Vehicle travel control device

Abstract

[Problem] To more reliably reflect the actual behavior of a peripheral vehicle around the host vehicle in processing of the peripheral vehicle. [Solution] A vehicle travel control device comprises a travel control unit and a sensor that detects a peripheral vehicle around the host vehicle. The travel control unit identifies, by using a relative detection direction and a relative detection distance for the peripheral vehicle detected by the sensor with reference to the host vehicle, a peripheral vehicle lane in map data in which the peripheral vehicle is traveling. When the peripheral vehicle is traveling toward the host vehicle lane after deviating from the peripheral vehicle lane, the travel control unit executes travel control for suppressing interference with the peripheral vehicle.

Description

Vehicle driving control system

[0001] This application primarily discloses a vehicle driving control device.

[0002] In vehicles such as automobiles, the development of autonomous driving is progressing. In this case, it is desirable for the vehicle to drive while avoiding interference with surrounding vehicles. Patent Document 1 discloses the execution of other vehicle map matching processing to identify the position of other vehicles on a map of the vehicle based on the position of other vehicles obtained from a communication means. Patent Document 2 discloses that when there is a target vehicle that interferes with the vehicle in the merging lane to which the vehicle is to merge, the system determines whether the target vehicle is in a state of intending to accept forward, intending to accept backward, or is confused, based on a judgment of the range of change in the relative distance to the target vehicle, and appropriately controls the driving of the vehicle according to the determination result.

[0003] Japanese Patent Publication No. 2010-108343 Japanese Patent Publication No. 2018-62300

[0004] By the way, if only map-matching the surrounding vehicles on the map as in Patent Document 1, the positions of the surrounding vehicles will always be map-matched to lanes or the like on the map data. Also, as in Patent Document 2, it is possible to estimate the intention of the target vehicle based on the change range of the relative distance between the host vehicle and the target vehicle in the merging section, on the premise that the host vehicle and the target vehicle maintain their respective lanes in the merging section and travel along the driving directions of their respective lanes. However, on actual roads, vehicles may sometimes deviate from their lanes, which is different from the assumptions in Patent Documents 1 and 2. For example, a vehicle changing lanes travels so as to deviate from the lane before the lane change. And in Patent Document 1, even for a vehicle traveling so as to deviate from the lane, it is map-matched to the lane before the lane change. In Patent Document 1, vehicles traveling so as to deviate from the lane cannot be correctly processed. Also, in Patent Document 2, even when the target vehicle is trying to deviate from the lane in which it is traveling to another lane due to a lane change on the main road in the merging section, there is a possibility of misjudging that the increase in the relative distance due to the deviation is caused by the target vehicle decelerating while maintaining its travel in the lane in which it is traveling.

[0005] Thus, when processing the surrounding vehicles of the host vehicle during driving such as in autonomous driving, it is necessary to more accurately reflect the actual behavior of the surrounding vehicles.

[0006] A vehicle driving control device according to one embodiment of the present invention includes a memory for recording map data including lane information of the road on which the vehicle is traveling, a driving control unit that identifies the vehicle's lane and a first map matching position in the map data and executes driving control for driving in the vehicle's lane, and a sensor for detecting surrounding vehicles of the vehicle. The driving control unit calculates the relative detection direction and relative detection distance of the surrounding vehicle detected by the sensor with respect to the vehicle, identifies the surrounding vehicle lane in the map data in which the surrounding vehicle is traveling using the relative detection direction and relative detection distance, and if it determines that the surrounding vehicle is deviating from the surrounding vehicle lane and heading towards the vehicle's lane, it executes driving control to suppress interference with the surrounding vehicle.

[0007] In one embodiment of the present invention, the driving control unit calculates the relative detection direction and relative detection distance of surrounding vehicles detected by sensors with respect to the vehicle itself, and uses the relative detection direction and relative detection distance to identify the surrounding vehicle lane in the map data in which the surrounding vehicle is traveling. If the driving control unit determines that the surrounding vehicle is deviating from the surrounding vehicle lane and traveling toward the vehicle's lane, it executes driving control to suppress interference with the surrounding vehicle. Thus, in one embodiment of the present invention, if a surrounding vehicle is traveling in a manner that deviates from the surrounding vehicle lane, it is possible to execute driving control to suppress interference with the deviating surrounding vehicle. The vehicle driving control device according to one embodiment of the present invention can use the relative detection direction and relative detection distance of surrounding vehicles with respect to the vehicle itself, detected by sensors, to execute driving control, such as automatic driving, that more accurately reflects the actual behavior of surrounding vehicles.

[0008] This is an explanatory diagram of a situation in which an automobile according to the first embodiment of the present invention is traveling around a corner of a road with one lane in each direction. This is a main configuration diagram of the control system of the automobile in Figure 1. This is a block diagram of the driving control device in Figure 2. This is a flowchart of the driving control of the automobile by the driving control unit in Figure 3. This is a flowchart from connection point A onwards in Figure 4. This is a flowchart from connection point B onwards in Figure 4. This is an explanatory diagram of a situation in which the automobile in Figure 1 is traveling in a merging lane toward the merging section with the main road. This is an explanatory diagram of the processing of surrounding vehicles by the driving control unit in Figure 3 in the state of Figure 7. This is an explanatory diagram of the ST chart used by the driving control unit in Figure 3 to determine the possibility of interference in the state of Figure 7. Figure 9(A) is the ST chart of the merging lane, which is the lane in which the automobile is traveling. Figure 9(B) is the ST chart of the temporary surrounding vehicle lane in which surrounding vehicle 2 is traveling. This is an explanatory diagram of a situation in which an automobile in Figure 1 is traveling in a merging lane toward the merging section with the main road. This is an explanatory diagram of a situation in which an automobile in Figure 1 is traveling in a merging lane toward the merging section with the main road. Figure 1 is an explanatory diagram illustrating a situation where a vehicle is traveling in the main lane connection lane of a main road towards a merging section with a merging lane. Figure 1 is an explanatory diagram illustrating a situation where a vehicle is traveling along the first lane of a two-lane road. Figure 1 is an explanatory diagram illustrating a situation where a vehicle is traveling along the first lane of a single-lane road.

[0009] The embodiments of the present invention will be described below with reference to the drawings. Each embodiment will first provide an overview, followed by a specific example of that embodiment. The specific example will be described in order: a configuration example, an overview of the control, a specific example of the control, and the determination of the impact on the vehicle itself regarding a straying surrounding vehicle. Subsequently, examples of various road environments will be described in order: a merging example, a cornering example, and a preceding vehicle straying. The following descriptions of embodiments and drawings are examples of the invention disclosed in this application and do not limit the invention disclosed in this application.

[0010] (Overview) Vehicles travel on roads and other surfaces using autonomous driving systems. In this case, it is desirable for the vehicle to travel in a manner that minimizes interference with surrounding vehicles. For this purpose, the vehicle's driving control system includes a memory that records map data containing lane information of the road on which the vehicle is traveling, a driving control unit that identifies the vehicle's own lane and map matching position in the map data and executes driving control to ensure the vehicle travels in its own lane, and sensors installed in the vehicle that detect surrounding vehicles. The driving control unit calculates the relative detection direction and relative detection distance of the surrounding vehicles detected by the sensors, relative to the vehicle itself. The driving control unit uses the relative detection direction and relative detection distance to identify the surrounding vehicle lane in the map data where the surrounding vehicle is traveling. The driving control unit determines whether the surrounding vehicle is a lane-traveling vehicle or a non-lane-traveling vehicle. If the driving control unit determines that a surrounding vehicle not traveling in a surrounding vehicle lane is traveling towards the vehicle's lane, it executes driving control to minimize interference with the surrounding vehicle. As a result, it is expected that the processing of surrounding vehicles by the driving control unit will more accurately reflect the actual behavior of the surrounding vehicles. Embodiments of the present invention will be described below with reference to the drawings.

[0011] (Road Example) Figure 1 is an explanatory diagram showing a situation in which an automobile 1 according to the first embodiment of the present invention is traveling around a corner of a road 100 with one lane in each direction. In Figure 1, automobile 1 is traveling in the outer lane of the corner. An oncoming vehicle 2, representing a surrounding vehicle, is traveling in the inner lane of the corner, which is the opposite lane to the outer lane. Automobile 1 is an example of a vehicle.

[0012] In this driving situation, vehicle 1 travels along the outer lane of the corner, as shown by the thick solid line in the figure. Preferably, vehicle 1 travels along the dashed line S21 at the center of the lane. On the other hand, the oncoming vehicle 2 travels along the inner lane of the corner, as shown by the thick dashed line in the figure. Preferably, the oncoming vehicle 2 travels along the dashed line S22 at the center of the lane. However, the oncoming vehicle 2 may deviate from the inner lane into the outer lane, as shown by the thick solid line in the figure. When an oncoming vehicle deviates from the inner lane into the outer lane, it will interfere with vehicle 1, which is traveling in the outer lane of the corner. This situation can occur whether vehicle 1 is being driven manually by a driver or under autonomous driving conditions. Even in such situations, vehicle 1 under autonomous driving conditions is required to drive in a way that minimizes interference with surrounding vehicles 2, such as oncoming vehicles in front of it.

[0013] Furthermore, the autonomous driving system for vehicle 1 includes a method that maps the vehicle's position to a lane on map data and controls the vehicle's driving to maintain the lane center of the vehicle's lane at the vehicle's first map-matched position. In the map-matching process, when the position detected by the vehicle is mapped to the map data, the lane closest to the vehicle's position may be selected as the vehicle's lane. Vehicle 1 can also assume that each lane has a lane center, and the position where a perpendicular line from the vehicle's detected position intersects with the lane center line can be considered the vehicle's first map-matched position on its lane. It is conceivable that this map-matching process could also be applied to surrounding vehicle 2. However, even if the oncoming vehicle in the situation shown in Figure 1 is map-matched to the surrounding vehicle lane in which the oncoming vehicle is traveling, it is not possible to determine that the oncoming vehicle is deviating towards the vehicle's lane. Therefore, in the autonomous driving system of vehicle 1, even if there is a surrounding vehicle 2 that is deviating from the surrounding vehicle lane and driving towards the vehicle's lane, it is difficult to suppress interference between the deviating surrounding vehicle 2 and the vehicle.

