unit] 10 that comprehensively manages the system.

[0014] The ECU10 is an electronic control unit having a CPU (Central Processing Unit) and a memory unit. The memory unit consists of, for example, ROM (Read Only Memory), RAM (Random Access Memory), and EEPROM (Electrically Erasable Programmable Read-Only Memory). The ECU10 implements various functions by, for example, executing programs stored in the memory unit with the CPU. The ECU10 may be composed of multiple electronic units.

[0015] The ECU10 is connected to the GNSS receiver 1, external sensor 2, internal sensor 3, map database 4, actuator 5, and HMI (Human Machine Interface) 6.

[0016] The GNSS receiver 1 measures the vehicle's position (e.g., the vehicle's latitude and longitude) by receiving signals from positioning satellites. The GNSS receiver 1 transmits the measured vehicle position information to the ECU 10.

[0017] The external sensor 2 is a detection device that detects the situation around the vehicle. The external sensor 2 includes at least one of a camera and a radar sensor. The camera is an imaging device that captures the external situation of the vehicle. The camera is provided, for example, on the back side of the vehicle's windshield and captures the front of the vehicle. The camera transmits an imaging image regarding the external situation of the vehicle to the ECU 10. The radar sensor is a detection device that detects objects around the vehicle using radio waves (e.g., millimeter waves) or light. The objects around the vehicle include other vehicles traveling behind the host vehicle. The radar sensor includes, for example, a millimeter wave radar or a lidar [LiDAR: Light Detection and Ranging]. The radar sensor transmits information on the detected objects to the ECU 10.

[0018] The internal sensor 3 is a detection device that detects the driving state of the vehicle. The internal sensor 3 includes a vehicle speed sensor. The vehicle speed sensor is a detector that detects the speed of the vehicle. As the vehicle speed sensor, for example, a wheel speed sensor that detects the rotational speed of the vehicle's wheels or a drive shaft that rotates integrally with the wheels is used. The internal sensor 3 may include an acceleration sensor and a yaw rate sensor.

[0019] The map database 4 is a database that stores map information. The map database 4 is formed, for example, in a storage device such as an HDD [Hard Disk Drive] mounted on the vehicle. The map information includes road position information, road shape information (e.g., types of curves, straight sections, curvature of curves, etc.), intersection and branch point position information, and structure position information. The map information includes information on the number of lanes of the road. The map information may include at least one of position information where the number of lanes increases or decreases, information on the presence or absence of uphill lanes, and information on the presence or absence of passing lanes on a one-lane road on one side. Note that the map database 4 may be formed in a server that can communicate with the vehicle.

[0020] The actuator 5 is a device used for vehicle control. The actuator 5 includes at least a drive actuator, a brake actuator, and a steering actuator. The drive actuator controls the air supply amount (throttle opening) to the engine according to a control signal from the ECU 10, and controls the driving force of the vehicle. When the vehicle is a hybrid vehicle [HEV: Hybrid Electric Vehicle], in addition to the air supply amount to the engine, a control signal from the ECU 10 is input to the motor as a power source, and the driving force is controlled. When the vehicle is a battery electric vehicle [BEV: Battery Electric Vehicle], a control signal from the ECU 10 is input to the motor as a power source, and the driving force is controlled. The motor as a power source in these cases constitutes the actuator 5.

[0021] The brake actuator controls the brake system according to a control signal from the ECU 10, and controls the braking force applied to the vehicle wheels. As the brake system, for example, a hydraulic brake system can be used. The steering actuator controls the drive of the assist motor that controls the steering torque in the electric power steering system according to a control signal from the ECU 10. Thereby, the steering actuator controls the steering torque of the vehicle.

[0022] The HMI 6 is an interface for performing information input / output between the ECU 10 and the occupant. The HMI 6 includes, for example, a display, a speaker, a microphone, etc. provided in the vehicle interior. The HMI 6 performs image output of the display and voice output from the speaker according to a control signal from the ECU 10. The display may function as a touch panel. The display may be a center display, a navigation display, or a HUD [Head Up Display]. The HUD presents information to the occupant by projecting an image on the front windshield of the vehicle.

