Vehicle control device, vehicle control method, and vehicle control program

Abstract

To diminish the frequency of performing a steering manipulation, which a driver feels tiresome, in driving assist control (lane sustaining control).SOLUTION: A vehicle controller (DS) implements driving assist control (lane sustaining control) of automatically steering an own vehicle so that a lateral position of the own vehicle relative to a travel lane will coincide with a predetermined target lateral position. When a scene where the own vehicle is traveling is a predefined learning scene, if a driver performs a steering manipulation, the vehicle controller stores a value, which depends on the steering manipulation, in association with the learning scene. Thereafter, when a scene specified with ambient information shifts to the learning scene during implementation of driving assist control, and / or, when a scene specified with ambient information is the learning scene at a time when implementation of driving assist control is initiated, the vehicle controller varies the target lateral position (including the deviation initiation timing) on the basis of the stored learning value.SELECTED DRAWING: Figure 1

Description

Technical Field

[0005]

[0001] The present invention relates to a vehicle control device, a vehicle control method, and a vehicle control program that automatically steer a vehicle so that a lateral position of the vehicle coincides with a target lateral position.

Background Art

[0002] One of the conventional vehicle control devices (hereinafter referred to as "conventional device") sets the center line of the own lane (travel lane) as a target travel line, and automatically steers the vehicle so that a reference point of the vehicle moves along the target travel line. Lane keeping control is executed. Further, when the steering operation force of the driver becomes equal to or greater than a threshold value during the execution of the lane keeping control, the conventional device changes the position of the target travel line so that the target travel line becomes a line between the center line and the reference point of the vehicle (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] For example, in a specific scene where the vehicle is traveling on its own lane within a provisional shared section, the driver may wish to always drive the vehicle along "a line slightly shifted in the direction from the center line of the own lane toward the road shoulder rather than the center line". However, according to the conventional device, such a driver needs to apply a large steering operation force to the steering wheel every time the specific scene starts, so such a steering operation is felt to be troublesome. The present invention has been made to solve such problems.

[0005] One aspect of the present invention is an information acquisition device (10, 20, 30) that acquires peripheral information representing a peripheral situation of the vehicle including a dividing line of a travel lane which is a lane on which the vehicle is traveling A controller (10) that performs driving assistance control (for example, lane keeping control) that automatically steers the vehicle based on the surrounding information so that the lateral position of the vehicle relative to the driving lane matches a target lateral position set within the driving lane, Equipped with, The aforementioned controller, If a steering deviation occurs during the execution of the aforementioned driving assistance control, in which the lateral position of the vehicle deviates from the target lateral position due to the steering operation of the vehicle's driver (S240, S525), and the scene identified by the surrounding information is one of the predetermined learning scenes (first scene, second scene), then the system is configured to store the value corresponding to the driver's steering operation as a learned value associated with the learning scene (S245, S555). Furthermore, after storing the learned value (S225, S450), the controller changes the target lateral position based on the stored learned value in at least one of the following cases: when the scene identified by the surrounding information during the execution of the driving assistance control changes from a scene other than the learned scene to the learned scene (S220, S440), and when the scene identified by the surrounding information at the time the execution of the driving assistance control is started is the learned scene (S220). It is structured in this way.

[0006] According to the above embodiment, if the scene identified by the surrounding information is a predetermined learning scene, and a steering deviation state occurs where the lateral position of the vehicle deviates from the target lateral position due to the driver's steering operation, a value corresponding to that steering operation is associated with the learning scene and stored. Subsequently, if the scene identified by the surrounding information changes from a scene other than a learning scene to a learning scene during the execution of the driver assistance control, and / or if the scene identified by the surrounding information is a learning scene at the time the execution of the driver assistance control begins, the target lateral position is changed based on the stored learning value. As a result, the target lateral position becomes a value that matches the driver's preference, reducing the likelihood that the driver will have to perform steering operations every time a similar scene occurs. Therefore, the frequency of performing steering operations that the driver finds bothersome can be reduced.

