Vehicle control device and vehicle control method

Abstract

A surroundings monitoring ECU is used in a host vehicle capable of performing automated lane changing, and functions as a vehicle control device for controlling at least one exterior camera that captures images of the surroundings of the host vehicle. The surroundings monitoring ECU controls a high-resolution recognition range that is recognized at a higher resolution than other normal recognition ranges within the imaging area captured by the exterior camera(s). The surroundings monitoring ECU acquires lane-change-related information related to automated lane changing, and switches a control mode for controlling the high-resolution recognition range between a plurality of control modes on the basis of the lane-change-related information.

Description

Vehicle control device and vehicle control method CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Patent Application No. 2024-14408 filed in Japan on February 1, 2024, and the contents of the original application are incorporated by reference in their entirety.

[0002] The disclosure herein relates to a vehicle control technique for use in a host vehicle capable of performing automated lane changes.

[0003] Patent Literature 1 discloses an image processing device that is mounted on a vehicle as a moving device and includes an imaging unit that captures images of the rear side of the vehicle. When the vehicle merges into another lane, this image processing device changes the position of a high-resolution area set in part of the image captured by the imaging unit according to the positional relationship between the vehicle and the lane where the vehicle is merging.

[0004] JP 2023-91431 A

[0005] In recent years, control technologies for performing automated lane changes in vehicles have been developed. Situations in which such automated lane changes are performed are not limited to merging into a destination lane as in Patent Document 1. For example, automated lane changes can also be performed in overtaking situations, branching situations, and situations in which a vehicle leaves a main roadway. Therefore, if the image processing device of Patent Document 1 is installed in a vehicle capable of performing automated lane changes, there is a concern that a high-resolution recognition range will not be set in an appropriate position according to the situation in which the automated lane change is to be performed.

[0006] The present disclosure aims to provide a vehicle control device and a vehicle control method that are capable of appropriately positioning a high-resolution recognition range depending on the scene in which an automated lane change is performed.

[0007] In order to achieve the above object, one disclosed aspect is a vehicle control device that is used in a vehicle capable of performing automated lane changes and controls at least one exterior camera that captures images of the surroundings of the vehicle, and is equipped with an information acquisition unit that acquires lane change related information related to automated lane changes, and a recognition control unit that controls a high-resolution recognition range that is recognized at a higher resolution than other normal recognition ranges within the image area captured by the exterior camera, and the recognition control unit is a vehicle control device that switches the control mode that controls the high-resolution recognition range among multiple control modes based on the lane change related information.

[0008] Another disclosed aspect is a vehicle control method used in a vehicle capable of performing automated lane changes, which controls at least one exterior camera that captures images of the surroundings of the vehicle, and includes the steps of acquiring lane change-related information related to automated lane changes, controlling a high-resolution recognition range that is recognized at a higher resolution than other normal recognition ranges within the image capture area captured by the exterior camera, and switching the control mode that controls the high-resolution recognition range from among a plurality of control modes based on the lane change-related information, in processing performed by at least one processing unit.

[0009] In these aspects, the control mode for controlling the high-resolution recognition range recognized at high resolution is switched among a plurality of control modes based on lane change-related information related to the automated lane change, thereby making it possible to appropriately position the high-resolution recognition range within the imaging area of ​​the exterior camera depending on the scene in which the automated lane change is being performed.

[0010] It should be noted that the reference numbers in parentheses in the claims merely indicate an example of the correspondence with the specific configurations in the embodiments described below, and do not limit the technical scope in any way. Furthermore, claims not explicitly stated in the claims may be combined together if no particular problems arise in the combination.

[0011] 1 is a diagram showing an overall view of an in-vehicle system including a perimeter monitoring ECU according to a first embodiment of the present disclosure. FIG. 2 is a diagram showing an example of a plurality of exterior cameras mounted on a vehicle. FIG. 3 is a block diagram showing details of the perimeter monitoring ECU and the autonomous driving ECU together with related configurations. FIG. 4 is a diagram showing an example of an imaging area captured by a front telephoto camera. FIG. 5 is a diagram showing an example of an imaging area captured by a right rear side camera. FIG. 6 is a diagram for explaining details of control performed in normal automated lane changing. FIG. 7 is a diagram for explaining details of control performed in successive automated lane changing. FIG. 8 is a diagram for explaining details of control performed in automated lane changing in traffic congestion. FIG. 9 is a flowchart showing details of high-resolution range control processing executed by the perimeter monitoring ECU. FIG. 10 is a flowchart showing details of lane change control processing executed by the autonomous driving ECU. FIG. 11 is a block diagram showing details of the perimeter monitoring ECU according to a second embodiment of the present disclosure together with related configurations. FIG. 12 is a diagram for explaining the operation of adjusting the orientation of the front telephoto camera using a variable mechanism.

[0012] Hereinafter, several embodiments will be described with reference to the drawings. Note that corresponding components in each embodiment are given the same reference numerals, and redundant description may be omitted. When only a portion of the configuration is described in each embodiment, the configuration of another embodiment described previously can be applied to the remaining portion of the configuration. Furthermore, in addition to the combinations of configurations explicitly stated in the description of each embodiment, configurations of several embodiments can also be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0013] First Embodiment The functions of a vehicle control device according to a first embodiment of the present disclosure are realized by a periphery monitoring ECU (Electronic Control Unit) 100 shown in FIG. 1 . The periphery monitoring ECU 100 is mounted on a vehicle (hereinafter, referred to as host vehicle Am) together with an autonomous driving ECU 50. By mounting the periphery monitoring ECU 100 and the autonomous driving ECU 50, the host vehicle Am becomes an autonomously driven vehicle or an autonomously traveling vehicle equipped with an autonomous driving function. The autonomous driving ECU 50 is configured to be able to realize at least an autonomous driving function (driving assistance function) equivalent to autonomous driving level 2. The autonomous driving ECU 50 may be configured to be able to realize an autonomous driving function of autonomous driving level 3 or higher.

[0014] Here, the autonomous driving levels in this disclosure are based on standards established by the Society of Automotive Engineers. Level 2 autonomous driving is eyes-on autonomous driving, which requires the driver to visually monitor the area around the vehicle. Level 2 autonomous driving includes hands-on autonomous driving, in which the driver is required to hold the steering wheel, and hands-off autonomous driving, in which the driver is not required to hold the steering wheel.

[0015] Level 3 autonomous driving is eyes-off autonomous driving, which means that there is no need to monitor the surroundings of the vehicle and no obligation to monitor the surroundings. The autonomous driving ECU 50 may be capable of Level 4 fully autonomous driving, in which the system performs all driving tasks under certain conditions, and Level 5 fully autonomous driving, in which the system performs all driving tasks under all conditions. Level 4 autonomous driving is brain-off autonomous driving, in which there is essentially no request for the driver to take over driving. Level 5 autonomous driving is driverless autonomous driving, which does not require a driver on board.

[0016] [Configuration of the In-Vehicle System] The perimeter monitoring ECU 100 and the autonomous driving ECU 50 are elements constituting the in-vehicle system of the host vehicle Am and are communicatively connected to a communication bus 99 of an in-vehicle network 1 mounted on the host vehicle Am. The communication bus 99 is further connected to a locator 35, a navigation ECU 38, an in-vehicle communication device 39, a cruise control ECU 40, an HMI (Human Machine Interface) control device 20, and the like. These nodes connected to the communication bus 99 can communicate with each other. Specific nodes connected to the communication bus 99 may be electrically connected directly to each other and be able to communicate without going through the communication bus 99.

[0017] The locator 35 includes a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, etc. The locator 35 sequentially determines the position and traveling direction of the host vehicle Am by combining positioning signals received from multiple positioning satellites by the GNSS receiver, measurement results from the inertial sensor, and vehicle speed information output to the communication bus 99. The locator 35 sequentially outputs position information and direction information of the host vehicle Am based on the positioning results to the communication bus 99 as locator information.

[0018] The locator 35 also has a map database (hereinafter referred to as the map DB) that stores map data. The map DB is primarily composed of a large-capacity storage medium that stores a large amount of three-dimensional map data and two-dimensional map data. The three-dimensional map data is a so-called high-definition (HD) map, and includes road information necessary for autonomous driving. The locator 35 reads map data for the area around the current location from the map DB and provides it to the navigation ECU 38, the autonomous driving ECU 50, the periphery monitoring ECU 100, etc., along with locator information.

[0019] The navigation ECU 38 acquires information about a destination specified by a driver or other occupant based on operation information acquired from the HMI control device 20. The navigation ECU 38 acquires vehicle position information and direction information from the locator 35, and sets a route from the current position to the destination. The navigation ECU 38 provides route information indicating the set route to the destination to the autonomous driving ECU 50, the HMI control device 20, etc. The navigation ECU 38 works in cooperation with the HMI control device 20 to provide route guidance to the destination by combining screen displays and voice messages, etc., and notifying the driver of the direction of travel of the vehicle Am at intersections, branching points, etc.

[0020] Here, a user terminal such as a smartphone may be connected to the in-vehicle network 1 or the HMI control device 20. Such a user terminal may provide the autonomous driving ECU 50 with information such as vehicle position information, direction information, and map data, instead of the locator 35. Furthermore, the user terminal may provide the HMI control device 20, the autonomous driving ECU 50, and the periphery monitoring ECU 100 with information such as route information to the destination, instead of the navigation ECU 38.

[0021] The on-board communication device 39 is an external communication unit mounted on the host vehicle Am. The on-board communication device 39 functions as a V2X (Vehicle to Everything) communication device. The on-board communication device 39 transmits and receives information via wireless communication between roadside devices installed on the side of the road and other vehicles around the host vehicle. As an example, the on-board communication device 39 receives congestion information and traffic regulation information around the current location of the host vehicle Am and in the direction of travel from the roadside devices. The congestion information and traffic regulation information are, for example, VICS (registered trademark) information. Furthermore, the on-board communication device 39 may receive target detection information acquired by roadside devices and other vehicles.

[0022] The cruise control ECU 40 is an electronic control device that mainly includes a microcontroller. The cruise control ECU 40 generates vehicle speed information indicating the current traveling speed of the host vehicle Am based on detection signals from wheel speed sensors provided at the hub portions of each wheel, and sequentially outputs the generated vehicle speed information to the communication bus 99. The cruise control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU. The cruise control ECU 40 continuously controls the braking force of each wheel, the output of the on-board power source, and the steering angle based on operation commands based on the driver's driving operation or control commands from the automatic driving ECU 50.

[0023] The HMI control device 20 constitutes an HMI system together with multiple display devices 21, an audio device, ambient lights, operation devices, etc. The HMI system has an input interface function that accepts operations by occupants such as the driver of the vehicle Am, and an output interface function that presents information to the driver. The display device 21 presents information to the driver's visual perception by displaying images, etc. The display device 21 includes a meter display, a center information display (hereinafter referred to as CID), a head-up display, etc. The CID has a touch panel function and detects touch operations on the display screen by the driver, etc.