[0023] The HMI6 presents the occupants with information regarding lane change suggestions. This information may be presented to the occupants via image output or audio output. The HMI6 accepts an approval operation from the occupant who receives the suggestion for the lane change. The approval operation may be performed by pressing a switch on the steering wheel or elsewhere, by touching an approval button image displayed on a touch panel, or by voice input from the occupant via a microphone.

[0024] Next, the functional configuration of the ECU 10 will be described. The ECU 10 includes a driving state recognition unit 11, a surrounding situation recognition unit 12, a map information acquisition unit 13, a driving route acquisition unit 14, a lane change suggestion unit 15, and a vehicle control unit 16.

[0025] The driving state recognition unit 11 may recognize the vehicle's position on the map based on the position information of the GNSS receiver unit 1 and the map information of the map database 4. The driving state recognition unit 11 may also recognize the vehicle's position using SLAM (Simultaneous Localization and Mapping) technology, utilizing the position information of fixed obstacles such as utility poles included in the map information of the map database 4 and the detection results of the external sensor 2. The driving state recognition unit 11 may also recognize the vehicle's position on the map using other well-known methods.

[0026] The driving state recognition unit 11 recognizes the vehicle's driving state based on the detection results of the internal sensor 3. The driving state includes the vehicle's speed. The driving state may also include the vehicle's acceleration and yaw rate. The driving state recognition unit 11 recognizes the vehicle's speed based on the vehicle speed information from the vehicle speed sensor. The driving state recognition unit 11 may also recognize the vehicle's acceleration based on the vehicle speed information from the acceleration sensor. The driving state recognition unit 11 may also recognize the vehicle's orientation based on the yaw rate information from the yaw rate sensor.

[0027] The surrounding situation recognition unit 12 recognizes the surrounding situation of the vehicle based on the detection results of the external sensor 2. The surrounding situation includes the driving status of other vehicles around the vehicle. The surrounding situation includes the relative position, relative speed, and direction of movement of objects such as other vehicles around the vehicle. The surrounding situation may also include information on the type of object, such as other vehicles, pedestrians, and bicycles. The surrounding situation may also include information on lane markings recognized by known methods such as white line recognition. The surrounding situation may also include signs and road shapes in front of the vehicle. The surrounding situation may also include the degree of congestion of other vehicles traveling around the vehicle.

[0028] The route acquisition unit 14 acquires the route the vehicle will take based on the vehicle's driving status and surrounding conditions. The route acquisition unit 14 may also acquire the route the vehicle will take using the vehicle's position information measured by the GNSS receiver unit 1 and the map information from the map database 4.

[0029] The driving path here corresponds to which lane the vehicle is traveling in on the road. The driving path may be obtained from the lane markings recognized as surrounding conditions and the number of lanes in map information. The driving path may also be obtained from target route information along a target route used in vehicle control such as automated driving control. The target route is the route that the vehicle travels under automated driving control. The target route is set by automated driving control, for example, based on the destination set by the occupants, the vehicle's location information, and map information.

[0030] The travel path is obtained, for example, by corresponding to the number of lanes on the road at the vehicle's current position in the direction of the road's extension. However, if, for example, a passing lane on a single-lane road is the subject of a lane change suggestion, the travel path may be obtained by corresponding to the number of lanes on the road at a position a predetermined distance ahead of the vehicle's current position in the direction of travel, in the direction of the road's extension.

[0031] The lane change suggestion unit 15 suggests a lane change to the vehicle's occupants based on the surrounding conditions and the driving path. More specifically, the lane change suggestion unit 15 suggests a lane change to a lane for slower vehicles compared to the vehicle's lane if a lane mismatch condition is met, indicating that the vehicle's current lane selection is inconsistent with the surrounding conditions, based on the relative speed of other vehicles to the vehicle. The lane change suggestion unit 15 controls the HMI 6 to present information regarding the lane change suggestion to the occupants.

[0032] The selection of the vehicle's lane refers to the driver's or vehicle control's decision to move the vehicle into the lane it is currently in or will be traveling in the near future, out of multiple lanes. In manual driving, the selection of the vehicle's lane corresponds to the vehicle moving in response to the driver's steering input. In autonomous driving, the selection of the vehicle's lane may also correspond to the lane being selected as a target route aligned with the autonomous driving control's target route.