[0007] Furthermore, in order to accurately determine whether a scene identified by surrounding information is a predetermined learning scene using image data, the vehicle control device may perform supervised training. Moreover, the present invention also extends to a vehicle control method and its program. The constituent elements of the present invention are not limited to the embodiments specified by reference numerals in the above summary of the invention. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of a vehicle control device according to the first embodiment of the present invention. [Figure 2] Figure 1 shows the routine (flowchart) executed by the vehicle control ECU. [Figure 3] This is a diagram illustrating the operation of a vehicle control device according to the first embodiment of the present invention. [Figure 4] This is a routine (flowchart) executed by the vehicle control ECU (second ECU) of the vehicle control device according to the second embodiment of the present invention. [Figure 5] This is the routine (flowchart) executed by the second ECU. [Figure 6]This is a diagram illustrating the operation of a vehicle control device according to a second embodiment of the present invention. [Modes for carrying out the invention]

[0009] The vehicle control device DS according to the first embodiment of the present invention (hereinafter referred to as "device DS") has the components shown in Figure 1 and will be applied to (mounted on) the vehicle. The vehicle control device according to the second embodiment of the present invention, which will be described later, has the same configuration as device DS.

[0010] In this specification, "ECU" refers to an Electronic Control Unit (ECU) that primarily comprises a microcomputer including a CPU (processor) and memory, and is also referred to as a controller. The components shown in Figure 1, which include multiple ECUs, are connected to each other via a Controller Area Network (CAN) to enable information exchange.

[0011] The vehicle control ECU 10 performs lane keeping control, which is one of the driver assistance controls described later.

[0012] The forward camera system 20 includes a forward camera 21 and an image ECU 22. The forward camera 21 captures images of the scene in front of the vehicle (including lane markings such as white and yellow lines, and landmarks such as poles and other vehicles) at predetermined intervals and acquires image data. The image ECU 22 analyzes the image data from the forward camera 21 to generate camera landmark information, including the "position, relative vertical speed, relative lateral speed, and type" of landmarks in the image data. The types of landmarks include poles, roadside structures, and other vehicles. Furthermore, based on the image data, the image ECU 22 acquires lateral position information, including the lateral position of the vehicle in its own lane (hereinafter also referred to as the "driving lane") (the distance between the center line of the left and right lane markings and the vehicle's reference point in the lane width direction), and the angle (yaw angle) between the vehicle's direction of travel and the center line. Furthermore, the image ECU 22 identifies the type of lane marking (white line, yellow line, etc.) based on the image data and obtains the lane marking identification result. The image ECU 22 transmits this acquired information to the vehicle control ECU 10.

[0013] The radar system 30 is a well-known device that acquires information about targets located in front of the vehicle using millimeter-wave radio waves, and includes a radar 31 and a radar ECU 32. The radar 31 transmits information about the transmitted radio waves and the received reflected waves to the radar ECU 32. The radar ECU 32 acquires radar target information based on the information from the radar 31 and transmits it to the vehicle control ECU 10. The radar target information includes the distance to the target, the bearing of the target, and the relative speed of the target.

[0014] The powertrain ECU 35 is connected to drive the powertrain actuator 36. The actuator 36 can change the torque generated by the vehicle's drive system (driving force source). The torque generated by the drive system is transmitted to the drive wheels via a gear mechanism. Therefore, the powertrain ECU 35 can control the driving force of the vehicle.

[0015] When the drive device of the host vehicle is an internal combustion engine using gasoline fuel, the actuator 36 is, for example, a throttle valve actuator that changes the opening degree of the throttle valve. The host vehicle may be an electric vehicle, and in that case, the actuator 36 is an inverter that can change the torque of the electric motor. The host vehicle may be a hybrid vehicle, and in that case, the actuator 36 includes an inverter for the electric motor and a throttle valve actuator for the internal combustion engine.

