Driving control method and driving control device

Abstract

A processor 10 that executes a driving control method for causing a host vehicle to autonomously travel cancels execution of driving control on the basis of an operation amount of a steering wheel of a host vehicle V1 by a driver, and makes it more difficult to cancel execution of driving control based on first sequence control, which is for causing the host vehicle V1 to change lanes from a traveling lane to an adjacent lane, when the steering wheel is operated by the driver while the first sequence control is being executed than when the steering wheel is operated by the driver while the first sequence control is not being executed.

Description

Driving control method and driving control device

[0001] The present invention relates to a vehicle driving control method and a vehicle driving control device.

[0002] There is a known technology that cancels automatic driving control when a state where the absolute value of steering torque is equal to or greater than a predetermined first threshold continues for a predetermined time or longer, and the absolute value of a moving average is equal to or greater than a predetermined second threshold.

[0003] Japanese Unexamined Patent Publication No. 2020-1446

[0004] However, depending on the control content, there are cases where it is better to make it harder to cancel driving control, and cases where it is better to make it easier to cancel driving control.

[0005] The problem to be solved by the present invention is to change the ease of canceling driving control according to control content.

[0006] In the process of canceling the execution of driving control based on the amount of steering operation by a driver, when the steering is operated while first sequence control for changing the lane of the own vehicle from a traveling lane to an adjacent lane is being executed, the present invention solves the above problem by making it harder to cancel the execution of driving control than when the steering is operated when the first sequence control is not being executed.

[0007] According to the present invention, the ease of canceling driving control can be changed according to control content.

[0008] FIG. 1 is a block diagram showing the hardware configuration of a driving control system. FIG. 2 is a flowchart showing a processing procedure of driving control. FIG. 3 is a diagram explaining the timing of changing a first threshold to a second threshold.

[0009] Figure 1 shows the hardware configuration of a driving control system 100 equipped with a driving control device 1 according to this embodiment. This driving control method performs driving control to automatically drive the vehicle to be controlled. This driving control method is implemented using the hardware of the driving control system 100, including the processor 10 of the driving control device 1. The driving control system 100 includes one or more sensors 2, a vehicle information acquisition device 3, an other vehicle information acquisition device 4, a navigation device 5, and a vehicle actuator 6. The driving control device 1 and each of the above devices are connected by a CAN (Controller Area Network) or other wired / wireless in-vehicle LAN and exchange information with each other. Each device may be a device mounted on the vehicle, or it may be a portable terminal device that can be brought into the passenger compartment and connected to the in-vehicle LAN.

[0010] Multiple sensors 2 are installed on the vehicle, forming a group of sensors that work together. Sensors 2 detect the presence or absence of objects, including other vehicles, around the vehicle, the distance to the objects, the relative velocity of the objects, and the relative acceleration of the objects. Sensors 2 also detect other vehicles traveling in front of, behind, and to the left and right sides of the vehicle (oncoming lane, adjacent lane, and adjacent adjacent lane).

[0011] Sensor 2 includes one or more cameras 21 positioned on the vehicle. One or more cameras 21 capture images of the vehicle's surroundings in all directions. Cameras 21 include image sensors equipped with image elements such as CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor), ultrasonic cameras, or infrared cameras. Sensor 2 recognizes lane markings present between the driving lane and adjacent lanes based on the imaging information from the cameras 21. Sensor 2 includes a radar device 22 that detects (measures distances to) the presence, position, and position changes of objects around the vehicle. The radar device 22 measures the distance and direction to an object by emitting electromagnetic waves toward the object and measuring the reflected waves. The radar device 22 includes laser radar, millimeter-wave radar, LiDAR (light detection and ranging) unit, ultrasonic radar, or sonar. Sensor 2 can acquire information about the surrounding environment from an external information provider via a communication device provided by the driving control device 1. The information provider may be an external server that collects detection information from sensors installed on the roadside. Sensor 2 can acquire information about other vehicles, including their speed, and information about the surrounding environment of other vehicles through vehicle-to-vehicle communication via communication devices provided by the driving control devices of other vehicles and its own vehicle. Each sensor 2 outputs the acquired detection information to the vehicle information acquisition device 3, the other vehicle information acquisition device 4, or the processor 10 in response to a request or command. The processor 10 may acquire detection information directly from the camera 21 and radar device 22, or it may acquire detection information via the vehicle information acquisition device 3 and the other vehicle information acquisition device 4.