[0014] Thus, when driving autonomously, the processing of surrounding vehicles 2 needs to more accurately reflect the actual behavior of those surrounding vehicles 2.

[0015] (Configuration Example) Figure 2 is a main configuration diagram of the control system 10 of the automobile 1 in Figure 1. The automobile 1 in Figure 2 is a vehicle capable of driving by autonomous driving. The control system 10 of the automobile 1 in Figure 2 has a vehicle network 19 and a plurality of control devices connected thereto. Examples of the plurality of control devices shown in the figure are a sensor control device 11, a driving control device 12, a drive control device 13, a steering control device 14, and a braking control device 15. The control system 10 of the automobile 1 may also include other control devices, such as an external communication device and an operation control device. Operation control devices are connected to operating members that the driver operates when driving manually, such as a steering wheel and pedals. In addition, each of the control devices shown in Figure 2 may be divided into multiple units and connected to the vehicle network 19.

[0016] The vehicle network 19 may be an automotive-specific network such as a CAN (Controller Area Network), a LIN (Local Interconnect Network), or a broadband network for vehicles. Alternatively, the vehicle network 19 may include a general network such as the IEEE (Institute of Electrical and Electronics Engineers) 802.3. By using such a vehicle network 19, a control device installed in the automobile 1 can input and output information to and from other control devices through the vehicle network 19.

[0017] The sensor control device 11 controls the operation of various vehicle sensors installed in the automobile 1 and outputs the detected values ​​of the various vehicle sensors or processed information obtained by processing the detected values ​​to other control devices via the vehicle network 19. In Figure 2, examples of vehicle sensors connected to the sensor control device 11 include a GNSS (Global Navigation Satellite System) receiver 21, an external camera 22, and an acceleration sensor 23. In addition to these, the sensor control device 11 may also be connected to a vehicle speed sensor that detects the speed of the automobile 1, a steering sensor that detects the steering angle of the steering wheels of the automobile 1, and so on.

[0018] The GNSS receiver 21 generates position and time information for the automobile 1 by receiving radio waves from multiple GNSS satellites.

[0019] The external camera 22 captures images of the driving environment around the vehicle 1 as it travels on a road 100 or the like. The external camera 22 may be a monocular camera, a compound camera, or a 360-degree camera. It is desirable that the external camera 22 be able to capture images of at least the front of the moving vehicle 1. Other devices that can detect the driving environment around the vehicle include, for example, a LiDAR and a laser. The sensor control device 11 can generate processed information such as information on the unevenness of the road surface around the vehicle, the type of other vehicles around the vehicle, their relative direction and distance, etc., based on the driving environment information such as the images captured by the external camera 22. The external camera 22, LiDAR, laser, etc., are installed on the vehicle 1 and function as sensors that detect surrounding vehicles 2.

[0020] The acceleration sensor 23 detects the acceleration of the automobile 1. By using a sensor that detects axial acceleration as the acceleration sensor 23, the sensor control device 11 can generate information on the angular acceleration of the automobile 1 in the yaw, pitch, and roll directions. Alternatively, the sensor control device 11 may generate information on the velocity of the automobile 1 by integrating the acceleration of the acceleration sensor 23 over time.

[0021] The drive control device 13 includes an engine that generates driving force using fuel such as gasoline or hydrogen, a motor that generates driving force using electricity, a transmission, or a drive system that combines these, which is installed in the automobile 1. The drive control device 13 controls the operation of the drive system based on control values ​​obtained through the vehicle network 19.

[0022] The steering control device 14 is connected to, for example, a steering system installed in the automobile 1. The steering control device 14 controls the operation of the steering system based on control values ​​obtained through the vehicle network 19.

[0023] The braking control device 15 is connected to the brake system installed in the automobile 1. The braking control device 15 controls the operation of the brake system based on control values ​​obtained through the vehicle network 19.

[0024] The driving control device 12 controls the driving of the automobile 1.

[0025] Figure 3 is a block diagram of the travel control device 12 shown in Figure 2. The travel control device 12 in Figure 3 includes a network device 31, a timer 36, a memory 32, a CPU (Central Processing Unit) 33, and an internal bus 39 to which these are connected.

[0026] The network device 31 is connected to the vehicle network 19. The network device 31 communicates with the driving control device 12 and other control devices of the control system 10.

[0027] Timer 36 measures time and date.

[0028] Memory 32 stores data such as programs executed by the CPU 33 and setting values. In Figure 3, memory 32 stores high-precision map data 34.

[0029] The high-precision map data 34 may be for roads on which an autonomous vehicle such as car 1 can travel. Generally, the high-precision map data 34 includes lane information, such as link information for each lane on the road on which car 1 travels, and node information such as intersections, merging points, and diverging points. For example, the dashed line S21 representing the lane center of the outer lane and the dashed line S22 representing the lane center of the inner lane in Figure 1 are recorded as link information in the high-precision map data 34. For other roads described later, the high-precision map data 34 also records link information indicating the lane center for each lane, and node information indicating intersections, merging points, and diverging points.

[0030] The CPU 33 reads a program from the memory 32 and executes it. This enables the CPU 33 to implement a driving control unit 35. The driving control unit 35 controls the operation of the driving control device 12 to control the driving of the vehicle 1. When controlling driving in manual mode, the driving control unit 35 may generate control values ​​according to the amount of operation performed by the driver on the steering wheel, pedals, etc. In this case, the driving control unit 35 may determine the vehicle's driving status information from the sensor control device 11 and the surrounding conditions of the vehicle, and adjust the control values ​​for driving assistance. When controlling driving in automated mode, the driving control unit 35 obtains information on the vehicle's driving status and the surrounding conditions of the vehicle from the sensor control device 11 and generates control values ​​according to this information. In this case, the driving control unit 35 may, for example, identify the latest first map matching position of the vehicle in the high-precision map data 34, determine the road and conditions on which the vehicle is traveling, and execute driving control for the vehicle 1 to travel in its own lane. The driving control unit 35 may generate control values ​​for steering and acceleration / deceleration to suppress interference with surrounding vehicles 2 during autonomous driving control. The driving control unit 35 may switch between manual driving control and autonomous driving control depending on the information about the vehicle's driving status from the sensor control device 11 and the surrounding conditions of the vehicle, or depending on the driver's operation.

[0031] (Overview of Control) In addition to map matching between the vehicle and surrounding vehicles, the driving control unit may perform the following interference suppression control to address cases where surrounding vehicles deviate from their surrounding vehicle lanes. The driving control unit determines whether a surrounding vehicle is on its lane or not based on the angle difference between the lane direction of the surrounding vehicle lane and the detected direction of travel of the surrounding vehicle at the second map matching position for the surrounding vehicle lane. The driving control unit also determines whether a surrounding vehicle is on its lane or not based on the position difference between the detected position of the surrounding vehicle and the second map matching position. Furthermore, the driving control unit determines whether a surrounding vehicle is on its lane or not based on both the angle difference and the position difference. In this case, if the angle difference is greater than or equal to the first angle threshold, the driving control unit may determine that the surrounding vehicle is not on its lane and is not traveling along the surrounding vehicle lane. If the position difference is greater than or equal to the first position threshold, the driving control unit may determine that the surrounding vehicle is not on its lane. The driving control unit may determine that a surrounding vehicle is not in its lane if the angle difference is greater than or equal to the second angle threshold, which is smaller than the first angle threshold, and the position difference is greater than or equal to the second threshold, which is smaller than the first position threshold. In these lane driving conditions, it is difficult to say that the surrounding vehicle is driving along the center of the lane width direction of the surrounding vehicle lane, and there is a significant possibility that it is driving in a manner that deviates from the surrounding vehicle lane. The driving control unit may also perform the following map matching process to obtain the angle difference or position difference. The driving control unit uses the position of the relative detection direction and relative detection distance from the vehicle's own coordinates in the coordinate system of the map data as the detected coordinates of the surrounding vehicle. The driving control unit uses the detected coordinates of the surrounding vehicle to identify the surrounding vehicle lane in which the surrounding vehicle is traveling from the map data. The driving control unit obtains the second map matching position of the surrounding vehicle by map matching the detected coordinates of the surrounding vehicle to the identified surrounding vehicle lane. The driving control unit may then obtain the angle difference between the lane direction of the surrounding vehicle lane and the detected direction of travel of the surrounding vehicle, and the position difference between the position of the detected coordinates and the second map matching position, based on the map data.If the presence of a surrounding vehicle that is not in its lane is detected, the driving control unit determines whether the surrounding vehicle is heading towards the vehicle's lane. The driving control unit determines whether the surrounding vehicle is heading towards the vehicle's lane based on the direction of departure from the surrounding vehicle's lane and the positional relationship between the surrounding vehicle's lane and the vehicle's lane in the map data. Furthermore, if the driving control unit determines that the surrounding vehicle has deviated from its surrounding vehicle lane and is heading towards the vehicle's lane, the driving control unit determines interference with the vehicle based on the behavior of the surrounding vehicle detected by the sensor, assuming that the surrounding vehicle will continue to travel, and executes driving control to suppress interference between the surrounding vehicle and the vehicle. In this way, the driving control unit can more accurately reflect the actual behavior of the surrounding vehicle and execute driving control to suppress interference between the surrounding vehicle and the vehicle.

[0032] (Specific example of control) Figure 4 is a flowchart of the driving control of the automobile 1 by the driving control unit 35 in Figure 3. Figure 5 is a flowchart from connection point A onwards in Figure 4. Figure 6 is a flowchart from connection point B onwards in Figure 4. The CPU 33 of the driving control device 12, as the driving control unit 35, repeatedly executes the driving control from Figures 4 to 6 at each control cycle. In Figures 4 to 6, driving control is executed in steps ST23, ST24, ST33, and ST34, respectively. The other steps are for selecting one of several types of driving control.

[0033] In step ST1, the driving control unit 35 determines whether the elapsed time since the previous control cycle is equal to or greater than the control cycle measured by the timer 36. If the elapsed time is not equal to or greater than the control cycle, the driving control unit 35 repeats this process. When the elapsed time becomes equal to or greater than the control cycle, the driving control unit 35 proceeds to step ST2.