[0016] The brake ECU 40 controls the friction braking devices provided on each wheel of the host vehicle by driving the brake actuator 41, and changes the frictional braking force applied to the host vehicle. That is, the brake ECU 40 can control the braking force applied to the host vehicle.

[0017] The steering ECU 50 can control the steering angle (steering angle) of the host vehicle by driving the steering motor 51.

[0018] The navigation ECU 60 is connected to a GPS (or GNSS) receiver 61, a map database 62, and a display touch panel 63 that displays touch buttons. The navigation ECU 60 acquires the current position of the host vehicle based on the GPS signal received by the GPS receiver 61. The navigation ECU 60 acquires information on the road on which the host vehicle is currently traveling from the map database 62. The information on the road includes, for example, information such as whether the driving lane on which the host vehicle is currently traveling is an exclusive vehicle road and whether it is within a provisional shared section. The provisional shared section means a section that is originally a road with two lanes on one side (a total of four lanes) but is temporarily a road with one lane on one side (a total of two lanes).

[0019] The vehicle control ECU 10 is further connected to a "sensor that detects parameters representing the driving state of the host vehicle" and a switch described below, and is configured to input the values (signals) detected or output by these. · A vehicle speed sensor 71 that detects the speed of the host vehicle (i.e., vehicle speed SPD). · An accelerator pedal operation amount sensor 72 that detects an operation amount AP of an accelerator pedal of the host vehicle. · A brake pedal operation amount sensor 73 that detects an operation amount BP of a brake pedal of the host vehicle. · A steering angle sensor 74 that detects a steering angle θ of the host vehicle. · A steering torque sensor 75 that detects a steering torque Tq input to a steering wheel of the host vehicle. · A lane keeping control operation switch 76 that is operated by a driver of the host vehicle and outputs either an on signal (lane keeping control request signal) or an off signal (end request signal for lane keeping control).

[0020] (Operation of the First Embodiment) The CPU of the vehicle control ECU 10 (hereinafter simply referred to as "CPU") executes the routine shown by the flowchart in FIG. 2 every time a predetermined time elapses.

[0021] When an appropriate time point arrives, the CPU starts processing from step 200 in FIG. 2 (hereinafter, "step" is denoted as "S") and proceeds to S205, and by analyzing the image data, identifies (discriminates) what kind of scene is in front of the host vehicle.

[0022] Next, the CPU proceeds to S210 and determines whether or not the CPU is currently executing lane keeping control. The CPU determines whether or not the lane keeping control execution conditions are satisfied by executing a routine not shown, and during the period when the lane keeping control execution conditions are satisfied, a well-known lane keeping control is performed in which the steering angle is controlled based on the lateral position information so that a reference point of the host vehicle (for example, the center position between the left front wheel and the right front wheel) coincides with a predetermined target lateral position.

[0023] The lane keeping control execution conditions are satisfied, for example, when both of the following-described condition 1 and condition 2 are satisfied, and are not satisfied when at least one of condition 1 and condition 2 is not satisfied. (Condition 1) The road on which the vehicle is traveling is a road exclusively for vehicles. Whether or not Condition 1 is met is determined based on the results of the image data analysis in S205 and / or the road information obtained from the navigation ECU60. (Condition 2) The signal from the lane keeping control operation switch 76, operated by the driver, is an ON signal. That is, the driver is requesting the lane keeping control to be activated.

[0024] If the CPU is currently performing lane keeping control, the CPU proceeds from S210 to S215 to determine whether the value of the provisional shared section flag Xz is "0".

[0025] If the value of the temporary shared section flag Xz is "0" (i.e., the CPU has been recognized as being outside the temporary shared section up to this point), the CPU proceeds from S215 to S220 and, based on the results of the image data analysis in S205, determines whether the current time is immediately after the start of the temporary shared section. In other words, in S220, the CPU determines whether the driving lane has moved from outside the temporary shared section to inside the temporary shared section. That is, the CPU determines whether the scene identified by the surrounding information, including the image data, has changed to the "first scene indicating that the driving lane is inside the temporary shared section." The CPU also determines that the driving lane is inside the temporary shared section if it recognizes that the center line of the driving lane is "yellow line, white line and pole" in the order from the driving lane side toward the oncoming lane. The CPU may also obtain information from the map database 62 regarding whether the driving lane is inside the temporary shared section and perform the determination in S220.