[0024] [Configuration of Perimeter Monitoring System] The perimeter monitoring ECU 100, together with multiple exterior cameras 130, at least one millimeter-wave radar 33, and multiple sonars 34, constitutes a perimeter monitoring system 10. The exterior cameras 130, the millimeter-wave radar 33, and the sonars 34 are perimeter monitoring sensors that monitor the environment surrounding the host vehicle Am. The perimeter monitoring system 10 may further include perimeter monitoring sensors such as a lidar and an acoustic sensing system. The perimeter monitoring system 10 can detect moving and stationary objects around the host vehicle within the detection range of the perimeter monitoring sensors. The perimeter monitoring system 10 provides recognition information of objects around the host vehicle to the autonomous driving ECU 50, etc.

[0025] The exterior camera 130 is an in-vehicle imaging device that captures images of the surroundings of the host vehicle Am. The exterior camera 130 provides the periphery monitoring ECU 100 with imaging data ImD (see FIG. 3 ) as detection information. The exterior cameras 130 include a front wide-angle camera 131, a front telephoto camera 132, a right front side camera 133, a left front side camera 134, a right rear side camera 135, a left rear side camera 136, and a rear camera 137 (see FIG. 2 ).

[0026] The front wide-angle camera 131 and the front telephoto camera 132 are attached to the host vehicle Am so as to capture images ahead of the host vehicle Am (in the direction of travel). The front wide-angle camera 131 has a lens with a wider angle of view than the front telephoto camera 132, and can capture images of a wide range ahead. The front telephoto camera 132 has a lens with a narrower angle of view than the front wide-angle camera 131, and can capture images of distant targets in detail.

[0027] The right front side camera 133 is attached to the host vehicle Am so as to capture images of the right front side of the host vehicle Am. The left front side camera 134 is attached to the host vehicle Am so as to capture images of the left front side of the host vehicle Am. The right rear side camera 135 is attached to the host vehicle Am so as to capture images of the right rear side of the host vehicle Am. The left rear side camera 136 is attached to the host vehicle Am so as to capture images of the left rear side of the host vehicle Am. The rear camera 137 is attached to the host vehicle Am so as to capture images of the area behind the host vehicle Am.

[0028] The perimeter monitoring ECU 100 functions as a sensor control device and comprehensively controls driving environment recognition using multiple exterior cameras 130, millimeter-wave radar 33, sonar 34, etc. The perimeter monitoring ECU 100 is a computer that mainly includes a control circuit equipped with a processing unit 11, RAM 12, storage unit 13, input / output interface 14, and buses connecting these. The processing unit 11 accesses the RAM 12 to execute various processes (instructions) for implementing the vehicle control method (sensor control method and environment recognition method) of the present disclosure. The storage unit 13 stores various vehicle control programs (sensor control program, environment recognition program, etc.) executed by the processing unit 11. By executing the programs by the processing unit 11, the perimeter monitoring ECU 100 is configured with multiple functional units for recognizing the driving environment of the host vehicle Am, such as an automatic driving cooperation unit 81, an environment recognition unit 82, and a recognition control unit 83 (see FIG. 3 ).

[0029] The automatic driving cooperation unit 81 provides information to the automatic driving ECU 50 and acquires information from the automatic driving ECU 50. The automatic driving cooperation unit 81 acquires recognition information indicating the recognition results of the driving environment around the vehicle from the environment recognition unit 82, and provides the acquired recognition information to the automatic driving ECU 50. The automatic driving cooperation unit 81 acquires control status information indicating the operating status of automatic driving from the information cooperation unit 61, which will be described later. The control status information includes lane change related information (hereinafter referred to as LC related information), which will be described later, related to automatic lane changes.

[0030] The environment recognition unit 82 acquires locator information and map data generated by the locator 35, route information generated by the navigation ECU 38, vehicle speed information generated by the cruise control ECU 40, etc. The environment recognition unit 82 acquires detection information from the exterior camera 130, the millimeter-wave radar 33, and the sonar 34. The environment recognition unit 82 combines the locator information, map data, and detection information to recognize the driving environment of the host vehicle Am. The environment recognition unit 82 may acquire detection information received by the in-vehicle communication device 39 and use it to recognize the driving environment.

[0031] The environment recognition unit 82 acquires road information related to the road on which the host vehicle Am is traveling or the road on which the host vehicle Am is scheduled to travel, based on locator information, map data, route information, etc. As an example, the environment recognition unit 82 determines whether the road on which the host vehicle Am is traveling has multiple lanes in each direction. The environment recognition unit 82 determines the relative positions and relative speeds of dynamic objects around the host vehicle Am, such as other vehicles traveling around the host vehicle Am. In a scene where an automated lane change (described later) is performed, the environment recognition unit 82 determines the presence or absence of vehicles ahead, beside, and behind the host vehicle Am, as well as the relative positions and relative speeds of these other vehicles. The environment recognition unit 82 determines whether there is space available for the host vehicle Am to move into the adjacent lane Ln1 (see FIG. 6 ), which is the destination of the automated lane change.

[0032] The recognition control unit 83 controls the operation of the exterior camera 130, the millimeter-wave radar 33, and the sonar 34. The recognition control unit 83 sets a high-resolution recognition range RSH (see FIGS. 4 and 5) in part of the imaging area IA of the exterior camera 130. The imaging area IA is an area within the angle of view captured by the exterior camera 130. The area captured in each image constituting the imaging data ImD corresponds to the imaging area IA. The recognition control unit 83 controls the high-resolution recognition range RSH of the exterior camera 130. The high-resolution recognition range RSH is a rectangular portion of the imaging area IA (see FIGS. 4 and 5) captured by the exterior camera 130 that is recognized at a higher resolution than the normal recognition range RSL. High-resolution recognition enables the environment recognition unit 82 to detect, for example, the flashing of turn signals (blinker lamps) and hazard lights, and the illumination of brake lights, early and with high accuracy. The normal recognition range RSL is the range excluding the high-resolution recognition range RSH within the imaging area IA of the exterior camera 130. The normal recognition range RSL is recognized at a lower resolution than the high-resolution recognition range RSH.

[0033] The recognition control unit 83 at least controls the movement of the high-resolution recognition range RSH in the image capture area IA from the reference position SP. The recognition control unit 83 moves the position of the high-resolution recognition range RSH within the image capture area IA so that the detection target DT is included in the high-resolution recognition range RSH. The reference position SP may be set in the center of the image capture area IA or in a location where the detection target DT is likely to be captured. The reference position SP may be different for each exterior camera 130. The detection target DT includes other vehicles and pedestrians around the vehicle. The recognition control unit 83 may also be capable of controlling the size of the high-resolution recognition range RSH, the number of high-resolution recognition ranges RSH, and the degree of resolution enhancement of the high-resolution recognition range RSH.

[0034] The recognition control unit 83 applies a low-resolution process to reduce the resolution of the image data ImD input from the exterior camera 130, which corresponds to the normal recognition range RSL and excludes the high-resolution recognition range RSH. The recognition control unit 83 then executes image recognition processing to extract the detection target DT from the low-resolution normal recognition range RSL. Meanwhile, the resolution of the high-resolution recognition range RSH is maintained at the same resolution as that of the image data ImD. The recognition control unit 83 then executes image recognition processing to extract the detection target DT from the high-resolution recognition range RSH, which maintains its high resolution. As a result, the computing resources of the perimeter monitoring ECU 100 are preferentially allocated to target extraction from the high-resolution recognition range RSH.

[0035] Here, the recognition control unit 83 may apply high-resolution processing or super-resolution processing to increase the resolution of the high-resolution recognition range RSH of the image data ImD input from the exterior camera 130. The recognition control unit 83 executes image recognition processing to extract the detection target DT for the high-resolution recognition range RSH. Furthermore, the recognition control unit 83 executes image recognition processing to extract the detection target DT for the normal recognition range RSL, which remains at a low resolution.

[0036] The high-resolution recognition range RSH described above may be set for all exterior cameras 130, or may be set for only some of the exterior cameras 130. Furthermore, the recognition control unit 83 may control the high-resolution recognition range RSH of all exterior cameras 130, or may control the high-resolution recognition range RSH of only some of the exterior cameras 130.

[0037] [Configuration of the Autonomous Driving ECU] The autonomous driving ECU 50 is a computer that mainly includes a processing unit 51, a RAM 52, a storage unit 53, an input / output interface 54, and a control circuit that includes a bus connecting these elements. The processing unit 51 accesses the RAM 52 to execute various processes (instructions) for implementing the autonomous driving control method of the present disclosure. The storage unit 53 stores various programs (autonomous driving control programs, etc.) that are executed by the processing unit 51. As the processing unit 51 executes the programs, the autonomous driving ECU 50 is configured with multiple functional units for implementing the autonomous driving function, such as an information linking unit 61, an action determination unit 62, and a control execution unit 63 (see FIG. 3 ).

[0038] The information linking unit 61 provides information to the HMI control device 20, the periphery monitoring ECU 100, etc., and acquires information from the HMI control device 20, the locator 35, the navigation ECU 38, the in-vehicle communication device 39, the periphery monitoring ECU 100, etc. The information linking unit 61 provides control state information of the autonomous driving function generated by the action determination unit 62 to the HMI control device 20 and the periphery monitoring ECU 100. The information linking unit 61 enables the HMI control device 20 to issue an alert synchronized with the operating state of the autonomous driving function by outputting an in-vehicle alert execution request to the HMI control device 20. Furthermore, the information linking unit 61 provides the action determination unit 62 with route information acquired from the navigation ECU 38, recognition information acquired from the periphery monitoring ECU 100 (autonomous driving linking unit 81), etc.

[0039] When the autonomous driving ECU 50 has control over the driving operation, the behavior determination unit 62 generates a planned driving line for the host vehicle Am to travel on, based on the results of recognition of the driving environment by the periphery monitoring system 10. When an automated lane change, which will be described later, becomes possible, the behavior determination unit 62 generates a planned driving line from the host vehicle lane LnS to an adjacent lane Ln1 (see FIG. 6 ). The behavior determination unit 62 outputs the generated planned driving line to the control execution unit 63.

[0040] When the autonomous driving ECU 50 has control of driving operations, the control execution unit 63 cooperates with the cruise control ECU 40 to execute acceleration / deceleration control, steering control, etc. of the host vehicle Am in accordance with the planned driving line generated by the action determination unit 62. Specifically, the control execution unit 63 generates control commands based on the planned driving line and outputs the generated control commands to the cruise control ECU 40 one after another.

[0041] [Details of Control Related to Automated Lane Change] The autonomous driving ECU 50 performs an automated lane change using driving assistance control at autonomous driving level 2 or autonomous driving control at autonomous driving level 3 or higher. Automated lane changes are performed, for example, in situations such as when overtaking, branching off, and leaving the main roadway. Automated lane changes using driving assistance control are called Lane Change Assist (LCA), etc. The autonomous driving ECU 50 activates the LCA function when the driver inputs a specific operation, such as long-pressing the turn signal lever, while driving assistance control is being executed. Furthermore, the autonomous driving ECU 50 can perform an automated lane change using autonomous driving control while maintaining an autonomous driving state at autonomous driving level 3 or higher, in which the driver is not required to monitor the surroundings.