[0034] In step ST2, the driving control unit 35 acquires information about the vehicle's driving status, such as detection information from vehicle sensors, from the sensor control device 11 or the like.

[0035] In step ST3, the driving control unit 35 uses the information acquired in step ST2 to identify the vehicle's latest coordinates, orientation on the latest coordinates, and the lane the vehicle is currently traveling in. If the vehicle is traveling towards a merging section, the driving control unit 35 also identifies lanes connected to the lane the vehicle is currently traveling in as the vehicle's lane. The driving control unit 35 may use the detected coordinate values ​​based on the latest latitude and longitude detected by the GNSS receiver 21 as the vehicle's latest coordinates. The driving control unit 35 may use the latest detected orientation value detected by the GNSS receiver 21 as the vehicle's orientation on the latest coordinates. The driving control unit 35 may read the high-precision map data 34 and select the lane closest to the latest latitude and longitude value detected by the GNSS receiver 21 from among the multiple lanes included in the high-precision map data 34 as the vehicle's lane. In this case, the driving control unit 35 may further use the vehicle's first map matching position, which is obtained by map matching the vehicle's latest coordinates to the vehicle's lane, as the vehicle's latest coordinates.

[0036] In step ST4, the driving control unit 35 extracts surrounding vehicles 2 using the information acquired in step ST2. On roads where the vehicle is traveling, there may be multiple surrounding vehicles 2, such as preceding vehicles and following vehicles. In this case, the driving control unit 35 extracts one or more surrounding vehicles 2 from among the multiple surrounding vehicles 2 that are likely to affect the vehicle's driving, for example, one or more surrounding vehicles 2 that are traveling in front of the vehicle or are likely to travel in front of the vehicle.

[0037] In step ST5, the driving control unit 35 calculates the relative detection distance and relative detection direction relative to the vehicle itself for each surrounding vehicle 2 extracted in step ST4, based on the detection information from the vehicle's own sensors. For example, for surrounding vehicles 2 captured by the external camera 22, the relative distance and direction from the vehicle can be obtained depending on the location in the captured image. In particular, in the case of a stereo camera, the relative distance and direction of surrounding vehicles 2 can be obtained with high accuracy by trigonometric processing based on parallax. The relative distance and direction of surrounding vehicles 2 can also be obtained with high accuracy from spatial information around the vehicle detected by a Lider or laser. The relative distance and direction of each surrounding vehicle 2 may be calculated by a sensor control device 11 or the like.

[0038] In step ST6, the driving control unit 35 uses the relative detection distance and relative detection direction generated in step ST5 to obtain the detection coordinates and detection direction on the high-precision map data 34 for each surrounding vehicle 2. The driving control unit 35 uses the detection coordinates and detection direction of the own vehicle before map matching, which were identified in step ST3, as a reference to calculate and obtain the detection coordinates and detection direction on the high-precision map data 34 for surrounding vehicles 2 that are at a relative detection distance and relative detection direction from the own vehicle. As a result, the driving control unit 35 can obtain the position of the relative detection direction and relative detection distance from the own vehicle's coordinates in the coordinate system of the high-precision map data 34 as the detection coordinates of the surrounding vehicles 2.

[0039] In step ST7, the driving control unit 35 identifies the surrounding vehicle lane in which the surrounding vehicle 2 is traveling. From among the multiple lanes included in the high-precision map data 34, the driving control unit 35 selects the lane that is closest to the detected coordinate value of the surrounding vehicle 2 obtained in step ST6 as the surrounding vehicle lane. If the surrounding vehicle 2 is at the same distance from two adjacent lanes, the lane behind the surrounding vehicle 2, opposite to the detected direction of travel of the surrounding vehicle 2, may be selected as the surrounding vehicle lane. Here, the detected direction of travel of the surrounding vehicle 2 may be the direction of travel of the surrounding vehicle 2 detected by the vehicle's own sensors. The captured image can capture the surrounding vehicle 2 in a state corresponding to the direction of travel of the surrounding vehicle 2. As a result, the driving control unit 35 can identify the surrounding vehicle lane in which the surrounding vehicle 2 is traveling from the high-precision map data 34 using the relative detection direction and relative detection distance of the surrounding vehicle 2 and the obtained detected coordinate of the surrounding vehicle 2.

[0040] In step ST8, the driving control unit 35 acquires the second map matching position for the surrounding vehicle 2. The driving control unit 35 uses a perpendicular line from the detected coordinates of the surrounding vehicle 2 to the specified surrounding vehicle lane, and acquires the position of the intersection point as the second map matching position on the surrounding vehicle lane for the surrounding vehicle 2.

[0041] In step ST9, the driving control unit 35 obtains the lane coordinates and lane direction of the surrounding vehicle lane at the second map matching position of the surrounding vehicle 2 from the high-precision map data 34. Here, the lane direction of the surrounding vehicle lane may be, for example, the tangential direction of the surrounding vehicle lane at the second map matching position of the surrounding vehicle 2. If the surrounding vehicle lane is straight, the lane direction of the surrounding vehicle lane coincides with the direction of the surrounding vehicle lane's path.

[0042] In step ST10, the driving control unit 35 calculates the angular difference between the second map matching position and the lane direction with respect to the detected direction of travel of the surrounding vehicle 2, and the positional difference between the detected position of the surrounding vehicle 2 and the map matching position. Here, in high-precision map data 34, the position of the lane center is generally recorded as the lane coordinate of each lane. Therefore, the positional difference between the detected position of the surrounding vehicle 2 and the second map matching position of the surrounding vehicle 2 can be used to indicate the amount of offset that the surrounding vehicle 2 is shifted from the center of the surrounding vehicle lane in the lane width direction. As a result, the driving control unit 35 can obtain the angular difference and positional difference (= offset amount from the lane center) between the second map matching position and the surrounding vehicle 2 based on the high-precision map data 34.

[0043] From step ST11, the driving control unit 35 determines the driving state of the surrounding vehicle 2. Specifically, as in step ST15, the driving control unit 35 determines whether the surrounding vehicle 2 is a lane-traveling vehicle 1 traveling along the surrounding vehicle lane, or as in step ST16, whether it is a non-lane-traveling vehicle not traveling along the surrounding vehicle lane.

[0044] First, in step ST11, the travel control unit 35 determines whether the angular difference between the lane direction at the second map matching position with respect to the detection progress direction of the surrounding vehicle 2 is greater than or equal to the first angle threshold. Here, the first angle threshold may be a value of an angle at which the orientation of the surrounding vehicle is inappropriate for traveling while maintaining the lane. For example, when the orientation of a surrounding vehicle traveling on a straight lane has an angular difference of 30 degrees with respect to the lane direction, the surrounding vehicle is likely to travel so as to deviate from the lane. The first angle threshold may be a fixed value, or may be a different value according to the lane shape such as a straight line or a curve. When the lane shape is a curve, the first angle threshold may be set larger than the first angle threshold when the lane shape is a straight line because the orientation of the surrounding vehicle is changing during steering. Also, the first angle threshold may be a value of an angle of a general orientation of the surrounding vehicle when changing lanes. When the angular difference is greater than or equal to the first angle threshold, the travel control unit 35 determines that the surrounding vehicle 2 is not traveling along the surrounding vehicle lane and proceeds with the process to step ST16. The surrounding vehicle 2 not traveling along the surrounding vehicle lane may travel so as to deviate from the surrounding vehicle lane. When the angular difference is less than the first angle threshold, the travel control unit 35 proceeds with the process to step ST12.

[0045] In step ST12, the driving control unit 35 determines whether the positional difference between the detected position of the surrounding vehicle 2 and the map matching position is greater than or equal to a first position threshold. Here, the first position threshold may be a value such that the amount of offset of the vehicle within the lane does not result in the vehicle traveling within the lane. For example, the lane width is generally about 2 to 3 meters. The width of a passenger car is about 1.8 meters or less. In this case, if the vehicle is traveling in the lane with an offset of 60 centimeters or more, part of the vehicle body will protrude from the lane. The first position threshold may be a fixed value such as the 60 centimeter example, but it may also be a different value depending on the lane shape, such as a straight line or a curve, and the lane width. Furthermore, the first position threshold when the lane shape is a curve may be larger than the first position threshold when the lane shape is a straight line, because it is difficult for the vehicle to travel along the center line of the lane. If the positional difference is greater than or equal to the first position threshold, the driving control unit 35 determines that the surrounding vehicle 2 is not traveling along the surrounding vehicle lane and proceeds to step ST16. A surrounding vehicle 2 that is not traveling in the surrounding vehicle lane may deviate from the surrounding vehicle lane. If the position difference is not greater than or equal to the first position threshold, the driving control unit 35 proceeds to step ST13.

[0046] In step ST13, the driving control unit 35 determines whether the angle difference between the detected direction of travel of the surrounding vehicle 2 and the lane direction at the map matching position is greater than or equal to a second angle threshold. Here, the second angle threshold may be a value smaller than the first angle threshold, for example, half of that, 15 degrees. The second angle threshold may be a fixed value, but it may also be calculated in conjunction with the first angle threshold as an angle smaller than the first angle threshold. If the angle difference is greater than or equal to the second angle threshold, the driving control unit 35 determines that the surrounding vehicle 2 may have started to deviate from the surrounding vehicle lane and proceeds to step ST14. If the angle difference is not greater than or equal to the second angle threshold, the driving control unit 35 determines that the surrounding vehicle 2 is not traveling along the surrounding vehicle lane and proceeds to step ST15. A surrounding vehicle 2 that is not traveling along the surrounding vehicle lane may deviate from the surrounding vehicle lane.