[0026] If the current time is immediately after the start of the provisional shared section, the CPU proceeds from S220 to S225 and determines whether the value of the lateral position learned flag Xg (described later) is "1", thereby determining whether the vehicle has previously traveled on the provisional shared section and whether the lateral position of the vehicle at that time is stored (learned) as a learned value (first learned value).

[0027] If the value of the horizontal position learned flag Xg is not "1", the CPU proceeds directly from S225 to S230 and sets the value of the provisional shared interval flag Xz to "1". Then the CPU proceeds to S295 and terminates this routine. In this case, the target horizontal position is set to the reference horizontal position (the default value, for example, the midpoint between the left and right grid lines). As a result, when the CPU next proceeds to S215, it proceeds from S215 to S235.

[0028] In S235, the CPU determines whether the current time is immediately after the end of the temporary shared section. In other words, in S235, the CPU determines whether the driving lane has moved from inside the temporary shared section to outside the temporary shared section. That is, the CPU determines whether the scene identified by surrounding information, including image data, has changed from the first scene to a scene other than the first scene. If the current time is immediately after the end of the temporary shared section, the CPU proceeds from S235 to S240.

[0029] In S240, the CPU determines whether a steering deviation has occurred, which is a state in which the lateral position of the vehicle deviates by a predetermined distance or more from the "target lateral position set at the start of the temporary shared section" due to the driver's steering operation while driving in the temporary shared section. If a steering deviation has occurred, the CPU proceeds to S245, where it stores the average value of the vehicle's lateral position over the most recent predetermined time as the target lateral position learning value (first learning value) for the temporary shared section in a non-volatile memory (not shown), and sets the value of the lateral position learned flag Xg to "1". Next, the CPU proceeds to S250, sets the value of the temporary shared section flag Xz to "0", and then proceeds to S295. In contrast, if a steering deviation has not occurred, the CPU proceeds directly from S240 to S250.

[0030] Furthermore, if the current time is not immediately after the end of the provisional shared section, the CPU proceeds from S235 to S255 to determine whether the current time is "immediately before the lane keeping control is terminated due to the lane keeping control execution conditions not being met." If the current time is immediately before the lane keeping control is terminated, the CPU proceeds from S255 to S240. On the other hand, if lane keeping control is still in operation at the current time, the CPU proceeds from S255 to S295.

[0031] When the processes in S245 and S250 are executed, the value of the horizontal position learned flag Xg is set to "1". Then, if the CPU proceeds to S225, it proceeds from S225 to S255 and sets the target horizontal position to the target horizontal position learned value (first learned value) of the provisional shared section.

[0032] If lane keeping control is not being performed when the CPU proceeds to S210, it proceeds directly from S210 to S295 and terminates this routine. Also, if the driving lane is within a temporary shared section when lane keeping control is initiated, the CPU determines "Yes" in each step from S210 to S220 and proceeds to S225.

[0033] As described above, the device DS operates as follows: For example, if, at time t1 in Figure 3(A), the vehicle performing lane keeping control enters a temporary shared section and the learning of the first learned value has not yet been completed, the target lateral position is set to the reference lateral position (the position of the center line of the left and right lane markings). The reference lateral position is the position where the distance DL from the left lane marking is D1 and the distance DR from the right lane marking is D1. Subsequently, the driver steers during the period from time t2 to time t3, and from time t3 onward, the position of the vehicle shifts to the left of the center line. Then, at time t4, when lane keeping control ends or the temporary shared section ends, the device DS stores "a lateral position where the distance DL is D3 and the distance DR is D2" as the first learned value.