[0042] The perimeter monitoring ECU 100 cooperates with the autonomous driving ECU 50 to recognize the driving environment in response to an automated lane change performed by the autonomous driving ECU 50. Specifically, the perimeter monitoring ECU 100 controls the high-resolution recognition range RSH of the exterior camera 130, and prioritizes the use of computing resources for recognizing other vehicles that may interfere with the automated lane change. Below, details of multiple patterns of automated lane changes performed by the autonomous driving ECU 50 and details of the control of the high-resolution recognition range RSH performed in each pattern will be described in order based on Figures 6 to 8 and with reference to Figures 1 to 5.

[0043] <Pattern 1: Normal Automated Lane Change> In the automated lane change of pattern 1 shown in FIG. 6 , movement from the host vehicle lane LnS to the adjacent lane Ln1 is executed. The host vehicle lane LnS is the source lane in which the host vehicle Am is currently traveling. The adjacent lane Ln1 is the lane adjacent to the host vehicle lane LnS and is the destination lane of the automated lane change. Based on an automated lane change execution trigger (hereinafter referred to as an LC trigger), the autonomous driving ECU 50 refers to the recognition information generated by the environment recognition unit 82 and determines whether there is space in the adjacent lane Ln1 in which the host vehicle Am can move. The LC trigger may be a trigger based on a driver's operation or a trigger based on a determination by the behavior determination unit 62.

[0044] When the behavior determination unit 62 determines that there is no available space in the adjacent lane Ln1, the behavior determination unit 62 puts the automated lane change into a standby state. The behavior determination unit 62 performs offset control while the automated lane change is in a standby state. The offset control is a control that offsets the traveling position of the host vehicle Am in the host vehicle lane LnS from a reference position (e.g., the lane center CN) in either the left or right direction, which corresponds to the direction of movement during the automated lane change. The offset control causes the host vehicle Am to travel near the demarcation line LM1 that separates the host vehicle lane LnS from the adjacent lane Ln1, without crossing the demarcation line LM1. On the other hand, when the behavior determination unit 62 determines that there is available space in the adjacent lane Ln1, the behavior determination unit 62 starts lateral movement across the demarcation line LM1.

[0045] In the periphery monitoring ECU 100, the automatic driving cooperation unit 81 acquires LC-related information based on the LC trigger. The recognition control unit 83 starts controlling the high-resolution recognition range RSH corresponding to the automated lane change based on the LC trigger. When the automated lane change is to the right, the recognition control unit 83 controls, for example, the high-resolution recognition range RSH of the front telephoto camera 132, the right front side camera 133, the right rear side camera 135, and the rear camera 137. When the automated lane change is to the left, the recognition control unit 83 controls, for example, the high-resolution recognition range RSH of the front telephoto camera 132, the left front side camera 134, the left rear side camera 136, and the rear camera 137.

[0046] The recognition control unit 83 changes the position of the high-resolution recognition range RSH so as to track the detection target DT based on extraction information extracted from the past image data ImD of the exterior camera 130 and extraction information extracted from the detection information of the millimeter-wave radar 33 and the sonar 34. Specifically, the recognition control unit 83 determines the relative speed of the detection target DT with respect to the host vehicle Am from the extraction information, and changes at least one of the movement speed of the high-resolution recognition range RSH and the size of the high-resolution recognition range RSH based on the determined relative speed.

[0047] The recognition control unit 83 continues the process of changing the position of the high-resolution recognition range RSH even when the autonomous driving ECU 50 is in a standby state for the lane change. In this case, the recognition control unit 83 changes the position of the high-resolution recognition range RSH while performing offset control that shifts the traveling position of the host vehicle Am toward the adjacent lane Ln1.

[0048] When the host vehicle Am starts to move laterally across the lane marking LM1, the recognition control unit 83 controls the high-resolution recognition range RSH so that the remote lane Ln2 is included in the high-resolution recognition range RSH. The remote lane Ln2 is a lane located on the opposite side of the host vehicle lane LnS across the adjacent lane Ln1, which is the destination lane of the host vehicle Am when the vehicle Am changes lanes. The recognition control unit 83 continuously changes the position of the high-resolution recognition range RSH during the lateral movement period in which the host vehicle Am moves laterally due to the lane change so that the remote lane Ln2 is included in the high-resolution recognition range RSH. If a detection target DT is present in the remote lane Ln2, the recognition control unit 83 adjusts the position of the high-resolution recognition range RSH so that the detection target DT in the remote lane Ln2 is included.

[0049] Here, if another vehicle around the host vehicle changes lanes, for example, the environment recognition unit 82 loses the detection target DT that it had once recognized. In this case, the environment recognition unit 82 cannot determine whether the loss is due to the detection target DT no longer being present or the detection target DT simply being unable to be detected. Therefore, when the environment recognition unit 82 loses the detection target DT, the recognition control unit 83 changes the position of the high-resolution recognition range RSH so that the vehicle exterior area OA where the detection target DT is lost is included in the high-resolution recognition range RSH. By setting the high-resolution recognition range RSH to the vehicle exterior area OA where the detection target DT is lost, the recognition control unit 83 verifies that the loss is not due to non-detection.

[0050] After the vehicle lane change is complete, the recognition control unit 83 returns the position of the high-resolution recognition range RSH to a predetermined reference position SP. Of the multiple exterior cameras 130, the recognition control unit 83 first returns the high-resolution recognition range RSH of the front telephoto camera 132 to the reference position SP. After returning the high-resolution recognition range RSH of the front telephoto camera 132 to the reference position SP, the recognition control unit 83 returns the high-resolution recognition range RSH of the other exterior cameras 130 to the reference position SP. The recognition control unit 83 finally returns the high-resolution recognition range RSH of one or both of the side cameras 133, 135 (or side cameras 134, 136) and the rear camera 137 on the lane-changing side to the reference position SP. The recognition control unit 83 may return the high-resolution recognition range RSH of the side cameras 133, 135 and the rear camera 137 to the reference position SP simultaneously, or may return the high-resolution recognition range RSH of the rear camera 137 to the reference position SP after the side cameras 133, 135.

[0051] <Pattern 2: Consecutive Automated Lane Changes> In the automated lane change of pattern 2 shown in Figure 7, multiple lane changes are performed consecutively within a predetermined section or a predetermined time period. In pattern 2, the remote lane Ln2 becomes the destination lane LnG reached by the continuous lane changes. The autonomous driving ECU 50 consecutively performs a first automated lane change from the host vehicle lane LnS to the adjacent lane Ln1 and a second automated lane change from the adjacent lane Ln1 to the destination lane LnG. The behavior determination unit 62 references the route information and generates an LC trigger for the continuous automated lane changes based on, for example, approaching a branch point or the like.

[0052] When the host vehicle Am is scheduled to make multiple consecutive lane changes, the recognition control unit 83 adjusts the position of the high-resolution recognition range RSH in accordance with the multiple lane changes. Specifically, the recognition control unit 83 changes the position of the high-resolution recognition range RSH before the first lane change is completed so that the vehicle exterior area OA that needs to be recognized in the second lane change is included in the high-resolution recognition range RSH.

[0053] As an example, before the vehicle starts to move laterally during the first lane change, the recognition control unit 83 changes the position of the high-resolution recognition range RSH of each of the side cameras 133 and 135 on the lane-changing side so that the destination lane LnG (the remote lane Ln2) is included in the high-resolution recognition range RSH. Furthermore, during the period of lateral movement toward the adjacent lane Ln1, the recognition control unit 83 changes the position of the high-resolution recognition range RSH of each of the front telephoto camera 132 and the rear camera 137 so that the destination lane LnG is included in the high-resolution recognition range RSH. If a detection target DT is present in the destination lane LnG, the recognition control unit 83 adjusts the position of the high-resolution recognition range RSH to track the detection target DT.

[0054] When the host vehicle Am starts to move laterally across the dividing line LM2 between the adjacent lane Ln1 and the destination lane LnG, the recognition control unit 83 controls the high-resolution recognition range RSH so that the remote lane Ln3 is included in the high-resolution recognition range RSH. The remote lane Ln3 is a lane located on the opposite side of the destination lane LnG from the adjacent lane Ln1. During the lateral movement period of the second lane change, the recognition control unit 83 continuously changes the position of the high-resolution recognition range RSH so that the remote lane Ln3 is included in the high-resolution recognition range RSH. If a detection target DT is present in the remote lane Ln3, the recognition control unit 83 adjusts the position of the high-resolution recognition range RSH so that the detection target DT in the remote lane Ln3 is included.

[0055] <Pattern 3: Automated Lane Change in a Traffic Jam> The automated lane change of pattern 3 shown in FIG. 8 is performed by the host vehicle Am traveling in a traffic jam. The behavior determination unit 62 determines whether the host vehicle Am is traveling in a traffic jam based on vehicle speed information, recognition information, and the like. As an example, the behavior determination unit 62 determines that the host vehicle Am is traveling in a traffic jam when the traveling speed of the host vehicle Am is equal to or less than a predetermined traffic jam determination threshold (e.g., 10 km / h) and a preceding vehicle Af1 is present ahead of the host vehicle Am. The preceding vehicle Af1 is another vehicle ahead that the host vehicle Am follows while maintaining a reasonable inter-vehicle distance VD (e.g., several meters to several tens of meters) during a traffic jam. After determining that a traffic jam is occurring, the behavior determination unit 62 determines that the traffic jam has been resolved when the traveling speed of the host vehicle exceeds a predetermined traffic jam resolution threshold (e.g., 50 km / h).

[0056] When the host vehicle Am is traveling in a traffic jam, the preceding vehicle Af1 traveling just ahead of the host vehicle Am may interfere with the recognition of the vehicle Af2 ahead by the environment recognition unit 82. The vehicle Af2 ahead of the host vehicle Am is another vehicle traveling further ahead of the preceding vehicle Af1 as seen from the host vehicle Am. When performing an automated lane change in a traffic jam, the autonomous driving ECU 50 performs offset control in stages.

[0057] More specifically, when an LC trigger occurs in a scene where the vehicle is traveling in a traffic jam using the autonomous driving function, the behavior determination unit 62 refers to the recognition information and determines whether the inter-vehicle distance VD from the host vehicle Am to the preceding vehicle Af1 is equal to or less than a threshold inter-vehicle distance (for example, about 5 m). The threshold inter-vehicle distance is set based on the distance at which the preceding vehicle Af2 is no longer visible in the image capturing area IA of the front wide-angle camera 131 and the front telephoto camera 132 due to being blocked by the preceding vehicle Af1. When the inter-vehicle distance VD to the preceding vehicle Af1 is small and the recognition by the front wide-angle camera 131 and the front telephoto camera 132 becomes unstable, the behavior determination unit 62 decelerates the host vehicle Am to increase the inter-vehicle distance VD.

[0058] The behavior determination unit 62 performs peering control when recognition of the second-leading vehicle Af2 is unstable. The peering control corresponds to the first stage of step-by-step offset control. In the peering control, the traveling position of the host vehicle Am in the host vehicle lane LnS is slightly offset from the lane center CN to either the left or right, which corresponds to the direction of movement during an automated lane change. The offset amount in the peering control may be approximately two-thirds to one-half of the offset amount in normal offset control. In the peering control, the behavior determination unit 62 may offset the traveling position of the host vehicle Am to a position where recognition of the second-leading vehicle Af2 is stable.