[0012] Sensor 2 detects contact / non-contact between the vehicle's steering wheel and the driver. Sensor 2 includes a hands-on / hands-off detection sensor using a capacitive sensor, an infrared sensor, or a piezoresistive sensor. Sensor 2 acquires one or more of the following as steering operation amounts from the vehicle controller (ECU: Electronic Control Unit): steering amount (steering angle), steering speed (steering angular velocity), and steering force (steering torque). Sensor 2 also acquires the timing when the driver contacts the steering wheel and the amount of operation within a predetermined time after the driver touches the steering wheel (hands-on detection), or the time from when the driver touches the steering wheel until the predetermined amount of operation is performed, as steering operation amounts.

[0013] The vehicle information acquisition device 3 calculates the vehicle's current position, attitude, speed, acceleration, behavior, and direction of travel based on detection information acquired from the sensor 2, and provides this information to the processor 10. The vehicle information acquisition device 3 includes a position detection device 31. The position detection device 31 receives positioning signals from a GNSS (Global Navigation Satellite System) and detects the vehicle's position. The position detection device 31 includes an IMU (Inertial Measurement Unit). The IMU is an inertial measurement device that detects three-dimensional inertial motion, and by measuring the tilt and acceleration of three axes, it detects the vehicle's relative position information and attitude. The position detection device 31 further detects the vehicle's position using detection information from a gyro sensor and / or detection information from a vehicle speed sensor. The position detection device 31 detects the position (current position) of the moving vehicle over time and detects the position at each point in time. The position detection device 31 may also be provided in the navigation device 5, which will be described later. The position detection device 31 provides the detection results to the processor 10. The other vehicle information acquisition device 4 calculates the position, attitude, speed, acceleration, behavior, and direction of travel of objects, including other vehicles, around the vehicle based on the detection information acquired from the sensor 2, and provides this information to the processor 10.

[0014] The navigation device 5 calculates a route to a set destination by referring to map information 51 and lane information 52. This route includes a target trajectory in which the lane to be driven is identified. The route and target trajectory calculated by the navigation device 5 are provided to the actuator 6 and used for autonomous driving. The map information 51 and lane information 52 are recorded in an in-vehicle storage device or an external server accessible via a communication device provided by the processor 10. The map information 51 is high-precision map information that includes lane information 52 which is referenced in the execution of automatic lane change control. The lane information 52 includes identification information that identifies each of the multiple lanes belonging to the road. The navigation device 5 includes a touch panel type display 53 that accepts input and a speaker 54 with a built-in microphone. The navigation device 5 presents information to the driver via the display 53 and / or speaker 54 and accepts input from the driver.

[0015] The actuator 6 comprises a steering device 61, a drive device 62, and a braking device 63. The actuator 6 acquires command values ​​for automatic driving control according to a driving plan formulated by the processor 10, and drives the vehicle to automatically travel along the route to the destination in accordance with the input of longitudinal and lateral forces that control the vehicle's driving position based on the command values. The command values ​​may include only lateral force (steering), only longitudinal force (driving / braking), or both lateral and longitudinal force. The driving control may operate only the steering device 61 of the actuator 6, only the drive device 62 and braking device 63, or both of these.