[0047] In step ST14, the travel control unit 35 determines whether the positional difference from the map-matching position of the surrounding vehicle 2 is equal to or greater than a second position threshold value. Here, the second position threshold value may be a value smaller than the first position threshold value, for example, half of 30 centimeters. The second position threshold value may be a fixed value, or may be calculated as a distance smaller than the first position threshold value in联动 with the first position threshold value, for example. And when the positional difference is equal to or greater than the second position threshold value, the travel control unit 35 determines that the surrounding vehicle 2 is not traveling along the surrounding vehicle lane and advances the process to step ST16. The surrounding vehicle 2 that is not traveling along the surrounding vehicle lane may be traveling so as to deviate from the surrounding vehicle lane. When the positional difference is not equal to or greater than the second position threshold value, the travel control unit 35 determines that the surrounding vehicle 2 is traveling along the surrounding vehicle lane and advances the process to step ST15. Thus, when both the angular difference and the positional difference are equal to or greater than a second threshold value indicating a state of not traveling along the lane, the travel control unit 35 determines that the surrounding vehicle 2 is not traveling along the surrounding vehicle lane and advances the process to step ST16. The travel control unit 35 can make this determination at the timing when the surrounding vehicle 2 starts to travel so as not to travel along the surrounding vehicle lane and advance the process to step ST16. On the other hand, when only one of the angular difference and the positional difference is greater than or equal to the second threshold value, or when both the angular difference and the positional difference are not greater than or equal to the second threshold value, the travel control unit 35 does not determine that the surrounding vehicle 2 has started to travel so as to deviate from the surrounding vehicle lane. The travel control unit 35 determines that the surrounding vehicle 2 maintains a state of traveling along the surrounding vehicle lane.

[0048] In step ST15, the travel control unit 35 determines that the surrounding vehicle 2 is a vehicle on the lane traveling along the surrounding vehicle lane. Then, the travel control unit 35 advances the process to step ST21 in FIG. 5.

[0049] In step ST16, the driving control unit 35 determines that the surrounding vehicle 2 is not traveling along the surrounding vehicle lane and is a non-lane vehicle that may deviate from the surrounding vehicle lane. Subsequently, the driving control unit 35 proceeds to step ST31 in Figure 6.

[0050] In step ST21, the driving control unit 35 determines whether the surrounding vehicle lane in which the surrounding vehicle 2 is traveling is included in the vehicle's lane, in order to determine the influence of the surrounding vehicle 2 as a vehicle on the lane on the vehicle's own driving. If the surrounding vehicle lane is included in the vehicle's lane, the driving control unit 35 proceeds to step ST22 because the movement of the surrounding vehicle 2 may affect the movement of the vehicle's own driving. If the surrounding vehicle lane is not included in the vehicle's lane, the driving control unit 35 proceeds to step ST24 because the movement of the surrounding vehicle 2 may not affect the movement of the vehicle's own driving.

[0051] In step ST22, the driving control unit 35 determines the possibility of interference between the vehicle and surrounding vehicles 2 based on map matching on high-precision map data 34. For example, the driving control unit 35 generates an ST chart as the vehicle lane and surrounding vehicle lanes, and maps the predicted trajectory of the vehicle from the current point in time with the predicted trajectory of surrounding vehicles 2. In this case, the current position of the vehicle and the current position of surrounding vehicles 2 may be determined using their respective map matching positions. If the predicted trajectory of the vehicle and the predicted trajectory of surrounding vehicles 2 intersect on the ST chart, or if they approach each other by more than the distance between vehicles, the driving control unit 35 determines that there is a possibility of interference between the vehicle and surrounding vehicles 2. Conversely, if the predicted trajectory of the vehicle and the predicted trajectory of surrounding vehicles 2 do not approach each other by more than the distance between vehicles on the ST chart, the driving control unit 35 determines that there is no possibility of interference between the vehicle and surrounding vehicles 2.

[0052] In step ST23, the driving control unit 35 executes driving control of its own vehicle to suppress interference, in response to the interference determination in step ST22. If it is determined in step ST22 that there is a possibility of interference, the driving control unit 35 executes driving control to ensure that the own vehicle does not interfere with the surrounding vehicle 2. For example, the driving control unit 35 executes driving control to decelerate or accelerate to avoid interference with the surrounding vehicle 2. The driving control unit 35 may also execute driving control to steer the vehicle away from its own lane to another lane. If it is determined in step ST22 that there is no possibility of interference, the driving control unit 35 basically executes driving control to maintain the current driving state. For example, the driving control unit 35 executes driving control to maintain the current speed. After that, the driving control unit 35 terminates this process.

[0053] In step ST24, the driving control unit 35 performs driving control to basically maintain the current driving state because the surrounding vehicle lanes are not included in the vehicle's lane. For example, the driving control unit 35 performs driving control to maintain the current speed. After that, the driving control unit 35 terminates this process.

[0054] (Judgment on the impact of a deviating surrounding vehicle on the own vehicle) In step ST31, the driving control unit 35 determines the impact of the surrounding vehicle 2, which is a vehicle not on its own lane, on the driving of the own vehicle. Specifically, the driving control unit 35 determines whether the surrounding vehicle 2, which is a vehicle not on its own lane, is heading towards the own vehicle's lane. Here, the driving control unit determines whether the surrounding vehicle is heading towards the own vehicle's lane based on the direction of the surrounding vehicle's deviation from its own lane and the positional relationship between the surrounding vehicle lane and the own vehicle's lane in the high-precision map data. For example, if the direction of the surrounding vehicle's deviation from its own lane in the high-precision map data is on the side of the surrounding vehicle lane where the own vehicle's lane exists, the driving control unit may determine that the surrounding vehicle is heading towards the own vehicle's lane. On the other hand, if the direction of the surrounding vehicle's deviation from its own lane in the high-precision map data is on the side of the surrounding vehicle lane where the own vehicle's lane does not exist, the driving control unit may determine that the surrounding vehicle is not heading towards the own vehicle's lane. If the surrounding vehicle 2 is about to deviate in the opposite direction from the vehicle's lane, the driving control unit 35 determines that the surrounding vehicle 2 is not heading towards the vehicle's lane and proceeds to step ST34. If the surrounding vehicle 2 is deviating in the direction of the vehicle's lane, the driving control unit 35 determines that the surrounding vehicle 2 is heading towards the vehicle's lane and proceeds to step ST32.

[0055] In step ST32, the driving control unit 35 determines the possibility of interference between the vehicle and the surrounding vehicle 2 based on the behavior of the surrounding vehicle 2 detected by the vehicle's sensors. For example, the driving control unit may determine whether the surrounding vehicle continues to travel in the direction detected from the detected coordinates to the direction of detection, and whether there is an intersection with the vehicle's current path or lane. If the path of the surrounding vehicle 2 intersects with the vehicle's path or lane, the driving control unit 35 may basically determine that there is a possibility of interference between the vehicle and the surrounding vehicle 2. On the other hand, if the path of the surrounding vehicle 2 does not intersect with the vehicle's path or lane, the driving control unit 35 may basically determine that there is no possibility of interference between the vehicle and the surrounding vehicle 2. Details of interference determination based on the detection behavior of the vehicle's sensors will be described later.

[0056] In step ST33, the driving control unit 35 executes driving control of its own vehicle to suppress interference, in response to the interference determination in step ST32. If it is determined in step ST32 that there is a possibility of interference, the driving control unit 35 executes driving control to ensure that the own vehicle does not interfere with the surrounding vehicle 2. For example, the driving control unit 35 executes driving control to decelerate or accelerate to avoid interference with the surrounding vehicle 2. The driving control unit 35 may also execute driving control to steer the vehicle away from its own lane to another lane. If it is determined in step ST32 that there is no possibility of interference, the driving control unit 35 basically executes driving control to maintain the current driving state. For example, the driving control unit 35 executes driving control to maintain the current speed. After that, the driving control unit 35 terminates this process.

[0057] In step ST34, the driving control unit 35 performs driving control to basically maintain the current driving state because the paths of the surrounding vehicles 2 and the paths of its own vehicle or its own lane do not intersect. For example, the driving control unit 35 performs driving control to maintain the current speed. After that, the driving control unit 35 terminates this process.

[0058] As described above, the driving control unit 35 of this embodiment calculates the relative detection direction and relative detection distance of the surrounding vehicle 2 detected by the sensor with respect to the own vehicle, and uses the relative detection direction and relative detection distance to identify the surrounding vehicle lane in which the surrounding vehicle 2 is traveling in the map data. The driving control unit 35 further determines whether the surrounding vehicle 2 is a lane-traveling vehicle 1 traveling along the surrounding vehicle lane, or a non-lane-traveling vehicle not traveling along the surrounding vehicle lane. If the surrounding vehicle 2 that is not traveling along the surrounding vehicle lane is traveling towards the own vehicle lane, the driving control unit 35 executes driving control to suppress interference with the surrounding vehicle 2. Thus, in this embodiment, if the surrounding vehicle 2 is not traveling along the surrounding vehicle lane, it is possible to predict the deviation caused by this and execute driving control to suppress interference with the surrounding vehicle 2. This embodiment enables the execution of driving control that more accurately reflects the actual behavior of the surrounding vehicle 2 when the own vehicle is driving autonomously or otherwise.

[0059] In this embodiment, the driving control unit 35 calculates the angle difference between the lane direction of the surrounding vehicle lane at the second map matching position relative to the lane center of the surrounding vehicle lane for the surrounding vehicle 2, and the detected direction of travel of the surrounding vehicle 2 detected from the own vehicle. The driving control unit 35 also calculates the position difference (= offset amount) between the detected position of the surrounding vehicle 2 based on the relative detection direction and relative detection distance, and the second map matching position. Here, the driving control unit 35 uses the relative detection direction and relative detection distance positions from the own vehicle coordinates in the coordinate system of the map data as the detected coordinates of the surrounding vehicle 2, and uses the detected coordinates (and orientation on the coordinates) of the surrounding vehicle 2 to identify the surrounding vehicle lane in which the surrounding vehicle 2 is traveling from the map data, and maps the detected coordinates of the surrounding vehicle 2 to the identified surrounding vehicle lane. As a result, the driving control unit 35 can obtain the second map matching position in the surrounding vehicle lane for the surrounding vehicle 2. Furthermore, the driving control unit 35 can acquire, based on map data, the angle difference between the lane direction of the surrounding vehicle lane at the second map matching position and the detected direction of travel, as well as the position difference (= offset amount) between the position of the detected coordinates and the second map matching position.