[0059] When the recognition of the second-to-last vehicle Af2 is stabilized by the peering control, the behavior determination unit 62 switches to normal offset control and further shifts the traveling position of the host vehicle Am toward the adjacent lane Ln1. In this way, the behavior determination unit 62 can determine whether or not it is possible to start lateral movement across the lane marking LM1 while being able to recognize a wide range of situations in front and behind the host vehicle Am.

[0060] When an LC trigger occurs while the vehicle is traveling in a traffic jam, the environment recognition unit 82 determines whether forward recognition is stable using the image data ImD from the front wide-angle camera 131 and the front telephoto camera 132. When forward recognition based on the image data ImD is unstable, the autonomous driving cooperation unit 81 requests the autonomous driving ECU 50 to perform adjustment control to increase the inter-vehicle distance VD (hereinafter, inter-vehicle distance increase control) and peering control.

[0061] When an LC trigger occurs in a scene where the vehicle is traveling in a traffic jam, the recognition control unit 83 controls the high-resolution recognition range RSH of the front wide-angle camera 131 in addition to the front telephoto camera 132. With peering control being performed by the autonomous driving ECU 50, the recognition control unit 83 changes the positions of the high-resolution recognition ranges RSH of the front wide-angle camera 131 and the front telephoto camera 132 so as to detect the vehicle Af2 that is ahead of the vehicle Af2. Furthermore, with peering control being performed, the recognition control unit 83 changes the position of the high-resolution recognition range RSH of the rear camera 137 so as to detect a rear vehicle and the vehicle following it.

[0062] [Details of Control of High-Resolution Recognition Range] The recognition control unit 83 has multiple control modes for controlling the high-resolution recognition range RSH. The recognition control unit 83 switches between multiple control modes for the high-resolution recognition range RSH based on LC-related information. The LC-related information includes information provided by the autonomous driving ECU 50 acquired by the autonomous driving cooperation unit 81, as well as information extracted from the image data ImD by the environment recognition unit 82. The recognition control unit 83 has at least multiple control modes, including a preliminary adjustment mode, a wide-range recognition mode, a predictive tracking mode, a cut-off adjustment mode, and a runtime tracking mode. Details of these control modes will be described below. Note that the exterior camera 130 whose high-resolution recognition range RSH is controlled in each control mode is not limited to the specific exterior camera 130 described below, and may be changed as appropriate.

[0063] <Control Mode 1: Preliminary Adjustment Mode> In the preliminary adjustment mode, the high-resolution recognition range RSH is controlled in accordance with a route plan for autonomous driving. The autonomous driving cooperation unit 81 acquires route plan information for the host vehicle Am, which is traveling using the autonomous driving function, from the information cooperation unit 61. The route plan information includes at least one of route information generated by the navigation ECU 38 and aspect information of the planned driving line generated by the action determination unit 62.

[0064] The recognition control unit 83 sets the control mode of the high-resolution recognition range RSH to preliminary adjustment mode based on the route plan information acquired by the automatic driving cooperation unit 81. The preliminary adjustment mode is a control mode that is used before lateral movement across the lane marking LM1 is initiated. In the preliminary adjustment mode, the recognition control unit 83 changes the position of the high-resolution recognition range RSH while lane keeping control is being performed to maintain the driving position of the host vehicle Am in the lane center CN (see FIG. 6 ) of the host vehicle lane LnS.

[0065] Based on the route plan information, the recognition control unit 83 changes the position of the high-resolution recognition range RSH to match the shape of the road along which the host vehicle Am plans to travel. Specifically, if a right-hand curve exists in the direction of travel of the host vehicle Am, the recognition control unit 83 shifts the high-resolution recognition ranges RSH of the front telephoto camera 132 and the right front-side camera 133 to the right to match the curvature of the road ahead. Similarly, if a left-hand curve exists in the direction of travel of the host vehicle Am, the recognition control unit 83 shifts the high-resolution recognition ranges RSH of the front telephoto camera 132 and the left front-side camera 134 to the left to match the curvature of the road ahead. Furthermore, if an uphill or downhill slope exists in the direction of travel of the host vehicle Am, the recognition control unit 83 shifts the high-resolution recognition ranges RSH of the front telephoto camera 132, the right front-side camera 133, and the left front-side camera 134 upward or downward to match the gradient of the road ahead.

[0066] <Control Mode 2: Wide-Range Recognition Mode> In the wide-range recognition mode, the high-resolution recognition range RSH is controlled to circulate throughout the entire image capture area IA. Based on information extracted from past image capture data ImD, the environment recognition unit 82 determines whether a detection target DT that could affect the vehicle's lane change is present in the image capture area IA of each exterior camera 130. The determination result of whether a detection target DT is present in the image capture area IA of each exterior camera 130 serves as LC-related information for determining the control mode.

[0067] The recognition control unit 83 sets the control mode to the wide-range recognition mode when the detection target DT is not present in the image capture area IA based on the determination result as LC-related information. The wide-range recognition mode is the control mode used after the preliminary adjustment mode. In the wide-range recognition mode when the vehicle is in a standby state for a lane change, the recognition control unit 83 changes the position of the high-resolution recognition range RSH among multiple locations within the image capture area IA while offset control toward the adjacent lane Ln1 is being performed (see FIG. 6 ). Similarly, in the wide-range recognition mode after the vehicle has started lateral movement due to a lane change, the recognition control unit 83 also changes the position of the high-resolution recognition range RSH among multiple locations within the image capture area IA. As a result, the recognition control unit 83 can detect the detection target DT from the entire image capture area IA with high accuracy.

[0068] <Control Mode 3: Look-ahead Tracking Mode> In the look-ahead tracking mode, the high-resolution recognition range RSH is controlled based on information that was recognized a predetermined time ago. When the environment recognition unit 82 determines that the detection target DT is present in the imaging area IA based on information extracted from the past imaging data ImD, it estimates the future position of the detection target DT.

[0069] The recognition control unit 83 sets the control mode to the look-ahead tracking mode when the detection target DT is present in the imaging area IA based on the determination result as the LC-related information. The look-ahead tracking mode, like the wide-area detection mode, is the control mode used after the preliminary adjustment mode. In addition, the look-ahead tracking mode is the control mode used before lateral movement across the lane marking LM1 is initiated.

[0070] In the look-ahead tracking mode, the recognition control unit 83 changes the position of the high-resolution recognition range RSH based on extracted information extracted from past image data ImD from the exterior camera 130, specifically, information on the future position of the detection target DT estimated by the environment recognition unit 82. When the vehicle enters a standby state for lane changing, the recognition control unit 83 changes the position of the high-resolution recognition range RSH based on information on the future position of the detection target DT while offset control is being performed (see FIG. 6 ). As a result, the high-resolution recognition range RSH moves within the imaging area IA so as to include the detection target DT.

[0071] <Control Mode 4: Cut-Out Adjustment Mode> The cut-out adjustment mode is a control mode that adjusts the position of the high-resolution recognition range RSH when the detection target DT falls outside the high-resolution recognition range RSH. The cut-out adjustment mode is the control mode that is used after the look-ahead tracking mode. The environment recognition unit 82 calculates the percentage of the area of ​​the portion of the high-resolution recognition range RSH that overlaps with the detection target DT captured in the imaging area IA (hereinafter referred to as the overlapping portion) relative to the total area of ​​the high-resolution recognition range RSH. If the percentage of the area of ​​the overlapping portion is less than a threshold percentage, the environment recognition unit 82 determines that the detection target DT has become cut off from the high-resolution recognition range RSH to a large extent.

[0072] The threshold ratio may be a preset value (e.g., 50 percent), or may be a value set individually for each detection target DT. As an example, the environment recognition unit 82 may determine that the detection target DT is becoming more cut off when the ratio of the area of ​​the overlapping portion decreases by about 50 percent from the maximum value.

[0073] When the recognition control unit 83 determines that the area ratio of the overlapping portion is less than the threshold ratio and that the cut-out of the detection target DT has increased, the recognition control unit 83 sets the control mode of the high-resolution recognition range RSH to a cut-out adjustment mode. In the cut-out adjustment mode, the recognition control unit 83 changes the position of the high-resolution recognition range RSH based on the relative position information of the detection target DT extracted by the environment recognition unit 82 so as to increase the area ratio of the overlapping portion.

[0074] When the control mode of the high-resolution recognition range RSH is set to the cut-off adjustment mode, the automatic driving cooperation unit 81 outputs a request to the automatic driving ECU 50 to perform driving control to maintain the driving position of the host vehicle Am in the lane center CN (see FIG. 6 ) of the host vehicle lane LnS. As a result, the recognition control unit 83 changes the position of the high-resolution recognition range RSH so as to correctly capture the detection target DT while lane keeping control to maintain driving in the lane center CN is being performed.

[0075] <Control Mode 5: On-Time Tracking Mode> The on-time tracking mode is a control mode in which the high-resolution recognition range RSH is changed in accordance with the steering angle of the host vehicle Am after the start of lateral movement due to an automobile lane change. The on-time tracking mode is the control mode used after the look-ahead tracking mode when a detection target DT is present in the image capture area IA. The recognition control unit 83 sets the control mode to the on-time tracking mode when the detection target DT is present in the image capture area IA based on the determination result of the environment recognition unit 82 as to whether the detection target DT is present. In the on-time tracking mode, the recognition control unit 83 changes the position of the high-resolution recognition range RSH to track the detection target DT based on information about the future position of the detection target DT estimated by the environment recognition unit 82. Furthermore, the recognition control unit 83 changes at least one of the movement speed and size of the high-resolution recognition range RSH based on the relative speed of the detection target DT with respect to the host vehicle Am.

[0076] When the control mode is set to the runtime following mode, the autonomous driving cooperation unit 81 outputs a request to the autonomous driving ECU 50 to implement driving control that slows lateral movement during lane changes more than in other control modes (wide-range recognition mode). As a result, the recognition control unit 83 changes the position of the high-resolution recognition range RSH so as to correctly capture the detection target DT while suppressing the lateral movement speed more than when the detection target DT is not present.

[0077] [Details of High-Resolution Range Control Processing and Lane Change Control Processing] Next, the details of each process for realizing the control of the high-resolution recognition range RSH and the control of automated lane change that have been described so far will be described below based on Figures 9 and 10 and with reference to Figures 1 to 8.

[0078] 9 is started by the periphery monitoring ECU 100 upon startup of the in-vehicle system. The high-resolution range control process is repeatedly performed by the periphery monitoring ECU 100 until the in-vehicle system is shut down, and is terminated upon shutdown of the in-vehicle system.

[0079] In S11 of the high-resolution range control process, the automatic driving cooperation unit 81 determines whether or not information indicating the occurrence of an LC trigger has been acquired from the automatic driving ECU 50. If an LC trigger has not been acquired (S11: NO), the periphery monitoring ECU 100 waits for the occurrence of an LC trigger by repeating S11. If an LC trigger has been acquired (S11: YES), the automatic driving cooperation unit 81 determines whether or not route plan information has been acquired in S12. If the automatic driving cooperation unit 81 has acquired route plan information (S12: YES), the recognition control unit 83 sets the control mode to preliminary adjustment mode in S13. In the preliminary adjustment mode, the recognition control unit 83 changes the position of the high-resolution recognition range RSH based on the route plan information. On the other hand, if route plan information has not been acquired (S12: NO), the setting process in S13 is skipped.