[0033] A lane mismatch condition indicates that the lane a vehicle is traveling in is mismatched with the surrounding conditions. A mismatch with the surrounding conditions means, for example, that while your vehicle is traveling at the speed limit in any lane other than the one intended for the slowest speed among multiple lanes, other vehicles around your vehicle are generally traveling at faster speeds.

[0034] A lane mismatch condition occurs when another vehicle traveling in the same lane as your vehicle changes lanes to a lane for slower vehicles and overtakes your vehicle, or when another vehicle traveling in a lane for slower vehicles behind your vehicle... doing Other vehicles Without changing lanes This condition is met when a predetermined number of other vehicles successively overtake one's own vehicle.

[0035] Figure 2 is a schematic plan view illustrating the case where a lane mismatch condition is met. In Figure 2, on a road with three lanes in each direction, the driving lane (lane) L1, which is intended for the slowest speed, the second driving lane (lane) L2, and the passing lane (lane) L3 are arranged in this order from left to right in the direction of travel.

[0036] In the example in Figure 2(a), another vehicle V2, which was traveling in the same lane L2 as vehicle V1, changes lanes to the slow-speed lane L1 and overtakes vehicle V1. Other vehicles V3 and V4 also overtake vehicle V1 in the same way as other vehicle V2. In this way, the lane mismatch condition may be met if a predetermined number of other vehicles (in this case, 3 vehicles) V2 to V4 consecutively change lanes to the slow-speed lane L1 and overtake vehicle V1 while traveling in the same lane L2 as vehicle V1. In the example in Figure 2(a), the lane change suggestion unit 15 suggests to the occupants that they change lanes to the slow-speed lane L1 compared to the lane L2 in which vehicle V1 is traveling.

[0037] In the example shown in Figure 2(b), the vehicle V1 is traveling in the slow-speed lane L1 behind it. doing Other vehicles V5 Without changing lanes It has overtaken its own vehicle V1. Other vehicles V6 and V7 are also in the same position as other vehicles V5. Without changing lanes Vehicle V1 is being overtaken. In this way, it is traveling in the slow-speed lane L1 behind vehicle V1. doing Other vehicles V5 Without changing lanes Vehicle V1 can be overtaken by a predetermined number of other vehicles (3 in this case) 5 ~V 7 The lane mismatch condition may be met if there is a continuous sequence of events. In the example shown in Figure 2(b), the lane change suggestion unit 15 suggests to the occupants that they change lanes to the low-speed lane L1 compared to the driving lane L2 in which their vehicle V1 is currently traveling.

[0038] The lane change suggestion unit 15 does not need to suggest a lane change to a lane for slow vehicles to the occupants when a lane mismatch condition is met and the surrounding circumstances fall under a predetermined suggestion cancellation situation. A suggestion cancellation situation means that even when a lane mismatch condition is met, if the vehicle were to change lanes, there is a risk that the vehicle would actually obstruct the flow of traffic.

[0039] Figure 3 is a schematic plan view illustrating a situation where the surrounding circumstances fall under the category of a proposed cancellation. In the example shown in Figure 3(a), a predetermined number of other vehicles (3 in this case) V2a to V4a consecutively change lanes from the same lane L5 as vehicle V1 to change lanes to the slow-moving lane L4 to overtake vehicle V1, thus satisfying the lane mismatch condition. However, lane L4 branches off from lane L5 ahead of vehicle V1. If the direction of lane L5 and overtaking lane L6 is the target route for vehicle V1, then if vehicle V1 changes lanes to lane L4, it will immediately have to change lanes again to return to lane L5, potentially obstructing the flow of traffic. Therefore, the lane change suggestion unit 15 does not suggest to the occupants that they change lanes to the slow-speed lane L4 compared to the driving lane L5 in which the vehicle V1 is currently traveling, if the driving lane L4 branches off from the driving lane L5 in front of the vehicle V1.