[0060] The driving control unit 35 determines that if the angle difference is greater than or equal to the first angle threshold, the surrounding vehicle 2 is not traveling along the surrounding vehicle lane and is traveling in a manner that deviates from the surrounding vehicle lane. The driving control unit 35 also determines that if the position difference is greater than or equal to the first position threshold, the surrounding vehicle 2 is not traveling along the surrounding vehicle lane and is traveling in a manner that deviates from the surrounding vehicle lane. As a result, the driving control unit 35 can determine that surrounding vehicle 2 that is traveling offset from the second map matching position to the lane center of the surrounding vehicle lane, and surrounding vehicle 2 that is traveling in a direction different from the lane direction at the second map matching position for the surrounding vehicle lane, is not traveling along the surrounding vehicle lane. Furthermore, even if the angle difference is smaller than the first angle threshold, the driving control unit 35 determines that surrounding vehicle 2 is not traveling along the surrounding vehicle lane if the angle difference is greater than or equal to the second angle threshold and the position difference is greater than or equal to the second threshold which is smaller than the first position threshold. As a result, the driving control unit 35 can quickly determine in its initial stages that the surrounding vehicle 2 is not driving along the surrounding vehicle lane, even immediately after the surrounding vehicle 2 has started to deviate from the lane direction and the center position of the lane.

[0061] The driving control unit 35 in this embodiment determines whether a surrounding vehicle 2, which is not traveling along the surrounding vehicle lane, is heading towards the vehicle's lane. The driving control unit 35 makes this determination based on the direction of departure from the surrounding vehicle lane for the surrounding vehicle 2 and the positional relationship between the surrounding vehicle lane and the vehicle's lane in the map data. As a result, the driving control unit 35 can appropriately determine if a surrounding vehicle 2, which is not traveling along the surrounding vehicle lane, is heading towards the vehicle's lane. Furthermore, the driving control unit 35 determines interference with the vehicle based on the behavior of the surrounding vehicle 2 detected by the sensor, assuming that the surrounding vehicle 2 will continue to travel, and executes driving control to suppress interference between the surrounding vehicle 2 and the vehicle. As a result, even if a surrounding vehicle 2 that is traveling in a manner deviating from the surrounding vehicle lane were to move toward the vehicle or the vehicle's lane in the shortest distance and time while remaining in the detected state, the driving control unit 35 can control the vehicle's driving to suppress interference under that movement. In addition, the driving control unit 35 can appropriately determine the possibility of interference with a surrounding vehicle 2 that is traveling in a manner deviating from the surrounding vehicle lane, based on the results actually detected by the sensor.

[0062] The following provides specific examples for each driving situation of car 1.

[0063] (Example where the vehicle merges onto the main road and surrounding vehicles travel in the main road's connecting lane) When the vehicle merges onto the main road, it travels from the merging lane of the merging road towards the main road in the merging section. The merging lane is connected to the main road's connecting lane. In this case, the driving control unit sets the merging lane and the main road's connecting lane to the vehicle's lane. The driving control unit also determines that if surrounding vehicles are traveling in the merging section from a lane other than the main road's connecting lane towards the connecting lane, the surrounding vehicles are not in their lane. Furthermore, the driving control unit determines whether the surrounding vehicles are traveling towards the vehicle's lane. If the driving control unit determines that the surrounding vehicles are not in their lane and are traveling towards the vehicle's lane, it determines that there will be interference between the surrounding vehicles and the vehicle, and executes driving control to suppress interference between the surrounding vehicles and the vehicle in the vehicle's lane. In this case, the driving control unit may determine whether there is interference between the vehicle and surrounding vehicles in its own lane, based on the behavior of surrounding vehicles detected by sensors, assuming that the surrounding vehicles will continue to move.

[0064] (Specific Example) Figure 7 is an explanatory diagram showing the situation when car 1 from Figure 1 is traveling in the merging lane S11 of merging road 102 toward the merging section with main road 101. In Figure 7, surrounding vehicle 2 is traveling in a way that it deviates from another lane S13 adjacent to the main road connection lane S12 of main road 101 toward the main road connection lane S12. The external camera 22 of car 1 traveling in merging lane S11 captures the surrounding vehicle 2 traveling in another lane S13 within its field of view range 41-41.

[0065] In this case, in step ST3 of Figure 3, the driving control unit 35 identifies the merging lane S11 currently being traveled in and the main line connection lane S12 beyond it as the vehicle's own lane. In step ST4, the driving control unit 35 extracts surrounding vehicles 2 traveling in other lanes S13, and in steps ST5 to ST9, it performs processing on the surrounding vehicles 2.

[0066] Figure 8 is an explanatory diagram of the processing performed by the driving control unit 35 in Figure 3 on the surrounding vehicle 2 in the state shown in Figure 7. In Figure 8, the merging lane S11 of the high-precision map data 34 and the other lane S13 of the main road 101 are shown in relation to each other. The horizontal axis of Figure 8 represents the latitude in the coordinate system of the high-precision map data 34. The horizontal axis of Figure 8 represents the longitude in the coordinate system of the high-precision map data 34.

[0067] Automobile 1 is traveling in the merging lane S11 toward the merging section. The driving control unit 35 maps its own vehicle C1 to its first map matching position on the merging lane S11. At the first map matching position, vehicle C1 is mapped facing the detection direction. Surrounding vehicle 2 is traveling toward the merging section while deviating from another lane S13 on the main road 101. The driving control unit 35 determines that surrounding vehicle C2 is a vehicle not on a lane. Using the detection coordinates and detection direction of vehicle C1 acquired in step ST3 as a reference, the driving control unit 35 uses the relative detection direction θdict and relative detection distance position and direction of surrounding vehicle C2 acquired in step ST5 to acquire the detection position and detection direction of surrounding vehicle C1 in step ST6. In Figure 8, the relative detection direction is represented as θdict. The relative detection distance is represented by the width direction Xb and the front-rear direction Yb of vehicle C1. In the figure, Yawb is the low angle detected for the surrounding vehicle 2, relative to the orientation of the vehicle C1. In this way, the detected position and orientation of the surrounding vehicle C2 in the coordinate system of the high-precision map data 34 can be calculated using the sensor information of the vehicle C1.

[0068] Then, in step ST7, the driving control unit 35 identifies the other lane S13 closest to the detected position and direction of the surrounding vehicle C2 as the surrounding vehicle lane. In step ST8, the driving control unit 35 identifies the second map matching position for the surrounding vehicle C2 on the other lane S13. Using this information, the driving control unit 35 maps the vehicle C1 and the surrounding vehicle C2 to the merging lane S11 and the other lane S13 of the high-precision map data 34, as shown in Figure 8. As a result, the vehicle C1 is mapped to the first map matching position (LonA, latA) of the vehicle C1 on the merging lane S11. The vehicle width center axis Y0, which is the reference for the orientation of the vehicle C1, is at an angle θA with respect to the longitude direction. In contrast, the driving control unit 35 maps the surrounding vehicle C2 to the detected position (LonB, latB) instead of the second map matching position. The surrounding vehicle C2 is mapped to a position offset from another lane S13 in the coordinate system of the high-precision map data 34. Furthermore, the surrounding vehicle C2 is mapped in a direction shifted by the detection direction Yawb relative to the orientation of the vehicle C1. In other words, the surrounding vehicle C2 is mapped facing the detected direction of travel detected by the vehicle C1.

[0069] Then, in step ST31, the driving control unit 35 determines, based on the mapping in Figure 8, that the surrounding vehicle C2, which is traveling in a deviating direction, is heading towards the vehicle's lane, and in step ST32, it determines that the surrounding vehicle C2 and the vehicle C1 will interfere with each other. Figure 9 is an explanatory diagram of the ST chart used by the driving control unit 35 in Figure 3 to determine the possibility of interference in the state shown in Figure 7. Figure 9(A) is the ST chart of the merging lane S11, which is the vehicle's lane in which the vehicle C1 is traveling. Figure 9(B) is the ST chart of the temporary surrounding vehicle lane Step in which the surrounding vehicle C2 is traveling. Based on the situation in Figure 8, the driving control unit 35 generates the ST chart of the merging lane S11 in Figure 9(A) and the ST chart of the temporary surrounding vehicle lane Step in Figure 9(B). The driving control unit 35 generates a temporary surrounding vehicle lane Step extending in the direction of the surrounding vehicle C2 in Figure 8 for surrounding vehicle C2 that is traveling in a direction that deviates from another lane S13 toward its own lane, and generates the ST chart of the temporary surrounding vehicle lane Step in Figure 9(B). The driving control unit 35 also maps the portion of the route taken by the vehicle C1 based on its speed to the ST chart of the merging lane S11 in Figure 9(A). The driving control unit 35 also maps the portion of the route taken by the surrounding vehicle C2 based on its speed to the temporary surrounding vehicle lane Step in Figure 9(B).

[0070] Then, as shown in Figure 8, the surrounding vehicle lane Step and the merging lane S11, which is the vehicle's lane, intersect at coordinate P2. The driving control unit 35 uses the intersection coordinate P2 and the time T2 when the surrounding vehicle C2 passes the intersection coordinate P2 to copy the portion of the route taken by the surrounding vehicle C2 at its speed to the ST chart of the merging lane S11 in Figure 9(A). As a result, the ST chart of the merging lane S11 in Figure 9(A) maps the portion of the route taken by the vehicle C1 and the portion of the route taken by the surrounding vehicle C2, which is traveling in a way that deviates from the other lane S13. Using the ST chart of the merging lane S11 in Figure 9(A) generated in this way, the driving control unit 35 determines in step ST32 whether there is any interference between the surrounding vehicle C2, which is traveling in a way that deviates from the other lane S13, and the vehicle C1. For example, in the ST chart of the merging lane S11 in Figure 9(A), the route of the surrounding vehicle C2, shown by the dashed line, and the route of the vehicle C1, shown by the solid line, intersect. In this case, the driving control unit 35 determines that there is a possibility of interference between the surrounding vehicle C2 and the vehicle C1 at or near the intersection point P2. On the other hand, in the ST chart of the merging lane S11 in Figure 9(A), if the route of the surrounding vehicle C2, shown by the dashed line, and the route of the vehicle C1, shown by the solid line, do not intersect or approach each other to a predetermined distance or less, the driving control unit 35 may determine that there is no possibility of interference between the surrounding vehicle C2 and the vehicle C1. As a result, the driving control unit 35 can determine interference between the surrounding vehicle C2 and the vehicle C1 in the vehicle's lane, assuming that the surrounding vehicle C2 will continue to travel based on the behavior of the surrounding vehicle C2 detected by the vehicle C1's sensor.