[0080] In S14, the autonomous driving cooperation unit 81 determines whether or not it has received information indicating the start of lateral movement during an automated lane change (hereinafter, referred to as an execution trigger) from the autonomous driving ECU 50. If the execution trigger has not been received (S14: NO), the environment recognition unit 82 determines in S15 whether or not a detection target DT is present in the image capture area IA of the exterior camera 130. If a detection target DT is not present in the image capture area IA (S15: NO), the recognition control unit 83 sets the control mode to a wide-range recognition mode in S16. In the wide-range recognition mode, the recognition control unit 83 changes the position of the high-resolution recognition range RSH among multiple locations within the image capture area IA. When the automated lane change is in a standby state, the recognition control unit 83 changes the position of the high-resolution recognition range RSH while performing offset control toward the adjacent lane Ln1.

[0081] If the detection target DT is present in the image capture area IA (S15: YES), the environment recognition unit 82 determines whether the detection target DT is cut off from the high-resolution recognition range RSH in S17. If it is determined that the area ratio of the overlapping portion of the high-resolution recognition range RSH is equal to or greater than the threshold ratio and no significant cut-off occurs (S17: NO), the recognition control unit 83 sets the control mode to look-ahead tracking mode in S18. In look-ahead tracking mode, the recognition control unit 83 changes the position of the high-resolution recognition range RSH based on extracted information extracted from past image data ImD captured by the exterior camera 130. When the vehicle is waiting for a lane change, the recognition control unit 83 changes the position of the high-resolution recognition range RSH to track the detection target DT while performing offset control toward the adjacent lane Ln1.

[0082] If it is determined that the area ratio of the overlapping portion of the high-resolution recognition range RSH is less than the threshold ratio and significant cut-off has occurred (S17: YES), the recognition control unit 83 sets the control mode to cut-off adjustment mode in S19. In the cut-off adjustment mode, the recognition control unit 83 adjusts the position of the high-resolution recognition range RSH so that the detection target DT is appropriately included. The recognition control unit 83 changes the position of the high-resolution recognition range RSH while lane keeping control is being performed to maintain the driving position of the host vehicle Am in the lane center CN of the host vehicle lane LnS.

[0083] If an execution trigger is acquired (S14: YES), the environment recognition unit 82 determines in S20 whether a detection target DT is present in the image capture area IA of the exterior camera 130. If a detection target DT is not present in the image capture area IA (S20: NO), the recognition control unit 83 sets the control mode to a wide-range recognition mode in S22. On the other hand, if a detection target DT is present in the image capture area IA (S20: YES), the recognition control unit 83 sets the control mode to an on-the-fly tracking mode in S21. In the on-the-fly tracking mode, the recognition control unit 83 changes the position of the high-resolution recognition range RSH so as to track the detection target DT captured in the image capture area IA. In the on-the-fly tracking mode, the autonomous driving cooperation unit 81 outputs an execution request to the autonomous driving ECU 50 to slow down lateral movement during an autonomous lane change compared to the wide-range recognition mode.

[0084] In S23, the autonomous driving cooperation unit 81 determines whether information indicating the end of the automated lane change has been acquired. If the automated lane change is continuing (S23: NO), the processing of S15 to S22 continues. On the other hand, if the automated lane change has ended (S23: YES), the recognition control unit 83 returns the high-resolution recognition range RSH to the reference position SP in S24. If the recognition control unit 83 individually controls the high-resolution recognition ranges RSH of the multiple exterior cameras 130, the recognition control unit 83 first returns the high-resolution recognition range RSH of the front telephoto camera 132 (and the front wide-angle camera 131) to the reference position SP based on the end of the automated lane change. Then, after returning the high-resolution recognition ranges RSH of the front telephoto camera 132 and the like to the reference position SP, the recognition control unit 83 returns the high-resolution recognition ranges RSH of the side cameras 133 to 136 and the rear camera 137 to the reference position SP.

[0085] 10 is started by the automatic driving ECU 50 based on an instruction to activate the automatic driving function from the driver. The lane change control process is repeatedly performed by the automatic driving ECU 50 until the automatic driving function is stopped, and is ended based on the stopping of the automatic driving function.

[0086] In S101 of the lane change control process, the behavior determination unit 62 determines whether or not an LC trigger has occurred. If an LC trigger has not occurred (S101: NO), S101 is repeated to wait for the occurrence of an LC trigger. On the other hand, if an LC trigger has occurred (S101: YES), the behavior determination unit 62 determines in S102 whether or not the host vehicle Am is traveling in a traffic jam based on the recognition information, etc.

[0087] If the host vehicle Am is traveling in a traffic jam (S102: YES), the behavior determination unit 62 determines in S103 whether or not the front wide-angle camera 131 and the front telephoto camera 132, which are the front cameras, have poor recognition based on a comparison between the inter-vehicle distance VD and the inter-vehicle threshold. If the inter-vehicle distance VD is equal to or less than the inter-vehicle threshold and the front cameras have poor recognition (S103: YES), the behavior determination unit 62 performs inter-vehicle widening control in S104. Furthermore, the behavior determination unit 62 performs peering control in S106.

[0088] If the inter-vehicle distance VD exceeds the inter-vehicle threshold and there is no recognition failure of the front camera (S103: NO), the behavior determination unit 62 determines in S105 whether there is recognition failure of the second-leading vehicle Af2, in other words, whether there is an unstable state of detection of the second-leading vehicle Af2. If there is recognition failure of the second-leading vehicle Af2 (S105: YES), the behavior determination unit 62 performs peering control in S106. On the other hand, if there is no recognition failure of the second-leading vehicle Af2 (S105: NO), the behavior determination unit 62 performs offset control in S107.

[0089] In S108, the behavior determination unit 62 determines whether or not lateral movement across the lane marking LM1 can be started based on the recognition information, etc. If lateral movement cannot be started (S108: NO), the behavior determination unit 62 continues the processing of S103 to S107.

[0090] If the host vehicle Am is not traveling in a traffic jam (S102: NO), the behavior determination unit 62 determines in S109, based on the recognition information, etc., whether lateral movement across the lane marking LM1 can be initiated. If lateral movement cannot be initiated (S109: NO), the behavior determination unit 62 determines in S110 whether correction of the cut-off portion of the high-resolution recognition range RSH is necessary. If the control mode of the high-resolution recognition range RSH in the recognition control unit 83 is set to the cut-off adjustment mode and the information cooperation unit 61 has received from the automatic driving cooperation unit 81 a request for driving in the lane center portion CN, the behavior determination unit 62 determines that correction of the cut-off portion is necessary. If correction of the cut-off portion is necessary (S110: YES), the behavior determination unit 62 performs lane keeping control to maintain driving in the lane center portion CN in S111. On the other hand, if the control mode of the high-resolution recognition range RSH is set to the wide-range grasping mode or the look-ahead tracking mode and correction of cut-off is not required (S110: NO), the behavior determination unit 62 performs offset control in S112.

[0091] If the behavior determination unit 62 determines that lateral movement can be initiated (S108 or S109: YES), the behavior determination unit 62 determines in S113 whether the information linkage unit 61 has received a request to slow lateral movement from the autonomous driving linkage unit 81. The determination in S113 corresponds to determining whether the recognition control unit 83 and each exterior camera 130 are tracking the detection target DT. If at least one exterior camera 130 is tracking the detection target DT (S113: YES), the behavior determination unit 62 enables a setting to slow lateral movement toward the adjacent lane Ln1 in S114. On the other hand, if none of the exterior cameras 130 are tracking the detection target DT (S113: NO), the setting process in S114 is skipped. Then, the behavior determination unit 62 starts lane movement control from the host vehicle lane LnS toward the adjacent lane Ln1 in S115.

[0092] In the first embodiment described above, the control mode for controlling the high-resolution recognition range RSH, which is recognized at high resolution, is switched among a plurality of control modes based on LC-related information related to lane changing. This makes it possible to appropriately position the high-resolution recognition range RSH within the image capture area IA of the exterior camera 130 depending on the scene in which the lane change is being performed.

[0093] Additionally, in the wide-range recognition mode of the first embodiment, the recognition control unit 83 changes the position of the high-resolution recognition range RSH among multiple locations within the image capture area IA. By moving the high-resolution recognition range RSH in this wide-range recognition mode, the environment recognition unit 82 can quickly recognize the detection target DT present in the image capture area IA.

[0094] Furthermore, in the look-ahead tracking mode of the first embodiment, the recognition control unit 83 changes the position of the high-resolution recognition range RSH based on extracted information extracted from past image data ImD of the exterior camera 130. According to this look-ahead tracking mode, the recognition control unit 83 can appropriately move the high-resolution recognition range RSH so as to track the detection target DT.

[0095] Furthermore, in the cut-out adjustment mode of the first embodiment, the recognition control unit 83 changes the position of the high-resolution recognition range RSH if the area of ​​the overlapping portion of the high-resolution recognition range RSH that overlaps with the detection target DT is less than a threshold percentage of the total area of ​​the high-resolution recognition range RSH. By moving the high-resolution recognition range RSH in this cut-out adjustment mode, the recognition control unit 83 can appropriately readjust the position of the high-resolution recognition range RSH so that it overlaps with the detection target DT if the high-resolution recognition range RSH is misaligned with the detection target DT.

[0096] Additionally, in the runtime tracking mode of the first embodiment, when lateral movement due to a lane change is initiated, the recognition control unit 83 changes the position of the high-resolution recognition range RSH so as to track the detection target DT captured in the image capture area IA. According to this runtime tracking mode, the recognition control unit 83 can appropriately move the position of the high-resolution recognition range RSH so as to track the detection target DT even after the lateral movement has begun.

[0097] In the first embodiment, route planning information for the host vehicle Am traveling using an autonomous driving function is acquired. Then, in the preliminary adjustment mode, the recognition control unit 83 changes the position of the high-resolution recognition range RSH based on the route planning information. This preliminary adjustment mode moves the high-resolution recognition range RSH in advance to a position in the image capture area IA where the detection target DT is likely to be present. As a result, the environment recognition unit 82 can quickly recognize the detection target DT present in the image capture area IA.

[0098] Furthermore, in the wide-range recognition mode and the look-ahead tracking mode of the first embodiment, the recognition control unit 83 changes the position of the high-resolution recognition range RSH while performing offset control to shift the traveling position of the host vehicle Am toward the adjacent lane Ln1, which is the destination of the host vehicle Am when changing lanes. Therefore, even in a scene where a leading vehicle Af1 and a rear vehicle, etc., traveling in the host vehicle lane LnS are present, the recognition control unit 83 can effectively recognize the detection target DT using the exterior camera 130.

[0099] Additionally, in the cut-off adjustment mode and the preliminary adjustment mode of the first embodiment, the recognition control unit 83 changes the position of the high-resolution recognition range RSH while lane keeping control is being performed to maintain the driving position of the host vehicle Am in the lane center CN of the host vehicle lane LnS. In this way, by positioning the host vehicle Am in the lane center CN, the recognition control unit 83 can easily adjust the high-resolution recognition range RSH to an appropriate position.