[0034] Subsequently, for example, if lane keeping control is started at time t5 in Figure 3(B) and the device DS recognizes that the driving lane at that time has entered a temporary shared section, the target lateral position is set to the first learned value (lateral position where distance DL is D3 and distance DR is D2). Then, the driver steers during the period from time t6 to time t7, and from time t7 onward, the position of the vehicle shifts to the right. Then, when lane keeping control ends or the temporary shared section ends at time t8, the device DS stores "lateral position where distance DL is D5 and distance DR is D4" as the first learned value.

[0035] (Operation of the second embodiment) In the second embodiment, the CPU of the vehicle control ECU 10 executes the routine shown in the flowchart in Figures 4 and 5 at predetermined intervals. Therefore, when an appropriate time arrives, the CPU starts processing from S400 in Figure 4 and proceeds to S410 to determine whether or not the CPU is currently performing lane keeping control.

[0036] If the CPU is currently performing lane keeping control, it proceeds from S410 to S420, where it analyzes image data to determine the scene in front of the vehicle. Next, in S430, the CPU determines whether the value of the variable lateral offset control flag XL is "0". If variable lateral offset control (VLO), described later, is in operation, the value of the variable lateral offset control flag XL is set to "1". If variable lateral offset control is not in operation, the value of the variable lateral offset control flag XL is set to "0".

[0037] If the value of the variable lateral position control flag XL is "0", the CPU proceeds from S430 to S440 and, as shown in Figure 6(A), determines, based on the analysis results in S420, whether or not it has just recognized that the current time is "Scene 2, in which the own vehicle HV overtakes the adjacent vehicle AV". Scene 2 begins when "an adjacent vehicle AV, which is another vehicle traveling at a lower speed than the own vehicle HV," is traveling in the adjacent lane AL adjacent to the driving lane HL, and the margin time TTC (approach margin time TTC = (distance between adjacent vehicle AV and own vehicle HV) / relative speed of adjacent vehicle AV) until the front of the own vehicle HV is closest to the rear end of the adjacent vehicle AV is less than or equal to the setting threshold for Scene 2.

[0038] If the current time is not immediately recognized as the second scene, the CPU proceeds directly from S440 to S495 and terminates this routine. On the other hand, if the current time is immediately recognized as the second scene, the CPU proceeds from S440 to S450 and determines whether the vehicle has stored (learned) the lateral position change timing as a learned value (second learned value) up to the present time by checking whether the value of the change timing learned flag Xt is "1".

[0039] If the value of the learned flag Xt is not "1", the CPU proceeds from S450 to S460 and sets the lateral position change timing, which represents the threshold margin time, to the reference timing (a default value in units of time, for example, 2 seconds). Next, in S470, the CPU sets the value of the variable lateral position control flag XL to "1" and proceeds to S495.

[0040] In contrast, if the value of the learned flag Xt is "1", the CPU proceeds from S450 to S480 and sets the horizontal position change timing, which represents the threshold margin time, to the timing learned value (second learned value) described later. Next, the CPU proceeds to S470 and S495.

[0041] If the CPU determines "No" in S410 (i.e., lane keeping control is not being performed), it proceeds directly to S495. If the CPU determines "No" in S430 (i.e., variable lateral position control is being performed), it proceeds directly to S495.

[0042] When an appropriate time arrives, the CPU starts processing from S500 in Figure 5 and proceeds to S505, where it determines whether or not the CPU is currently performing lane keeping control.

[0043] If the CPU is currently performing lane keeping control, it proceeds from S505 to S510, where it analyzes image data to determine what the scene in front of the vehicle is. Next, in S515, the CPU determines whether the value of the variable lateral position control flag XL is "1".

[0044] If the value of the variable lateral position control flag XL is "1", the CPU proceeds from S515 to S520 and determines, based on the analysis results in S510, whether the second scene described above is continuously recognized. If the second scene is continuously recognized, the CPU proceeds from S520 to S525 and determines whether the steering torque Tq is greater than or equal to the threshold torque, thereby determining whether the driver has performed a steering operation (i.e., whether a steering discrepancy has occurred).