[0071] Furthermore, in step ST33, the driving control unit 35 executes driving control to suppress any interference that it determined to be possible based on the sensor detection behavior in step ST32. For example, if it determines that there is a possibility of interference between the surrounding vehicle C2 and the vehicle C1 as shown in Figure 9(A), the driving control unit 35 executes driving control to slow down or accelerate the vehicle C1 to merge in order to suppress that interference. In this way, the driving control unit 35 can execute driving control that suppresses interference between the surrounding vehicle C2 and the vehicle C1 in the vehicle's lane. Conversely, if it determines in step ST32 that there is no possibility of interference between the surrounding vehicle C2 and the vehicle C1, the driving control unit 35 basically executes driving control that maintains the current driving state of the vehicle C1.

[0072] As a result, even if the surrounding vehicle C2 continues to travel in a manner that causes it to deviate from another lane S13 on the main road 101 towards the vehicle's lane, the vehicle C1 will be able to travel in a manner that avoids interference with the surrounding vehicle C2.

[0073] (Example where the vehicle merges onto the main road and surrounding vehicles deviate from the main road's connecting lane) When the vehicle merges onto the main road, it travels from the merging lane of the merging road towards the main road in the merging section. The merging lane is connected to the main road's connecting lane. In this case, the driving control unit sets the merging lane and the main road connecting lane to the vehicle's lane. The driving control unit also determines that if surrounding vehicles are traveling in the merging section in a way that causes them to deviate from the main road's connecting lane towards another lane on the main road, those surrounding vehicles are not in their lane. Furthermore, the driving control unit determines whether the surrounding vehicles are traveling towards the vehicle's lane. If the driving control unit determines that the surrounding vehicles are not in their lane and are not traveling towards their lane, it does not perform driving control to suppress interference between the vehicle and surrounding vehicles in the vehicle's lane.

[0074] (Specific Example) Figure 10 is an explanatory diagram showing the situation when car 1 in Figure 1 is traveling in the merging lane S11 toward the merging section with the main road 101. In Figure 10, surrounding vehicles 2 are traveling in a manner that deviates from the main road connection lane S12 of the main road 101 toward another lane S13.

[0075] In this case, in step ST3 of Figure 3, the driving control unit 35 identifies the merging lane S11 currently being traveled in and the main line connection lane S12 beyond it as the vehicle's own lane. In step ST4, the driving control unit 35 extracts the surrounding vehicle 2 traveling in the main line connection lane S12 as a vehicle not on its own lane, and in steps ST5 to ST10, it performs processing on the surrounding vehicle 2. Furthermore, in the processing from steps ST11 to ST16, the driving control unit 35 determines that the surrounding vehicle 2 is traveling in a manner that deviates from the main line connection lane S12, which is the surrounding vehicle lane.

[0076] In the case of Figure 10, unlike in the case of Figure 7, the driving control unit 35, in step ST31, determines, based on the mapping to the high-precision map data 34 corresponding to Figure 10, that the surrounding vehicle 2, which is traveling in a way that deviates from the main line connection lane S12, is not heading towards the vehicle's lane. Furthermore, in step ST34, the driving control unit 35 executes a driving control that basically maintains the current speed and merges in the merging lane S11, which is the vehicle's lane, without determining whether there is any interference between the surrounding vehicle 2 and the vehicle. In this way, when the driving control unit 35 determines that the surrounding vehicle 2, which is traveling in a way that deviates from the main line connection lane S12, which is the surrounding vehicle lane, is not heading towards the vehicle's lane, it executes a driving control that basically maintains the current speed and merges without determining whether there is any interference between the surrounding vehicle 2 and the vehicle.

[0077] (Example where the vehicle merges onto the main road and surrounding vehicles deviate from the main road's connecting lane) When the vehicle merges onto the main road, it travels from the merging lane towards the main road's connecting lane in the merging section. In this case, the driving control unit sets the merging lane and the main road's connecting lane as the vehicle's lane. The driving control unit also determines that surrounding vehicles are vehicles on the lane if they are traveling along the main road's connecting lane in the merging section. Furthermore, the driving control unit determines whether the surrounding vehicle's lane is the vehicle's lane. If the surrounding vehicle's lane is the vehicle's lane, the driving control unit performs map matching of the surrounding vehicle and the vehicle against map data to determine interference between the surrounding vehicle and the vehicle, and executes driving control to suppress interference between the surrounding vehicle and the vehicle in the vehicle's lane.

[0078] (Specific Example) Figure 11 is an explanatory diagram showing the situation when car 1 in Figure 1 is traveling in the merging lane S11 toward the merging section with the main road 101. In Figure 11, surrounding vehicles 2 are traveling along the main road connection lane S12 of the main road 101.

[0079] In this case, in step ST3 of Figure 3, the driving control unit 35 identifies the merging lane S11 currently being traveled in and the main line connection lane S12 beyond it as its own lane. In step ST4, the driving control unit 35 extracts the surrounding vehicle 2 traveling in the main line connection lane S12 as a vehicle on the lane, and in steps ST5 to ST10, it performs processing on the surrounding vehicle 2. Furthermore, in the processing from steps ST11 to ST16, the driving control unit 35 determines that the surrounding vehicle 2 is traveling along the main line connection lane S12, which is the surrounding vehicle lane.

[0080] In the case of Figure 11, the driving control unit 35, in step ST21, determines, based on mapping to high-precision map data 34 corresponding to Figure 11, that the main line connection lane S12, which is the surrounding vehicle lane where the surrounding vehicle 2 is traveling, is included in the vehicle's lane. In step ST22, the driving control unit 35 determines the possibility of interference between the vehicle and the surrounding vehicle 2 based on map matching on the high-precision map data 34. For example, the driving control unit 35 generates ST charts for the merging lane S11 as the vehicle's lane and for the main line connection lane S12, and maps the predicted trajectory of the vehicle from the current point in time with the predicted trajectory of the surrounding vehicle 2. In this case, the current position of the vehicle and the current position of the surrounding vehicle 2 can be the respective map matching positions. If the predicted trajectory of the vehicle and the predicted trajectory of the surrounding vehicle 2 intersect on the ST chart, or if they approach each other by more than the distance between vehicles, the driving control unit 35 determines that there is a possibility of interference between the vehicle and the surrounding vehicle 2. In contrast, if the predicted trajectory of the vehicle itself and the predicted trajectory of the surrounding vehicle 2 do not approach each other beyond the distance between vehicles on the ST chart, the driving control unit 35 determines that there is no possibility of interference between the vehicle itself and the surrounding vehicle 2.

[0081] Furthermore, in step ST23, the driving control unit 35 executes driving control to slow down or accelerate its own vehicle to merge, in order to suppress the interference that it determined to be possible based on map matching in step ST22. As a result, the driving control unit 35 can execute driving control that suppresses interference between the vehicle and surrounding vehicles 2 in the main line connection lane S12, which is one of the vehicle's lanes. Conversely, if it is determined in step ST22 that there is no possibility of interference between the vehicle and surrounding vehicles 2, the driving control unit 35 basically executes driving control that maintains the vehicle's current driving state.

[0082] (Example where the vehicle is traveling in the main lane connection lane of the main road, and surrounding vehicles are merging from the merging lane of the merging road) When the vehicle is traveling in the main lane connection lane of the main road in a road merging section, the driving control unit sets the main lane connection lane to the vehicle's lane. Also, if a surrounding vehicle is traveling in a way that deviates from the merging lane toward the main lane connection lane in the merging section, the driving control unit determines that the surrounding vehicle is a vehicle not in its lane. Furthermore, the driving control unit determines that the surrounding vehicle is traveling toward the vehicle's lane. Then, based on the behavior of the surrounding vehicle detected by the sensor, the driving control unit determines that the surrounding vehicle will continue to travel and determines whether there will be any interference between the surrounding vehicle and the vehicle in the vehicle's lane. The driving control unit executes driving control to suppress interference between the surrounding vehicle and the vehicle in the vehicle's lane.

[0083] (Specific Example) Figure 12 is an explanatory diagram showing the situation in which the car 1 in Figure 1 is traveling in the main road connection lane S12 of the main road 101 toward the merging section with the merging lane S11. In Figure 12, the surrounding vehicles 2 are traveling in a manner that deviates from the merging lane S11 toward the main road connection lane S12.

[0084] In this case, in step ST3 of Figure 3, the driving control unit 35 identifies the main line connection lane S12, which the vehicle is currently traveling in, as its own lane. In step ST4, the driving control unit 35 extracts the surrounding vehicle 2 traveling in the merging lane S11 as a vehicle not on its own lane, and in steps ST5 to ST10, it performs processing on the surrounding vehicle 2. Furthermore, in the processing from steps ST11 to ST16, the driving control unit 35 determines that the surrounding vehicle 2 is traveling in a manner that deviates from the main line connection lane S12, which is the surrounding vehicle lane.

[0085] In the case of Figure 12, the driving control unit 35 determines in step ST31 that the surrounding vehicle 2 is traveling in a manner that deviates toward the vehicle's lane, based on the mapping to the high-precision map data 34 corresponding to Figure 12. In step ST32, the driving control unit 35 determines the possibility of interference between the vehicle and the surrounding vehicle 2 based on the sensor detection behavior. For example, the driving control unit 35 generates an ST chart for the main line connection lane S12 as the vehicle's lane and an ST chart for the temporary surrounding vehicle lane Step, and maps the predicted trajectory of the vehicle from the current point in time and the predicted trajectory of the surrounding vehicle 2 to these. If the predicted trajectory of the vehicle and the predicted trajectory of the surrounding vehicle 2 intersect on the ST chart, or if they approach each other by more than the distance between vehicles, the driving control unit 35 determines that there is a possibility of interference between the vehicle and the surrounding vehicle 2. In contrast, if the predicted trajectory of the vehicle itself and the predicted trajectory of the surrounding vehicle 2 do not approach each other beyond the distance between vehicles on the ST chart, the driving control unit 35 determines that there is no possibility of interference between the vehicle itself and the surrounding vehicle 2. As a result, the driving control unit 35 can determine whether the surrounding vehicle 2 will continue to travel based on the behavior of the surrounding vehicle 2 detected by the vehicle's sensors, and thus determine whether there will be any interference between the vehicle and the surrounding vehicle 2 in the vehicle's lane.