[0100] In the first embodiment, in the on-time tracking mode in which the position of the high-resolution recognition range RSH changes to track the detection target DT, the lateral movement during an automated lane change is slower than in other control modes. Therefore, the recognition control unit 83 can appropriately move the high-resolution recognition range RSH to track the detection target DT even during the lateral movement of the host vehicle Am.

[0101] Furthermore, in the first embodiment, at least one of the movement speed and the size of the high-resolution recognition range RSH is changed based on the relative speed of the detection target DT with respect to the host vehicle Am. By controlling the high-resolution recognition range RSH in this manner, the computing resources of the periphery monitoring ECU 100 can be appropriately used to recognize the detection target DT.

[0102] Additionally, in the first embodiment, after the lane change is completed, the position of the high-resolution recognition range RSH is returned to the predetermined reference position SP. As a result, the recognition control unit 83 can quickly set the high-resolution recognition range RSH to a position suitable for lane keeping control that is resumed after the lane change.

[0103] In the first embodiment, the high-resolution recognition ranges RSH of the multiple exterior cameras 130 mounted on the host vehicle Am are individually controlled. Then, based on the completion of the lane change, the recognition control unit 83 returns the high-resolution recognition range RSH of the front telephoto camera 132 to the reference position SP, and then returns the high-resolution recognition ranges RSH of the side cameras 133 to 136 and the rear camera 137 to the reference position SP. As a result of the above, it is possible to continue sensing the exterior area OA, where there is a high risk of another vehicle approaching, with high accuracy until the end of the lane change.

[0104] Furthermore, the recognition control unit 83 of the first embodiment continuously changes the position of the high-resolution recognition range RSH during the lateral movement of the host vehicle Am so that the remote lane Ln2 is included in the high-resolution recognition range RSH. By controlling the high-resolution recognition range RSH in this manner, the environment recognition unit 82 can quickly detect another vehicle changing lanes from the remote lane Ln2 to the adjacent lane Ln1.

[0105] Additionally, in the first embodiment, when the host vehicle Am is scheduled to make multiple consecutive lane changes (see FIG. 7 ), the recognition control unit 83 adjusts the position of the high-resolution recognition range RSH in accordance with the multiple lane changes. As a result, the environment recognition unit 82 can recognize all vehicles around the host vehicle that may interfere with the consecutive lane changes. As a result, the consecutive lane changes can be smoothly performed.

[0106] In the first embodiment, the position of the high-resolution recognition range RSH is changed before the first lane change is completed so that the vehicle exterior area OA that needs to be recognized during the second lane change is included in the high-resolution recognition range RSH. By controlling the high-resolution recognition range RSH in this manner, the environment recognition unit 82 can quickly recognize other vehicles around the vehicle that may interfere with successive lane changes. As a result, successive lane changes can be smoothly performed.

[0107] Furthermore, in the first embodiment, the recognition control unit 83 changes the position of the high-resolution recognition range RSH so that the vehicle exterior area OA where the detection target DT has been lost is included in the high-resolution recognition range RSH. By controlling the high-resolution recognition range RSH in this manner, it is possible to more reliably avoid failure to detect the detection target DT.

[0108] Additionally, in the first embodiment, when the lane change operation is in a standby state, the recognition control unit 83 continues the process of changing the position of the high-resolution recognition range RSH. Therefore, even after the lane change operation is in a standby state, the environment recognition unit 82 can maintain a state in which it can quickly recognize the detection target DT. As a result, the autonomous driving ECU 50 can appropriately determine whether or not it is possible to start lateral movement across the lane marking LM1 based on the recognition information generated by the environment recognition unit 82.

[0109] In the first embodiment, when peering control is performed to shift the traveling position of the host vehicle Am toward the adjacent lane Ln1, the recognition control unit 83 changes the position of the high-resolution recognition range RSH of the forward telephoto camera 132 so as to detect the second-leading vehicle Af2. Then, after peering control, when offset control is performed to further shift the traveling position toward the adjacent lane Ln1, the recognition control unit 83 further changes the position of the high-resolution recognition range RSH of the forward telephoto camera 132. By controlling the high-resolution recognition range RSH in this way, the environment recognition unit 82 can appropriately recognize the second-leading vehicle Af2 from the image data ImD of the exterior camera 130 while avoiding other vehicles traveling in front of and behind the host vehicle Am.

[0110] Furthermore, in the first embodiment, when the host vehicle Am traveling in a traffic jam performs an automated lane change, the recognition control unit 83 adjusts the position of the high-resolution recognition range RSH to detect the second-leading vehicle Af2 while the peering control is being performed. By controlling the high-resolution recognition range RSH in this manner, even in a scene where the host vehicle Am is traveling in a traffic jam (see FIG. 8 ), the environment recognition unit 82 can appropriately recognize the situation ahead of the host vehicle, including the second-leading vehicle Af2, before starting to move across the lane marking LM1.

[0111] Additionally, in the first embodiment, when the detection of the second-leading vehicle Af2 is unstable, the recognition control unit 83 adjusts the position of the high-resolution recognition range RSH to detect the second-leading vehicle Af2 while the peering control is being performed. By controlling the high-resolution recognition range RSH in this manner, the environment recognition unit 82 can appropriately grasp the situation ahead of the host vehicle Am, including the second-leading vehicle Af2, in a scene where the host vehicle Am is traveling in a traffic jam (see FIG. 8 ).

[0112] In the first embodiment, when the host vehicle Am traveling in traffic congestion using the autonomous driving function performs an automated lane change, the preceding vehicle Af1 may block detection by the forward telephoto camera 132 or the like due to a small inter-vehicle distance VD between the host vehicle Am and the preceding vehicle Af1. In this case, the recognition control unit 83 adjusts the position of the high-resolution recognition range RSH while at least one of the peering control and the inter-vehicle distance widening control is being performed before the automated lane change is performed. The peering control or the inter-vehicle distance widening control, combined with the position adjustment of the high-resolution recognition range RSH, allows the environment recognition unit 82 to appropriately grasp the situation ahead of the host vehicle Am, even when the host vehicle Am is traveling in traffic congestion.

[0113] In the above embodiment, the periphery monitoring ECU 100 corresponds to the "vehicle control device," the automatic driving cooperation unit 81 and the environment recognition unit 82 correspond to the "information acquisition unit," and the automatic driving cooperation unit 81 further corresponds to the "travel adjustment unit." The front wide-angle camera 131 and the front telephoto camera 132 correspond to the "front cameras," the right front side camera 133, the left front side camera 134, the right rear side camera 135, and the left rear side camera 136 correspond to the "side cameras," and the lane center CN corresponds to the "center position."

[0114] Second Embodiment A second embodiment of the present disclosure shown in Figures 11 and 12 is a modification of the first embodiment. In the second embodiment, at least the front telephoto camera 132 among the exterior cameras 130 is installed on the host vehicle Am via a variable mechanism 140. The variable mechanism 140 may be provided on an exterior camera 130 other than the front telephoto camera 132.

[0115] The variable mechanism 140 changes the orientation of the front telephoto camera 132 in the horizontal direction (left-right direction) based on a control signal input from the recognition control unit 83. The variable mechanism 140 may be configured to be able to change the orientation of the front telephoto camera 132 in the vertical direction (up-down direction). The vehicle exterior area OA captured in the imaging area IA of the front telephoto camera 132 moves left-right as the variable mechanism 140 swings the front telephoto camera 132.

[0116] The recognition control unit 83 combines the mechanical control of the orientation of the forward telephoto camera 132 by the variable mechanism 140 with software control to move the high-resolution recognition range RSH. That is, the recognition control unit 83 coordinates the hardware control and the software control to change the position of the high-resolution recognition range RSH in the imaging area IA. As an example, when a lane change is made to the right, the recognition control unit 83 shifts the orientation of the forward telephoto camera 132 to the right by the variable mechanism 140 (see the arrow in FIG. 12 ). Also, when a lane change is made to the left, the recognition control unit 83 shifts the orientation of the forward telephoto camera 132 to the left by the variable mechanism 140.

[0117] (Summary of the second embodiment) The second embodiment described so far also achieves the same effect as the first embodiment, and makes it possible to appropriately position the high-resolution recognition range RSH within the imaging area IA of the exterior camera 130 depending on the scene in which an automobile lane change is performed.

[0118] In addition, the recognition control unit 83 of the second embodiment works in cooperation with a variable mechanism 140 that changes the shooting direction of the front telephoto camera 132 relative to the host vehicle Am, thereby changing the relative position of the vehicle exterior area OA captured in the high-resolution recognition range RSH. In this way, by using the variable mechanism 140, even if the angle of view of the front telephoto camera 132 is narrow, the vehicle exterior area OA that can be captured by the high-resolution recognition range RSH of the front telephoto camera 132 can be expanded. As a result, the environment recognition unit 82 can use the front telephoto camera 132 to detect the detection target DT present in a wide range ahead with high accuracy.

[0119] (Other Embodiments) Although multiple embodiments of the present disclosure have been described above, the present disclosure should not be construed as being limited to the above-described embodiments, and can be applied to various embodiments and combinations within the scope that does not deviate from the gist of the present disclosure.

[0120] In the above embodiment, the recognition control unit 83 is provided with at least a preliminary adjustment mode, a wide range grasping mode, a look-ahead tracking mode, a cut-off adjustment mode, and a runtime tracking mode as multiple control modes. On the other hand, in Modification 1 of the above embodiment, the recognition control unit 83 uses only some of the control modes, namely, the preliminary adjustment mode, the wide range grasping mode, the look-ahead tracking mode, the cut-off adjustment mode, and the runtime tracking mode. As in Modification 1, the number of control modes provided in the recognition control unit 83 may be changed as appropriate.

[0121] In the second modification of the above embodiment, the offset control associated with the control of the high-resolution recognition range RSH is omitted. Also, in the third modification of the above embodiment, the suppression control of the lateral movement speed associated with the control of the high-resolution recognition range RSH is omitted.

[0122] In the fourth variation of the above embodiment, the position of the high-resolution recognition range RSH within the imaging area IA is optically movable. The exterior camera 130 has an optical system capable of forming images with two different resolutions and angles of view. Based on a control signal from the recognition control unit 83, the exterior camera 130 shifts the position of the image sensor relative to the optical system, thereby moving the range on the image sensor where the high-resolution image with the angle of view is formed.

[0123] In a fifth modification of the above embodiment, a process for increasing the resolution of the high-resolution recognition range RSH is combined with a process for decreasing the resolution of the normal recognition range RSL. In a sixth modification of the above embodiment, a high-resolution process is applied to both the high-resolution recognition range RSH and the normal recognition range RSL. The high-resolution process applied to the high-resolution recognition range RSH is an image conversion process that increases the resolution more than the high-resolution process applied to the normal recognition range RSL. In a seventh modification of the above embodiment, a low-resolution process is applied to both the high-resolution recognition range RSH and the normal recognition range RSL. The high-resolution process applied to the normal recognition range RSL is an image conversion process that decreases the resolution more than the high-resolution process applied to the high-resolution recognition range RSH.