[0040] In the example in Figure 3(b), the vehicle is traveling in lane L1a, which is for slow-moving vehicles. doing This situation occurs after a predetermined number of other vehicles (two in this case) V5a and V6a have successively overtaken vehicle V1, thus fulfilling the lane mismatch condition. However, lane L1a merges with lane L2a ahead of vehicle V1. If vehicle V1 were to change lanes to lane L1a, it would immediately have to change lanes again to return to lane L2a, potentially obstructing the flow of traffic. Therefore, the lane change suggestion unit 15 does not suggest to the occupants that vehicle V1 change lanes to the slow-speed lane L1a compared to the lane L2a in which vehicle V1 is currently traveling, when lane L1a merges with lane L2a ahead of vehicle V1.

[0041] Figure 4 is a schematic plan view illustrating the situation where the surrounding circumstances warrant the cancellation of the proposal. In the example shown in Figure 4(a), the vehicle is traveling in the slow-speed lane L1b. doing This situation occurs after a predetermined number of other vehicles (two in this case) V5b and V6b have successively overtaken vehicle V1, thus fulfilling the lane mismatch condition. However, there is a lane restriction in the driving lane L1b ahead of vehicle V1 due to road construction or other reasons. If vehicle V1 changes lanes to driving lane L1b, it will immediately have to change lanes again to return to driving lane L2b, potentially obstructing the flow of traffic. Therefore, the lane change suggestion unit 15 does not suggest to the occupants that vehicle V1 change lanes to the driving lane L1b, which is for slower vehicles, compared to the driving lane L2b in which vehicle V1 is currently traveling, when there is a lane restriction in the driving lane L1b ahead of vehicle V1 due to road construction or other reasons.

[0042] In the example in Figure 4(b), the vehicle is traveling in lane L1c, which is for slow-moving vehicles. doing This situation occurs after a predetermined number of other vehicles (two in this case) V5c and V6c have successively overtaken vehicle V1, thus fulfilling the lane mismatch condition. However, there is debris in lane L1c ahead of vehicle V1. If vehicle V1 were to change lanes to lane L1c, it would immediately have to change lanes again to return to lane L2c, potentially obstructing the flow of traffic. Therefore, the lane change suggestion unit 15 does not suggest to the occupants that vehicle V1 change lanes to the slow-speed lane L1c compared to the lane L2c in which vehicle V1 is currently traveling, when there is debris in lane L1c ahead of vehicle V1.

[0043] Figure 5(a) is a schematic plan view illustrating a situation where the surrounding conditions warrant the cancellation of the proposal. In the example shown in Figure 5(a), the road is a steep uphill slope, and the vehicle is traveling in the climbing lane L1d, which is for slow-moving vehicles. doingThis situation occurs after a predetermined number of other vehicles (two in this case) V5d and V6d have successively overtaken vehicle V1, thus fulfilling the lane mismatch condition. However, ahead of vehicle V1, a trailer V8 loaded with heavy cargo is climbing the climbing lane L1d at an extremely slow speed. If vehicle V1 were to change lanes to the climbing lane L1d, it would immediately have to change lanes again to return to the driving lane L2d, potentially obstructing the flow of traffic. Therefore, the lane change suggestion unit 15 does not suggest to the occupants that vehicle V1 change lanes to the climbing lane L1d, which is for slower vehicles, compared to the driving lane L2d in which vehicle V1 is currently traveling, when a trailer V8 loaded with heavy cargo is climbing the climbing lane L1d at an extremely slow speed ahead of vehicle V1.

[0044] By the way, Figure 5(b) is a schematic plan view illustrating the case where the lane mismatch condition is met. In Figure 5(b), the vehicle V1 is basically traveling on a single-lane road in each direction, with its own lane L7 and the oncoming lane L8 facing each other. In front of the vehicle V1, in its own lane L7, there is a passing lane L9 for slower vehicles. doing Another vehicle V9 is catching up to the current vehicle V1. In this situation, although the current position of the current vehicle V1 is on a single-lane road, the current vehicle V1 may obstruct the flow of traffic, so there is room to improve the flow of traffic. Therefore, the driver assistance device 100 proposes a lane change to the passing lane L9 on a single-lane road, and suggests to the occupants that they change lanes to the passing lane L9 for slow vehicles. The driving path acquisition unit 14 determines a predetermined distance ahead of the current position of the current vehicle V1 in the direction of travel, in the direction of the extension of the road. to The driving route may be obtained by corresponding it to the number of lanes on the road at the location where the passing lane L9 exists. The lane mismatch condition is, for example, driving in the current lane L7. doing This condition may be met if the relative speed of the other vehicle V9 when it catches up to the vehicle V1 is above a predetermined value, and there is a predetermined number of vehicles following the other vehicle V9. When this lane mismatch condition is met, the lane change suggestion unit 15 suggests to the occupants that they change lanes from the driving lane L7 in which the vehicle V1 is currently traveling to the passing lane L9 for slower vehicles.