[0086] Furthermore, in step ST33, the driving control unit 35 executes driving control to decelerate or accelerate its own vehicle C1 to merge, in order to suppress the interference that it determined to be possible in step ST32. As a result, the driving control unit 35 can execute driving control that suppresses interference between the surrounding vehicle 2 and the own vehicle in the main line connection lane S12, which is the vehicle's lane. Conversely, if it is determined in step ST32 that there is no possibility of interference between the surrounding vehicle 2 and the own vehicle, the driving control unit 35 basically executes driving control that maintains the current driving of the own vehicle C1.

[0087] (Example: Your vehicle is traveling around a corner, and surrounding vehicles are traveling in the opposite direction on the inside of the oncoming lane around the corner) When your vehicle is traveling in the first lane of a road that includes multiple lanes, the driving control unit sets the first lane to your vehicle's lane. The first lane may be the lane on the inside of the corner or the lane on the outside. The driving control unit also determines that if a surrounding vehicle is traveling in a manner that deviates from the second lane of the road towards the first lane, the surrounding vehicle is a vehicle that is not in its lane. Furthermore, the driving control unit determines whether the surrounding vehicle is traveling toward your vehicle's lane. If the driving control unit determines that the surrounding vehicle is a vehicle that is not in its lane and is traveling toward your vehicle's lane, it determines whether there is interference between your vehicle and the surrounding vehicle in your lane and executes driving control to suppress interference between your vehicle and the surrounding vehicle in your lane. At this time, the driving control unit may determine whether there is interference between your vehicle and the surrounding vehicle in your lane based on the behavior of the surrounding vehicle detected by the sensor, assuming that the surrounding vehicle will continue to travel.

[0088] (Specific Example) Next, let's explain the driving situation in Figure 1. In Figure 1, car 1 is driving in the outer lane of the corner of road 100. Surrounding vehicle 2 is driving in the inner lane of the corner of road 100. Here, the outer lane S21 is the first lane of road 100, and the inner lane S22 is the second lane of road 100.

[0089] In this case, in step ST3 of Figure 3, the driving control unit 35 identifies the outer lane S21, which the vehicle is currently traveling in, as its own lane. In step ST4, the driving control unit 35 extracts the surrounding vehicle 2, which is traveling in a manner that deviates from the inner lane S22, as a vehicle not on its lane, and performs processing on the surrounding vehicle 2 in steps ST5 to ST10. Furthermore, in the processing from steps ST11 to ST16, the driving control unit 35 determines that the surrounding vehicle 2 is traveling in a manner that deviates from the inner lane S22, which is the surrounding vehicle lane.

[0090] In the case of Figure 1, the driving control unit 35 determines in step ST31 that the surrounding vehicle 2 is traveling in a manner that deviates toward the vehicle's lane, based on the mapping to the high-precision map data 34 corresponding to Figure 1. In step ST32, the driving control unit 35 determines the possibility of interference between the vehicle and the surrounding vehicle 2 based on the sensor detection behavior. For example, the driving control unit 35 generates an ST chart for the outer lane S21 as the vehicle's lane and an ST chart for the temporary surrounding vehicle lane Step, and maps the predicted trajectory of the vehicle from the current point in time and the predicted trajectory of the surrounding vehicle 2 to these. If the predicted trajectory of the vehicle and the predicted trajectory of the surrounding vehicle 2 intersect on the ST chart, or if they approach each other by more than the distance between vehicles, the driving control unit 35 determines that there is a possibility of interference between the vehicle and the surrounding vehicle 2. In contrast, if the predicted trajectory of the vehicle itself and the predicted trajectory of the surrounding vehicle 2 do not approach each other beyond the distance between vehicles on the ST chart, the driving control unit 35 determines that there is no possibility of interference between the vehicle itself and the surrounding vehicle 2. As a result, the driving control unit 35 can determine whether the surrounding vehicle 2 will continue to travel based on the behavior of the surrounding vehicle 2 detected by the vehicle's sensors, and thus determine whether there will be any interference between the vehicle and the surrounding vehicle 2 in the vehicle's lane.

[0091] Furthermore, in step ST33, the driving control unit 35 executes driving control to decelerate, accelerate, or steer the vehicle in order to suppress any interference that it determined to be possible in step ST32. Here, steering control may be steering to change lanes to the inner lane S22. This allows the driving control unit 35 to execute driving control that suppresses interference between the vehicle and surrounding vehicles 2 in the outer lane S21, which is the vehicle's own lane. Conversely, if it is determined in step ST32 that there is no possibility of interference between the vehicle and surrounding vehicles 2, the driving control unit 35 basically executes driving control that maintains the vehicle's current driving state.

[0092] (Example of a preceding vehicle deviating from the vehicle's lane into another lane) When the vehicle is traveling in the first lane of a road with multiple lanes, the driving control unit sets the first lane as the vehicle's lane. The driving control unit also determines that a preceding vehicle, which is a surrounding vehicle, is changing lanes so as to deviate from the first lane into the second lane of the road. Furthermore, the driving control unit determines whether the surrounding vehicle is traveling towards the vehicle's lane. In this case, the surrounding vehicle is not traveling towards the vehicle's lane. If the driving control unit determines that the surrounding vehicle is a non-lane vehicle and is not traveling towards the vehicle's lane, it does not perform driving control to suppress interference between the vehicle and the surrounding vehicle in the vehicle's lane.

[0093] (Specific Example) Figure 13 is an explanatory diagram showing the situation in which the car 1 in Figure 1 is traveling along the first lane of a two-lane road 103. In Figure 13, the surrounding vehicle 2, acting as a preceding vehicle, is traveling in a way that causes it to deviate from the first lane S31 to the second lane S32 of the two-lane road 103 in order to change lanes.

[0094] In this case, in step ST3 of Figure 3, the driving control unit 35 identifies the first lane S31, which the vehicle is currently traveling in, as its own lane. In step ST4, the driving control unit 35 extracts surrounding vehicles 2 that are traveling in a manner that deviates from the first lane S31 as vehicles not on the lane, and in steps ST5 to ST10, it performs processing on surrounding vehicles 2. Furthermore, in the processing from steps ST11 to ST16, the driving control unit 35 determines that surrounding vehicles 2 are traveling in a manner that deviates from the first lane S31, which is the surrounding vehicle lane.

[0095] In the case of Figure 13, the driving control unit 35 determines in step ST31, based on the mapping to the high-precision map data 34 corresponding to Figure 13, that the surrounding vehicle 2 is not traveling in a manner that deviates toward the vehicle's lane. Furthermore, in step ST34, the driving control unit 35 executes a driving control that basically maintains the current speed and merges in the first lane S31, which is the vehicle's lane, without determining whether there is any interference between the surrounding vehicle 2 and the vehicle. Thus, when the driving control unit 35 determines that the surrounding vehicle 2, which is traveling in a manner that deviates from the first lane S31, which is the surrounding vehicle lane, is not traveling toward the vehicle's lane, it executes a driving control that basically maintains the current speed and merges without determining whether there is any interference between the surrounding vehicle 2 and the vehicle.

[0096] (Example of a preceding vehicle deviating from its own lane into another road lane, etc.) When the vehicle is traveling in the first lane of the road, the driving control unit sets the first lane as the vehicle's lane. If a preceding vehicle, which is a surrounding vehicle, is traveling in a manner that deviates from the first lane of the road into another road lane, etc., the driving control unit determines that the surrounding vehicle is a vehicle not in its lane. Furthermore, the driving control unit determines whether the surrounding vehicle is traveling toward the vehicle's lane or not. In this case, the preceding vehicle, which is a surrounding vehicle, is not traveling toward the vehicle's lane. If the driving control unit determines that the surrounding vehicle is a vehicle not in its lane and is not traveling toward the vehicle's lane, it does not perform driving control to suppress interference between the surrounding vehicle and the vehicle in the vehicle's lane.

[0097] (Specific Example) Figure 14 is an explanatory diagram showing the situation in which the automobile 1 in Figure 1 is traveling along the first lane of a single-lane road 104. In Figure 14, the surrounding vehicle 2, acting as a preceding vehicle, is traveling in a manner that deviates from the first lane S41 toward a side road 105 connected to the single-lane road 104.

[0098] In this case, in step ST3 of Figure 3, the driving control unit 35 identifies the first lane S41, which the vehicle is currently traveling in, as its own lane. In step ST4, the driving control unit 35 extracts surrounding vehicles 2 that are traveling in a manner that deviates from the first lane S41 to another road, the side road 105, as vehicles not on the lane, and performs processing on surrounding vehicles 2 in steps ST5 to ST10. Furthermore, in the processing from steps ST11 to ST16, the driving control unit 35 determines that surrounding vehicles 2 are traveling in a manner that deviates from the first lane S41, which is the surrounding vehicle lane, to another road.

[0099] In the case of Figure 14, the driving control unit 35 determines in step ST31, based on the mapping to the high-precision map data 34 corresponding to Figure 13, that the surrounding vehicle 2 is not traveling in a manner that deviates toward the vehicle's lane. Furthermore, in step ST34, the driving control unit 35 executes a driving control that basically maintains the current speed and merges in the first lane S41, which is the vehicle's lane, without determining whether there is any interference between the surrounding vehicle 2 and the vehicle. Thus, when the driving control unit 35 determines that the surrounding vehicle 2, which is traveling in a manner that deviates from the first lane S41, which is the surrounding vehicle lane, is not traveling toward the vehicle's lane, it executes a driving control that basically maintains the current speed and merges without determining whether there is any interference between the surrounding vehicle 2 and the vehicle.

[0100] The embodiments described above are examples of preferred embodiments of the present invention, but the present invention is not limited thereto, and various modifications or changes are possible without departing from the spirit of the invention.