[0124] In the eighth modification of the above embodiment, the peering control, the inter-vehicle distance increase control, and the offset control related to lane changes during traffic congestion are omitted. In contrast, in the ninth modification of the above embodiment, the peering control, the inter-vehicle distance increase control, and the offset control are performed to facilitate detection of the detection target DT by the environment recognition unit 82 even when the vehicle is not in a traffic jam. In the tenth modification of the above embodiment, only one of the peering control and the inter-vehicle distance increase control is performed when the front camera fails to recognize the target.

[0125] In an eleventh modification of the above embodiment, the functions of the perimeter monitoring ECU 100 are integrated into the autonomous driving ECU 50. In this modification eleven, the autonomous driving ECU 50 corresponds to the "vehicle control device," and the behavior determination unit 62 corresponds to the "driving adjustment unit." Furthermore, the functions of the HMI control device 20, the driving control ECU 40, etc. may be integrated into the autonomous driving ECU 50.

[0126] In the above embodiments, the functions provided by the perimeter monitoring ECU 100 and the autonomous driving ECU 50 can be provided by software and hardware that executes the software, software alone, hardware alone, or a combination of these. Furthermore, when such functions are provided by electronic circuits as hardware, the functions can also be provided by digital circuits including multiple logic circuits or analog circuits. Furthermore, the software for realizing such functions may include, at least in part, code automatically generated by, for example, a neural network or language model trained using real-world camera footage.

[0127] Each processing unit in the above-described embodiments includes at least one arithmetic core, such as a central processing unit (CPU) and a graphics processing unit (GPU). The processing unit may further include a field-programmable gate array (FPGA), a neural network processing unit (NPU), and an IP core with other dedicated functions. Furthermore, the processing unit is not limited to being individually mounted on a printed circuit board. The processing unit may be mounted on an application-specific integrated circuit (ASIC), a system on chip (SoC), a chiplet integration, an FPGA, or the like.

[0128] The form of the storage medium (non-transitory tangible storage medium) that stores various programs and the like may be changed as appropriate. Furthermore, the storage medium is not limited to a configuration provided on a circuit board, but may be provided in the form of a memory card or the like, inserted into a slot, and electrically connected to a control circuit such as the periphery monitoring ECU 100 or the autonomous driving ECU 50. Furthermore, the storage medium may be an optical disk, hard disk drive, solid state drive, or the like that serves as a source from which programs are copied or distributed to the periphery monitoring ECU 100 or the autonomous driving ECU 50.

[0129] The controller and methods described herein may be implemented by a special-purpose computer comprising a processor programmed to perform one or more functions embodied in a computer program. Alternatively, the apparatus and methods described herein may be implemented by special-purpose hardware logic circuitry. Alternatively, the apparatus and methods described herein may be implemented by one or more special-purpose computers comprising a processor executing a computer program in combination with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory storage medium.

[0130] (Disclosure of Technical Ideas) This specification discloses multiple technical ideas described in the following multiple clauses. Some clauses may be described in a multiple dependent form, with the subsequent clause alternatively referring to the preceding clause. Furthermore, some clauses may be described in a multiple dependent form, with the subsequent clause referring to another multiple dependent clause. These multiple dependent clauses define multiple technical ideas.

[0131] (Technical Idea 1) A vehicle control device used in a host vehicle (Am) capable of performing automated lane changes, and controlling at least one exterior camera (130) that captures images of the surroundings of the host vehicle, comprising: an information acquisition unit (81, 82) that acquires lane change-related information related to the automated lane change; and a recognition control unit (83) that controls a high-resolution recognition range (RSH) that is recognized at a higher resolution than other normal recognition ranges (RSL) within an image capture area (IA) captured by the exterior camera, wherein the recognition control unit switches a control mode for controlling the high-resolution recognition range among a plurality of control modes based on the lane change-related information. (Technical Idea 2) The vehicle control device according to Technical Idea 1, wherein the recognition control unit changes the position of the high-resolution recognition range among a plurality of locations within the image capture area. (Technical Idea 3) The vehicle control device according to Technical Idea 1 or 2, wherein the recognition control unit changes the position of the high-resolution recognition range based on extracted information extracted from past image capture data (ImD) of the exterior camera. (Technical Idea 4) The vehicle control device according to any one of Technical Ideas 1 to 3, wherein the recognition control unit changes a position of the high-resolution recognition range when an area of ​​a portion of the high-resolution recognition range that overlaps with the detection target (DT) captured in the imaging area is less than a threshold percentage of the total area of ​​the high-resolution recognition range. (Technical Idea 5) The vehicle control device according to any one of Technical Ideas 1 to 4, wherein the recognition control unit changes a position of the high-resolution recognition range so as to follow the detection target (DT) captured in the imaging area when lateral movement due to the automobile lane change is initiated. (Technical Idea 6) The vehicle control device according to any one of Technical Ideas 1 to 5, wherein the information acquisition unit acquires route planning information for the host vehicle traveling using an autonomous driving function, and the recognition control unit changes the position of the high-resolution recognition range based on the route planning information. (Technical Idea 7) A vehicle control device according to Technical Idea 2 or 3, in which the recognition control unit changes the position of the high-resolution recognition range while an offset control is being implemented to shift the vehicle's driving position toward the adjacent lane (Ln1) that will be the destination of the lane change.(Technical Idea 8) The vehicle control device according to Technical Idea 4 or 6, wherein the recognition control unit changes the position of the high-resolution recognition range in a state where lane keeping control is being performed to maintain the driving position of the host vehicle at the center position (CN) of the host vehicle's lane (LnS). (Technical Idea 9) The vehicle control device according to Technical Idea 5, further comprising a driving adjustment unit that, in the control mode in which the position of the high-resolution recognition range changes to track the detection target, makes lateral movement during the automated lane change slower than in other control modes. (Technical Idea 10) The vehicle control device according to any one of Technical Ideas 1 to 9, wherein the recognition control unit works in cooperation with a variable mechanism (140) that changes the shooting direction of the exterior camera relative to the host vehicle, and changes the relative position of the exterior area (OA) captured in the high-resolution recognition range. (Technical Idea 11) The vehicle control device according to any one of Technical Ideas 1 to 10, wherein the recognition control unit changes at least one of a movement speed of the high-resolution recognition range and a size of the high-resolution recognition range based on a relative speed of a detection target (DT) with respect to the host vehicle. (Technical Idea 12) The vehicle control device according to any one of Technical Ideas 1 to 11, wherein the recognition control unit returns the position of the high-resolution recognition range to a predefined reference position (SP) after the automobile lane change is completed. (Technical Idea 13) The vehicle control device according to Technical Idea 12, wherein the recognition control unit individually controls the high-resolution recognition ranges of the multiple exterior cameras mounted on the host vehicle, and, based on completion of the automated lane change, returns the high-resolution recognition range of a front camera (131, 132) facing forward of the host vehicle among the multiple exterior cameras to the reference position, and then returns the high-resolution recognition range of at least one of a side camera (133-136) facing to the side of the host vehicle and a rear camera (137) facing rearward of the host vehicle to the reference position. (Technical Idea 14) The vehicle control device according to any one of Technical Ideas 1 to 13, wherein the recognition control unit continuously changes the position of the high-resolution recognition range during a lateral movement period in which the host vehicle moves laterally due to the automated lane change, so that a remote lane (Ln2) located on the opposite side of the host vehicle's lane (LnS) across an adjacent lane (Ln1) that is the destination of the automated lane change is included in the high-resolution recognition range.(Technical Idea 15) The vehicle control device according to any one of Technical Ideas 1 to 14, wherein, when the host vehicle is scheduled to make multiple consecutive lane changes, the recognition control unit adjusts the position of the high-resolution recognition range in accordance with the multiple consecutive lane changes. (Technical Idea 16) The vehicle control device according to Technical Idea 15, wherein the recognition control unit changes the position of the high-resolution recognition range before the first lane change is completed so that an exterior area (OA) that requires recognition in the second lane change is included in the high-resolution recognition range. (Technical Idea 17) The vehicle control device according to any one of Technical Ideas 1 to 16, wherein the recognition control unit changes the position of the high-resolution recognition range so that an exterior area (OA) in which the detection target (DT) has been lost is included in the high-resolution recognition range. (Technical Idea 18) The vehicle control device according to any one of Technical Ideas 1 to 17, wherein the recognition control unit continues the process of changing the position of the high-resolution recognition range when the lane change is put into a standby state. (Technical Idea 19) The vehicle control device according to any one of Technical Ideas 1 to 18, wherein the recognition control unit changes a position of the high-resolution recognition range of a front camera (131, 132) that is the exterior camera facing forward of the host vehicle so as to detect a second-ahead vehicle (Af2) when peering control is performed to shift the driving position of the host vehicle toward an adjacent lane (Ln1) that will be the destination of the automated lane change, and further changes the position of the high-resolution recognition range of the front camera when offset control is performed to further shift the driving position toward the adjacent lane after the peering control. (Technical Idea 20) The vehicle control device according to Technical Idea 19, wherein the recognition control unit adjusts the position of the high-resolution recognition range to detect the second-ahead vehicle when peering control is performed when the host vehicle is traveling in congestion and performs the automated lane change. (Technical Idea 21) A vehicle control device according to Technical Idea 19 or 20, wherein the recognition control unit adjusts the position of the high-resolution recognition range to detect the second preceding vehicle while the peering control is being performed when the detection of the second preceding vehicle is unstable.(Technical Idea 22) A vehicle control device according to any one of Technical Ideas 19 to 21, wherein when the vehicle, traveling in a traffic jam using an autonomous driving function, performs the automated lane change, if the detection by the front camera is blocked by the preceding vehicle (Af1) due to a narrow inter-vehicle distance (VD) from the vehicle to the preceding vehicle, the recognition control unit adjusts the position of the high-resolution recognition range while at least one of the peering control and the inter-vehicle distance adjustment control is being performed before the automated lane change is performed. (Technical Idea 23) A vehicle control program used in a host vehicle (Am) capable of performing automated lane changes, for controlling at least one exterior camera (130) that captures images of the surroundings of the host vehicle, the vehicle control program causing at least one processing unit (11) to execute processes including: acquiring lane change related information related to the automated lane change (S12, S14, S15, S17, S20); controlling a high-resolution recognition range (RSH) that is recognized with a higher resolution than other normal recognition ranges (RSL) within an imaging area (IA) captured by the exterior camera; and switching a control mode for controlling the high-resolution recognition range among a plurality of control modes based on the lane change related information (S13, S16, S18, S19, S21, S22).