[0045] The vehicle control unit 16 may perform automatic lane change control depending on whether or not the occupant has approved the proposal from the lane change proposal unit 15. The vehicle control unit 16 may also perform automatic lane change control of its own vehicle by transmitting a control signal to the actuator 5.

[0046] [Operation of driver assistance systems] Next, the operation of the driver assistance device 100 will be explained with reference to the drawings. Figure 6 is a flowchart showing an example of the processing of the ECU in Figure 1. The ECU processing is performed, for example, during the execution of the vehicle's automatic driving control.

[0047] As shown in Figure 6, in step S11, the ECU 10 of the driver assistance device 100 acquires vehicle position, map information, driving status, surrounding conditions, and driving route using the driving state recognition unit 11, surrounding conditions recognition unit 12, map information acquisition unit 13, and driving route acquisition unit 14.

[0048] In step S12, the ECU 10 determines, using the lane change suggestion unit 15, whether or not a lane for slow vehicles exists. The ECU 10 may also determine, as shown in Figure 5(b), whether or not a lane for slow vehicles exists at a predetermined distance ahead of the vehicle's current position in the direction of travel, along the direction of travel, in the extending direction of the road.

[0049] If the lane change suggestion unit 15 determines that a lane for slow vehicles exists (S12: YES), the ECU 10 proceeds to step S13. If the lane change suggestion unit 15 determines that a lane for slow vehicles does not exist (S12: NO), the ECU 10 terminates the process shown in Figure 6. After a certain period of time, the ECU 10 repeats the process from S11.

[0050] In step S13, the ECU 10 determines whether the lane mismatch condition is met by the lane change proposal unit 15. If the ECU 10 determines that the lane mismatch condition is met by the lane change proposal unit 15 (S13: YES), it proceeds to step S14. If the ECU 10 determines that the lane mismatch condition is not met by the lane change proposal unit 15 (S13: NO), it terminates the process shown in Figure 6. After that, the ECU 10 repeats the process from S11 after a certain period of time has elapsed.

[0051] In step S14, the ECU 10 uses the lane change suggestion unit 15 to determine whether the surrounding conditions do not constitute a situation requiring the suggestion to be canceled. If the lane change suggestion unit 15 determines that the surrounding conditions do not constitute a situation requiring the suggestion to be canceled (S14: YES), the ECU 10 proceeds to step S15. If the lane change suggestion unit 15 determines that the surrounding conditions do constitute a situation requiring the suggestion to be canceled (S14: NO), the ECU 10 terminates the process shown in Figure 6. After a certain period of time, the ECU 10 repeats the process from S11.

[0052] As step S15, the ECU 10 proposes a lane change to the occupants of its vehicle using the lane change proposal unit 15. The lane change proposal unit 15 proposes a lane change to the occupants of its vehicle, for example, using the HMI 6.

[0053] In step S16, the ECU 10 determines whether or not an approval operation has been performed for the lane change proposal by the lane change proposal unit 15. If the ECU 10 determines that an approval operation has been performed by the occupants of the vehicle for the lane change proposal by the lane change proposal unit 15 (S16: YES), it proceeds to step S17. If the ECU 10 determines that no approval operation has been performed by the occupants of the vehicle for the lane change proposal by the lane change proposal by the lane change proposal unit 15 (S16: NO), it terminates the process shown in Figure 6. After that, the ECU 10 repeats the process from S11 again after a certain period of time has elapsed.