[0101] (Modification) In the embodiment described above, the driving control unit 35 uses a temporary surrounding vehicle lane ST chart to determine the possibility of interference between the vehicle and a surrounding vehicle 2 that is traveling in a manner deviating from the surrounding vehicle lane. Alternatively, for example, the driving control unit 35 may determine the possibility of interference between the vehicle and the surrounding vehicle 2 based on the mapping of the surrounding vehicle 2 and the vehicle to high-precision map data 34. Furthermore, if there is a vehicle traveling outside the lane that is deviating from the surrounding vehicle lane, the driving control unit 35 may always execute driving control that stops before approaching the vehicle outside the lane. However, by using a temporary surrounding vehicle lane ST chart as in the embodiment described above to perform interference determination based on the sensor detection behavior of the surrounding vehicle 2 and driving control that suppresses such interference, the vehicle can continue driving while avoiding interference with the vehicle outside the lane, even when such a vehicle is present.

[0102] In the embodiment described above, the driving control unit 35 determines whether a surrounding vehicle 2 is traveling in a manner that deviates from the surrounding vehicle lane based on both the angle difference and the position difference. Alternatively, for example, the driving control unit 35 may determine whether a surrounding vehicle 2 is traveling in a manner that deviates from the surrounding vehicle lane based on only one of the angle difference and the position difference. However, when determining lane departure based on both the angle difference and the position difference, the driving control unit 35 can determine that a surrounding vehicle 2 has started to travel in a manner that deviates from the lane, even if, for example, the position of the surrounding vehicle 2 is not significantly offset from the center of the lane.

[0103] 1...Automobile (vehicle), C1...Own vehicle, 2, C2...Surrounding vehicles, 10...Control system, 11...Sensor control device, 12...Driving control device, 12...Step ST, 13...Drive control device, 14...Steering control device, 15...Brake control device, 19...Vehicle network, 21...GNSS receiver, 22...External camera, 23...Accelerometer, 31...Network device, 32...Memory, 33...CPU, 34...High-precision map data, 35...Driving control unit, 36...Timer, 39...Internal bus, 100...Single-lane road, 101...Main road, 102...Merging road, 103...Two-lane road, 104...Single-lane road, 105...Side road, S11...Merging lane, S12...Main road connection lane, S13...Another lane, S21...Outer lane, S22...Inner lane, S31...First lane, S32...Second lane, S41...First lane

Claims

1. A vehicle driving control device comprising: a memory for recording map data including lane information of the road on which the vehicle is traveling; a driving control unit that identifies the vehicle's lane and a first map matching position in the map data in which the vehicle is traveling, and executes driving control for driving in the vehicle's lane; and a sensor for detecting surrounding vehicles of the vehicle, wherein the driving control unit calculates the relative detection direction and relative detection distance of the surrounding vehicle detected by the sensor with respect to the vehicle, identifies the surrounding vehicle lane in the map data in which the surrounding vehicle is traveling using the relative detection direction and relative detection distance, and, if it is determined that the surrounding vehicle is deviating from the surrounding vehicle lane and attempting to travel toward the vehicle's lane, executes driving control to suppress interference with the surrounding vehicle.

2. The vehicle driving control device according to claim 1, wherein the driving control unit identifies the surrounding vehicle lane in which the surrounding vehicle is traveling in the map data by map matching using the first map matching position of the own vehicle and the relative detection direction and relative detection distance of the surrounding vehicle with respect to the own vehicle, determines whether the surrounding vehicle is a lane vehicle traveling along the surrounding vehicle lane or a non-lane vehicle not traveling along the surrounding vehicle lane, and if the surrounding vehicle, as a non-lane vehicle, is traveling in the surrounding vehicle lane toward the side of the own vehicle lane, the driving control unit executes driving control to suppress interference with the surrounding vehicle, assuming that the surrounding vehicle is deviating from the surrounding vehicle lane and traveling toward the own vehicle lane.

3. The vehicle driving control device according to claim 2, wherein the driving control unit determines whether the surrounding vehicle is a vehicle traveling along the surrounding vehicle lane or a vehicle not traveling along the surrounding vehicle lane, based on at least one of the following: the angle difference between the lane direction of the surrounding vehicle lane at the second map matching position for the surrounding vehicle to the surrounding vehicle lane and the detected direction of travel of the surrounding vehicle detected by the vehicle itself, and the position difference between the second map matching position and the detected position of the surrounding vehicle detected by the vehicle itself.

4. The vehicle driving control device according to claim 3, wherein the driving control unit determines that the surrounding vehicle is a non-lane vehicle that is not driving along the surrounding vehicle lane if any of the following conditions are met: first, the angle difference is greater than or equal to a first angle threshold; second, the position difference is greater than or equal to a first position threshold; or third, the angle difference is greater than or equal to a second angle threshold that is less than the first angle threshold, and the position difference is greater than or equal to a second threshold that is less than the first position threshold.

5. The vehicle driving control device according to claim 4, wherein the driving control unit uses the vehicle's coordinates in the coordinate system of the map data to determine the relative detection direction and relative detection distance of the surrounding vehicle as the detection coordinates of the surrounding vehicle; uses the detection coordinates of the surrounding vehicle to identify the surrounding vehicle lane in which the surrounding vehicle is traveling from the map data; maps the detection coordinates of the surrounding vehicle to the identified surrounding vehicle lane to obtain the second map matching position of the surrounding vehicle; and obtains the angular difference between the detected direction of travel of the surrounding vehicle and the lane direction of the surrounding vehicle lane at the second map matching position, and the positional difference between the detection coordinates of the surrounding vehicle and the second map matching position, based on the map data.

6. The vehicle driving control device according to claim 5, wherein the driving control unit determines whether the surrounding vehicle, as a non-lane vehicle, is heading toward the vehicle's lane, based on the direction of departure of the surrounding vehicle in the surrounding vehicle lane and the positional relationship between the surrounding vehicle lane and the vehicle's lane in the map data.

7. The vehicle driving control device according to claim 6, wherein the driving control unit determines that the surrounding vehicle, as a non-lane vehicle, has deviated from the surrounding vehicle lane and is driving toward the vehicle's lane, determines the possibility of interference with the vehicle based on the behavior of the surrounding vehicle detected by the sensor, assuming that the surrounding vehicle will continue to drive, and executes driving control to suppress interference between the surrounding vehicle and the vehicle.

8. The vehicle driving control device according to claim 1, wherein the driving control unit determines whether the surrounding vehicle is heading toward the vehicle's lane based on the direction of departure of the surrounding vehicle in the surrounding vehicle lane and the positional relationship between the surrounding vehicle lane and the vehicle's lane in the map data.

9. The vehicle driving control device according to claim 8, wherein the driving control unit determines that the surrounding vehicle has deviated from the surrounding vehicle lane and is driving toward the vehicle's lane, determines the possibility of interference with the vehicle based on the behavior of the surrounding vehicle detected by the sensor, assuming that the surrounding vehicle will continue to drive, and executes driving control to suppress interference between the surrounding vehicle and the vehicle.

10. The vehicle driving control device according to any one of claims 1 to 9, wherein when the vehicle is traveling from a merging lane in a road merging section toward a main road connection lane toward which the merging lane is connected, the driving control unit sets the merging lane and the main road connection lane toward the vehicle's lane, and when it determines that a surrounding vehicle has deviated from another lane on the main road in the merging section toward the main road connection lane, the driving control unit determines interference between the surrounding vehicle and the vehicle in the vehicle's lane, assuming that the surrounding vehicle will continue to travel based on the behavior of the surrounding vehicle detected by the sensor, and executes driving control to suppress interference between the surrounding vehicle and the vehicle in the vehicle's lane.

11. The vehicle driving control device according to any one of claims 1 to 9, wherein when the vehicle is traveling from a merging lane in a road merging section toward a main road connection lane toward which the merging lane is connected, the driving control unit sets the merging lane and the main road connection lane toward the vehicle's lane, and when it determines that a surrounding vehicle has deviated from the main road connection lane toward another lane in the merging section, it does not perform driving control to suppress interference between the surrounding vehicle and the vehicle in the vehicle's lane.

12. The vehicle driving control device according to any one of claims 1 to 9, wherein when the vehicle is driving from a merging lane in a road merging section toward a main road connection lane toward which the merging lane is connected, the driving control unit sets the merging lane and the main road connection lane toward the vehicle's lane, and when it determines that a surrounding vehicle is driving along the main road connection lane toward the main road in the merging section, it maps the surrounding vehicle and the vehicle toward the map data to determine interference between the surrounding vehicle and the vehicle, and executes driving control to suppress interference between the surrounding vehicle and the vehicle toward the vehicle's lane.

13. The vehicle driving control device according to any one of claims 1 to 9, wherein the driving control unit, when the vehicle is traveling in the main lane connection lane of the main road in a road merging section, sets the main lane connection lane to the vehicle's lane, and when it determines that a surrounding vehicle has deviated from the merging lane in the merging section and is traveling toward the main lane connection lane, determines interference between the surrounding vehicle and the vehicle in the vehicle's lane based on the behavior of the surrounding vehicle detected by the sensor, assuming that the surrounding vehicle will continue to travel, and executes driving control to suppress interference between the surrounding vehicle and the vehicle in the vehicle's lane.

14. The vehicle driving control device according to any one of claims 1 to 9, wherein the driving control unit sets the first lane as the vehicle's lane when the vehicle is traveling in the first lane of a road that includes multiple lanes, and when it determines that a surrounding vehicle has deviated from the second lane of the road and is traveling toward the first lane, it determines interference between the surrounding vehicle and the vehicle in the vehicle's lane based on the behavior of the surrounding vehicle detected by the sensor, assuming that the surrounding vehicle will continue to travel, and executes driving control to suppress interference between the surrounding vehicle and the vehicle in the vehicle's lane.

15. A vehicle driving control device according to any one of claims 1 to 9, wherein the driving control unit sets the first lane as the vehicle's lane when the vehicle is traveling in the first lane of a road that includes multiple lanes, and when it determines that a surrounding vehicle is deviating from the first lane and changing lanes toward the second lane of the road, it does not perform driving control to suppress interference between the vehicle and the surrounding vehicle in the vehicle's lane.

16. The vehicle driving control device according to any one of claims 1 to 9, wherein the driving control unit sets the first lane as the vehicle's lane when the vehicle is traveling in the first lane of the road, and does not perform driving control to suppress interference between the vehicle and the surrounding vehicle in the vehicle's lane when it determines that the surrounding vehicle is traveling in a manner that deviates from the first lane of the road.

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