[0045] If there is no steering input from the driver, the CPU proceeds from S525 to S530 to determine whether the actual approach time (TTC) has fallen below the threshold time set as the lateral position change timing. If the approach time (TTC) is not below the lateral position change timing, the CPU proceeds directly from S530 to S540. On the other hand, if the approach time (TTC) is below the lateral position change timing, the CPU proceeds from S530 to S535 to begin the shift of the target lateral position by variable lateral position change control. As a result, from the time when the approach time (TTC) falls below the lateral position change timing until the variable lateral position control termination condition described later is met, the target lateral position is shifted by a predetermined distance D away from the adjacent lane where the adjacent vehicle is traveling (see time t11 to time t13 in Figure 6 (A)).

[0046] In S540, the CPU determines whether the value of the variable lateral position control flag XL is "1". If the value of the variable lateral position control flag XL is "0", the CPU proceeds directly from S540 to S595 and terminates this routine. On the other hand, if the value of the variable lateral position control flag XL is "1", the CPU proceeds from S540 to S545 and determines whether the termination condition for variable lateral position control has been met. This termination condition is met when it is determined that the second scene has disappeared or that the vehicle has overtaken an adjacent vehicle, based on "rear camera images acquired by a rear camera (not shown) or target information acquired by a rear-side radar (not shown)".

[0047] If the termination condition for variable horizontal position control is not met, the CPU proceeds directly from S545 to S595. Conversely, if the termination condition for variable horizontal position control is met, the CPU proceeds from S545 to S550, sets the value of the variable horizontal position control flag XL to "0", and then proceeds to S595.

[0048] On the other hand, when the CPU proceeds to S525, if the driver steers the vehicle away from the adjacent lane before the approach margin time TTC becomes less than or equal to the lateral position change timing, the CPU proceeds from S525 to S555 and learns (stores) the approach margin time at that point as the second learned value (timing learned value). Next, the CPU proceeds to S560 and sets the value of the change timing learned flag Xt to "1". After that, the CPU proceeds to S535. In this case, the vehicle's driving line changes according to the driver's steering operation, as shown by the dashed line from time t10 in Figure 6(A) when the driver steers.

[0049] As a result, when the CPU next recognizes an adjacent vehicle overtaking scene (second scene), it proceeds from S450 to S480 in Figure 4, and the lateral position change timing is set to the timing learned value (second learned value). Therefore, the timing at which "Yes" is determined in S530 in Figure 5 changes to a timing according to the driver's preference (see time t20 onwards in Figure 6(B)).

[0050] If the CPU determines "No" at steps S505, S515, and S520, it proceeds directly to S540 from each respective step.

[0051] As explained above, according to the DS device, when the driver performs a steering operation while the vehicle is driving in a predetermined learning scene, a value corresponding to that steering operation is associated with the learning scene and stored. Subsequently, if the scene identified by the surrounding information changes to a learning scene during the execution of driver assistance control, and / or if the scene identified by the surrounding information is a learning scene at the time the execution of driver assistance control begins, the target lateral position (including the timing of its deviation start) is changed based on the stored learning value. As a result, the target lateral position becomes a value that matches the driver's preference, reducing the likelihood that the driver will have to perform steering operations every time a similar scene occurs.

[0052] The present invention is not limited to the above embodiments and modifications, and various modifications can be adopted within the scope of the present invention. For example, the device DS may perform lane keeping control using the learned values ​​described above as lane keeping control during automatic driving. The device DS may also perform variable lateral position change control in a scene where it passes an oncoming vehicle, in which case the timing of the start of the deviation of the target lateral position due to the variable lateral position change control (the relative relationship between the oncoming vehicle and the own vehicle when a steering operation is performed) is learned. Furthermore, for example, as in the device disclosed in Patent Document 1, control may be performed to change the target lateral position when a steering deviation state occurs due to a steering operation during the execution of lane keeping control. In that case, for example, the target lateral position at the time the driving lane leaves the temporary shared section should be learned as the first learned value. In addition, the learning scene is not limited to the above example, and may be, for example, a scene on a road with one lane on each side where a roadside structure (for example, a tall sound barrier) is installed on the median strip or shoulder, and a scene where cones indicating that construction is underway are installed on the shoulder side of the driving lane. [Explanation of Symbols]

[0053] 10...Vehicle control ECU, 20...Forward camera system, 30...Radar system.