[0054] In step S17, the ECU 10 performs a lane change via the vehicle control unit 16. The vehicle control unit 16 performs automatic lane change control of the vehicle by, for example, sending a control signal to the actuator 5. After a certain period of time has elapsed, the ECU 10 repeats the process from S11.

[0055] According to the driver assistance device 100 described above, when a lane mismatch condition is met, indicating that the lane the vehicle is traveling in is mismatched with the surrounding conditions, the lane change suggestion unit 15 suggests to the occupants that they change lanes to a lane for slower vehicles compared to the lane the vehicle is currently traveling in. For example, if the occupants accept the suggestion, the vehicle will change lanes to a lane for slower vehicles, resolving the mismatch in the vehicle's lane selection. This eliminates situations where the vehicle could obstruct traffic flow, thereby facilitating smoother traffic flow.

[0056] In the driver assistance system 100, the lane mismatch condition is when another vehicle traveling in the same lane as the vehicle behind the vehicle changes lanes to a lane for slow vehicles and overtakes the vehicle, or when another vehicle traveling in a lane for slow vehicles behind the vehicle doing Other vehicles Without changing lanes This condition is met when a predetermined number of other vehicles successively overtake your vehicle. This allows the lane mismatch condition to be met when your vehicle is overtaken or passed by other vehicles a certain number of times, so that even if you are overtaken or passed by one other vehicle that is significantly faster than your vehicle, you will not be subject to a suggestion to change lanes.

[0057] In the driver assistance system 100, when a lane mismatch condition is met, the lane change suggestion unit 15 will not suggest a lane change to a lane for slow-moving vehicles if the surrounding situation recognition unit 12 indicates a predetermined suggestion cancellation situation. As a result, when the surrounding situation matches a predetermined suggestion cancellation situation, not changing lanes may reduce the likelihood of the vehicle obstructing traffic flow. Therefore, it is possible to facilitate smoother traffic flow according to the surrounding conditions.

[0058] While embodiments of this disclosure have been described above, this disclosure is not limited to the embodiments described above. This disclosure can be implemented in various forms, including the embodiments described above, with various modifications and improvements based on the knowledge of those skilled in the art.

[0059] In the above embodiment, the driver assistance device 100 was part of an automated driving system that performed automated driving control, but automated driving control is not essential. The driver assistance device 100 may also be capable of performing automated lane change control, but automated lane change control is not essential. Even during manual driving, the driver assistance device 100 only needs to suggest to the occupant that they change lanes to a lane for slower vehicles compared to the lane in which their vehicle is currently traveling, at least when a lane mismatch condition is met.

[0060] In the embodiments described above, lane mismatch conditions and proposal cancellation situations were illustrated as shown in Figures 2 to 5, but the lane mismatch conditions and proposal cancellation situations are not limited to these examples. [Explanation of symbols]

[0061] 12...Surroundings Recognition Unit, 14...Driving Path Acquisition Unit, 15...Lane Change Proposal Unit, 100...Driving Assistance System, L1, L2...Driving Lane, L3...Overtaking Lane, V1...Own Vehicle.

Claims

1. A surrounding conditions recognition unit recognizes the surrounding conditions, including the driving status of other vehicles around the vehicle, A driving path acquisition unit acquires the driving path that the vehicle will travel based on the driving state of the vehicle and the surrounding conditions, The vehicle includes a lane change suggestion unit that suggests a lane change to the occupants of the vehicle based on the surrounding conditions and the driving path, The lane change suggestion unit, based on the relative speed of other vehicles to the vehicle itself, suggests to the occupant that the vehicle change lanes to a lane for slower vehicles compared to the lane it is currently traveling in, if a lane mismatch condition is met indicating that the lane the vehicle is currently traveling in is a mismatch in light of the surrounding conditions. The lane mismatch condition is met when a predetermined number of other vehicles consecutively change lanes to the lane in which the vehicle is traveling behind the vehicle and overtake the vehicle, or overtake the vehicle without changing lanes while traveling in the lane for slow vehicles behind the vehicle.

2. The driving assistance device according to claim 1, wherein the lane change suggestion unit does not suggest to the occupant a lane change to the lane for slow vehicles when the lane mismatch condition is met and the surrounding conditions fall under a predetermined suggestion cancellation condition.

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