[0132] (Technical Idea 2-A) A vehicle control device used in a host vehicle (Am) capable of performing automated lane changes, which controls at least one exterior camera (130) that captures images of the surroundings of the host vehicle, comprising: an information acquisition unit (82) that acquires extracted information extracted from image data (ImD) of the exterior camera; and a recognition control unit (83) that controls a high-resolution recognition range (RSH) that is recognized at a higher resolution than other normal recognition ranges (RSL) within an image capture area (IA) captured by the exterior camera, and the recognition control unit changes the position of the high-resolution recognition range among multiple locations within the image capture area based on the extracted information. (Technical Idea 2-B) A vehicle control program used in a host vehicle (Am) capable of performing automated lane changes, for controlling at least one exterior camera (130) that captures images of the surroundings of the host vehicle, the vehicle control program causing at least one processing unit (11) to execute processes including: obtaining extracted information extracted from image data (ImD) of the exterior camera (S15, S20); controlling a high-resolution recognition range (RSH) that is recognized with a higher resolution than other normal recognition ranges (RSL) within an image capture area (IA) captured by the exterior camera; and changing the position of the high-resolution recognition range among multiple locations within the image capture area based on the extracted information (S16, S22). (Technical Idea 2-C) A vehicle control method used in a host vehicle (Am) capable of performing automated lane changes, for controlling at least one exterior camera (130) that captures images of the surroundings of the host vehicle, the vehicle control method including the following steps in processing performed by at least one processing unit (11): obtaining extracted information extracted from image data (ImD) of the exterior camera (S15, S20); controlling a high-resolution recognition range (RSH) that is recognized with a higher resolution than other normal recognition ranges (RSL) within an image capture area (IA) captured by the exterior camera; and changing the position of the high-resolution recognition range among multiple locations within the image capture area based on the extracted information (S16, S22).

[0133] (Technical Idea 3-A) A vehicle control device used in a host vehicle (Am) capable of performing automated lane changes, which controls at least one exterior camera (130) that captures images of the surroundings of the host vehicle, comprising: an information acquisition unit (82) that acquires extracted information of a detection target (DT) extracted from image data (ImD) of the exterior camera; and a recognition control unit (83) that controls a high-resolution recognition range (RSH) that is recognized at a higher resolution than other normal recognition ranges (RSL) within an image area (IA) captured by the exterior camera, and the recognition control unit changes the position of the high-resolution recognition range so as to follow the detection target based on the extracted information. (Technical Idea 3-B) A vehicle control program used in a host vehicle (Am) capable of performing automated lane changes, for controlling at least one exterior camera (130) that captures images of the surroundings of the host vehicle, the vehicle control program causing at least one processing unit (11) to execute processes including: obtaining extracted information extracted from image data (ImD) of the exterior camera (S15, S20); controlling a high-resolution recognition range (RSH) that is recognized with a higher resolution than other normal recognition ranges (RSL) within an image area (IA) captured by the exterior camera; and changing the position of the high-resolution recognition range so as to follow a detection target based on the extracted information (S18, S21). (Technical Idea 3-C) A vehicle control method used in a host vehicle (Am) capable of performing automated lane changes, for controlling at least one exterior camera (130) that captures images of the surroundings of the host vehicle, the method including the following steps in processing performed by at least one processing unit (11): obtaining extracted information extracted from image data (ImD) of the exterior camera (S15, S20); controlling a high-resolution recognition range (RSH) that is recognized with a higher resolution than other normal recognition ranges (RSL) within an image area (IA) captured by the exterior camera; and changing the position of the high-resolution recognition range so as to follow a detection target based on the extracted information (S18, S21).

[0134] (Technical Idea 4-A) A vehicle control device used in a host vehicle (Am) capable of performing automated lane changes, which controls at least one exterior camera (130) that captures images of the surroundings of the host vehicle, and which includes a recognition control unit (83) that controls a high-resolution recognition range (RSH) that is recognized at a higher resolution than other normal recognition ranges (RSL) within an image capture area (IA) captured by the exterior camera, and the recognition control unit changes the position of the high-resolution recognition range when the area of ​​the portion of the high-resolution recognition range that overlaps with a detection target (DT) captured in the image capture area is less than a threshold percentage of the total area of ​​the high-resolution recognition range. (Technical Idea 4-B) A vehicle control program used in a host vehicle (Am) capable of performing automated lane changes, which controls at least one exterior camera (130) that captures images of the surroundings of the host vehicle, the vehicle control program causing at least one processing unit (11) to execute processing including: controlling a high-resolution recognition range (RSH) that is recognized with a higher resolution than other normal recognition ranges (RSL) within an imaging area (IA) captured by the exterior camera; and changing the position of the high-resolution recognition range if the area of ​​a portion of the high-resolution recognition range that overlaps with a detection target (DT) captured in the imaging area is less than a threshold percentage of the total area of ​​the high-resolution recognition range (S19). (Technical Idea 4-C) A vehicle control method used in a host vehicle (Am) capable of performing automated lane changes, for controlling at least one exterior camera (130) that captures images of the surroundings of the host vehicle, the vehicle control method including the following steps in processing performed by at least one processing unit (11): controlling a high-resolution recognition range (RSH) that is recognized with a higher resolution than other normal recognition ranges (RSL) within an imaging area (IA) captured by the exterior camera, and changing the position of the high-resolution recognition range if the area of ​​a portion of the high-resolution recognition range that overlaps with a detection target (DT) captured in the imaging area is less than a threshold percentage of the total area of ​​the high-resolution recognition range (S19).

Claims

1. A vehicle control device used in a vehicle (Am) capable of performing automatic lane changes, which controls at least one external camera (130) that photographs the area around the vehicle, Information acquisition units (81, 82) that acquire lane change-related information related to the aforementioned lane change, The system includes a recognition control unit (83) that controls a high-resolution recognition area (RSH) that is recognized at a higher resolution than other normal recognition areas (RSL) within the imaging area (IA) captured by the external camera, The information acquisition unit acquires route planning information for the vehicle being driven by the autonomous driving function. The recognition control unit is a vehicle control device that, in a control mode set based on the acquisition of route planning information, changes the position of the high-resolution recognition range left and right or up and down in accordance with the curvature or gradient of the road ahead.

2. A vehicle control device used in a vehicle (Am) capable of performing automatic lane changes, which controls at least one external camera (130) that photographs the area around the vehicle, Information acquisition units (81, 82) that acquire lane change-related information related to the aforementioned lane change, The system includes a recognition control unit (83) that controls a high-resolution recognition area (RSH) that is recognized at a higher resolution than other normal recognition areas (RSL) within the imaging area (IA) captured by the external camera, The recognition control unit is a vehicle control device that, when multiple lane changes are performed consecutively within a predetermined section or time, continuously changes the position of the high-resolution recognition range during the lateral movement period when the vehicle moves laterally due to the second lane change toward the destination lane, so that the remote lane (Ln3) located on the opposite side of the adjacent lane (Ln1) with respect to the destination lane (LnG) that the vehicle will move to in the second lane change is included in the high-resolution recognition range.

3. A vehicle control device used in a vehicle (Am) capable of performing automatic lane changes, which controls at least one external camera (130) that photographs the area around the vehicle, Information acquisition units (81, 82) that acquire lane change-related information related to the aforementioned lane change, The system includes a recognition control unit (83) that controls a high-resolution recognition area (RSH) that is recognized at a higher resolution than other normal recognition areas (RSL) within the imaging area (IA) captured by the external camera, The recognition control unit is a vehicle control device that, based on the lane change-related information, changes the position of the high-resolution recognition range among multiple locations within the imaging area so as to cycle through the entire imaging area when no detection target (DT) is present in the imaging area.

4. A vehicle control device used in a vehicle (Am) capable of performing automatic lane changes, which controls at least one external camera (130) that photographs the area around the vehicle, Information acquisition units (81, 82) that acquire lane change-related information related to the aforementioned lane change, The system includes a recognition control unit (83) that controls a high-resolution recognition area (RSH) that is recognized at a higher resolution than other normal recognition areas (RSL) within the imaging area (IA) captured by the external camera, The recognition control unit is a vehicle control device that, when the vehicle lane change is in standby mode and there is no detection target (DT) in the imaging area based on the lane change related information, continues the process of changing the position of the high-resolution recognition range so as to cycle through the entire imaging area.

5. The vehicle control device according to any one of claims 1 to 4, wherein the recognition control unit changes the position of the high-resolution recognition range so as to track the detected object (DT) captured in the imaging area when lateral movement due to the vehicle lane change begins.

6. The vehicle control device according to any one of claims 1 to 4, wherein the recognition control unit changes at least one of the movement speed of the high-resolution recognition range and the size of the high-resolution recognition range so as to track the detected object (DT) captured in the imaging area, based on the relative speed of the detected object with respect to the vehicle.

7. The recognition control unit, after the completion of the vehicle lane change, moves the position of the high-resolution recognition range to a predetermined reference position (SP). A vehicle control device according to any one of claims 1 to 4.

8. The vehicle control device according to any one of claims 1 to 4, wherein the recognition control unit changes the position of the high-resolution recognition range so that the area outside the vehicle (OA) where the detection target (DT) is lost is included in the high-resolution recognition range.

9. A vehicle control method used in a vehicle (Am) capable of performing automatic lane changes, for controlling at least one external camera (130) that photographs the area around the vehicle, The system acquires lane change-related information related to the aforementioned lane change, and route planning information for the vehicle being driven by the autonomous driving function (S12, S14, S15, S17, S20). The high-resolution recognition area (RSH) within the imaging area (IA) captured by the external camera is controlled to be recognized with a higher resolution than the other normal recognition area (RSL). In the control mode set based on the acquisition of the aforementioned route planning information, the position of the high-resolution recognition range is changed left and right or up and down in accordance with the curvature or gradient of the road ahead (S13). A vehicle control method that includes the following step in a process performed in at least one processing unit (11).

10. A vehicle control method used in a vehicle (Am) capable of performing automatic lane changes, for controlling at least one external camera (130) that photographs the area around the vehicle, Obtain lane change-related information related to the aforementioned lane change (S12, S14, S15, S17, S20), The high-resolution recognition area (RSH) within the imaging area (IA) captured by the external camera is controlled to be recognized with a higher resolution than the other normal recognition area (RSL). When multiple lane changes are performed consecutively within a predetermined section or time, the position of the high-resolution recognition range is continuously changed during the lateral movement period when the vehicle moves laterally due to the second lane change toward the destination lane (LnG), such that the remote lane (Ln3) located on the opposite side of the adjacent lane (Ln1) with respect to the destination lane (LnG) is included in the high-resolution recognition range (S21, S22). A vehicle control method that includes the following step in a process performed in at least one processing unit (11).

11. A vehicle control method used in a vehicle (Am) capable of performing automatic lane changes, for controlling at least one external camera (130) that photographs the area around the vehicle, Obtain lane change-related information related to the aforementioned lane change (S12, S14, S15, S17, S20), The high-resolution recognition area (RSH) within the imaging area (IA) captured by the external camera is controlled to be recognized with a higher resolution than the other normal recognition area (RSL). If, based on the lane change-related information, no detection target (DT) exists in the imaging area, the position of the high-resolution recognition range is changed among multiple locations within the imaging area so as to cycle through the entire imaging area (S16, S22). A vehicle control method that includes the following step in a process performed in at least one processing unit (11).

12. A vehicle control method used in a vehicle (Am) capable of performing automatic lane changes, for controlling at least one external camera (130) that photographs the area around the vehicle, Obtain lane change-related information related to the aforementioned lane change (S12, S14, S15, S17, S20), The high-resolution recognition area (RSH) within the imaging area (IA) captured by the external camera is controlled to be recognized with a higher resolution than the other normal recognition area (RSL). When the aforementioned lane change is in a standby state and there is no detection target (DT) in the imaging area based on the lane change related information, the process of changing the position of the high-resolution recognition range so as to cycle through the entire imaging area is continued (S16). A vehicle control method that includes the following step in a process performed in at least one processing unit (11).