Claims

1. An information acquisition device that acquires surrounding information representing the conditions around the vehicle, including the lane markings of the driving lane in which the vehicle is traveling, A controller that performs driving assistance control, which automatically steers the vehicle based on the surrounding information so that the vehicle's lateral position relative to the driving lane matches a target lateral position set within the driving lane, Equipped with, The aforementioned controller, If, during the execution of the aforementioned driving assistance control, a steering deviation state occurs in which the lateral position of the vehicle deviates from the target lateral position due to the steering operation of the vehicle's driver, and the scene identified by the surrounding information is a predetermined learning scene, the system is configured to store the value corresponding to the driver's steering operation as a learned value associated with the learning scene. Furthermore, after the controller stores the learned value, If, during the execution of the aforementioned driving assistance control, the scene identified by the surrounding information changes from a scene other than the learning scene to the learning scene, And, If the scene identified by the surrounding information at the time the execution of the aforementioned driving assistance control is initiated is the learning scene, In at least one of the cases, the target lateral position is changed based on the stored learned value. It is configured in such a way. In a vehicle control system, The aforementioned learning scene is one in which the driving lane is within a temporarily shared section. Vehicle control system.

2. In the vehicle control device according to claim 1, The aforementioned controller, The system is configured to store a learned value that corresponds to the actual lateral position of the vehicle, as a value corresponding to the steering operation of the driver. Vehicle control system.

3. An information acquisition device that acquires surrounding information representing the surrounding conditions of the vehicle, including the lane markings of the driving lane in which the vehicle is traveling, A controller that performs driving assistance control, which automatically steers the vehicle based on the surrounding information so that the vehicle's lateral position relative to the driving lane matches a target lateral position set within the driving lane, Equipped with, The aforementioned controller, If, during the execution of the aforementioned driving assistance control, a steering deviation state occurs in which the lateral position of the vehicle deviates from the target lateral position due to the steering operation of the vehicle's driver, and the scene identified by the surrounding information is a predetermined learning scene, the system is configured to store the value corresponding to the driver's steering operation as a learned value associated with the learning scene. Furthermore, after the controller stores the learned value, If, during the execution of the aforementioned driving assistance control, the scene identified by the surrounding information changes from a scene other than the learning scene to the learning scene, And, If the scene identified by the surrounding information at the time the execution of the aforementioned driving assistance control is initiated is the learning scene, In at least one of the cases, the target lateral position is changed based on the stored learned value. It is configured in such a way. In a vehicle control system, The aforementioned learning scene is a scene in which the vehicle itself is traveling within the aforementioned driving lane and overtakes an adjacent vehicle traveling in a lane adjacent to that driving lane. The aforementioned controller, When the learning scene occurs during the execution of the aforementioned driving assistance control, and the relative relationship between the vehicle and the adjacent vehicle becomes a predetermined relationship, the system is configured to execute variable lateral position control as the driving assistance control, which shifts the target lateral position by a predetermined distance away from the adjacent vehicle. Furthermore, the controller, When the steering deviation state occurs before the target lateral position begins to shift due to the variable lateral position control, the relative relationship between the vehicle and the adjacent vehicle is stored as a learned value and associated with the learned scene. After storing the learned value, if the scene identified by the surrounding information changes from a scene other than the learned scene to the learned scene during the execution of the driving assistance control, and the relative relationship between the own vehicle and the adjacent vehicle becomes a relationship determined based on the learned value, the system is configured to start the deviation of the target lateral position in the variable lateral position control. Vehicle control system.

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