[0016] The processor 10 of the driving control device 1 performs both autonomous driving control, which automatically drives the vehicle, and manual driving control, which includes manual driving based on driver input. The processor 10 includes a ROM (Read Only Memory) 12 that stores programs for controlling automatic or manual driving, a CPU (Central Processing Unit) 11 that executes the programs stored in the ROM 12, and a RAM (Random Access Memory) 13 that functions as an accessible storage device. In this embodiment, the processor 10 executes each function by coordinating software that realizes the function of executing autonomous driving control, including lane changes, the function of canceling the execution of driving control that is currently being performed, and the function of controlling how easy or difficult it is to cancel the execution, with the hardware of the driving control system 100 shown in Figure 1.

[0017] The processor 10 executes driving control (lane change control) to change the vehicle's lane from the driving lane to an adjacent lane. The lane change is achieved by executing a first sequence control. The first sequence control causes the vehicle to perform a series of actions in a specific order to change lanes, moving from the driving lane to an adjacent lane. The first sequence control is executed when it is determined that a lane change is necessary for the vehicle to reach its destination. The first sequence control includes one or more control processes, such as determining whether the lane change conditions are met or not, determining the position or timing of the lane change, notifying the driver of the lane change (notifying the driver and the surrounding area), and driving control of the vehicle. The driving control based on the first sequence control includes at least steering control to change the lateral position of the vehicle, which is executed to change the vehicle's lane from the driving lane to an adjacent lane. The driving control based on the first sequence control may also include drive control or braking control to adjust the distance between the vehicle and other vehicles traveling in the adjacent lane. The first sequence control can also be referred to as the lane change sequence.

[0018] The processor 10 determines whether a lane change is necessary. The processor 10 determines that a lane change is necessary when the vehicle approaches a point where a lane change is required. The processor 10 starts the first sequence control at the timing when it determines that a lane change is necessary. Specifically, the processor 10 starts the first sequence control at the timing when the distance between the point or area where a lane change is required and the vehicle's current position is less than a predetermined distance, and it is predicted that lateral movement for a lane change will begin within a predetermined distance from the current position.

[0019] The first sequence control may include a process for determining whether or not the lane change conditions are met, in order to determine whether or not a lane change can be performed. Although not particularly limited, the determination of whether or not the lane change conditions are met may be based on whether or not a target movement area has been set in which a safe distance has been secured between the vehicle and other vehicles traveling in adjacent lanes.

[0020] The first sequence control includes driving control that causes the vehicle to perform a lane change. The driving control that performs a lane change includes at least steering control that moves the vehicle laterally from the driving lane to the adjacent lane. The driving control that performs a lane change may also include drive control or braking control that adjusts the distance between the vehicle and other vehicles. In the driving control that performs a lane change, the processor 10 performs control that moves the vehicle laterally from the driving lane to the adjacent lane, and control that adjusts the lateral position of the vehicle so that the center of the vehicle's width after moving to the adjacent lane is located at the center of the road width of the adjacent lane. Prior to the start of the vehicle's lateral movement, the driving control that performs a lane change may include processing that indicates the start of a lane change on an in-vehicle display or the like, and processing that illuminates the turn signal on the adjacent lane side.

[0021] When autonomous driving is in progress, if the driver operates the steering wheel, the processor 10 cancels the execution of the driving control based on the amount of steering input. Specifically, if the amount of steering input by the driver is greater than or equal to a predetermined threshold, the execution of the driving control being performed is canceled. Upon cancellation of the driving control, the processor 10 at least stops the automatic steering control and transfers the initiative of steering operation to the driver. Upon cancellation of the driving control, the accelerator and brakes may also be transferred to the driver. Once the driving control is canceled, the actuator 6 performs driving according to command values ​​based on the driver's manual operation input via the vehicle's driving control equipment, including the steering wheel.

[0022] Conventionally, a predetermined threshold for disengaging autonomous driving has been defined uniformly regardless of the content of the driving control. While it is necessary to disengage the execution of driving control in response to driver intervention, there are cases where it is better to make disengagement difficult, and cases where it is better to make disengagement easy, depending on the content of the autonomous driving control. For example, when lane changes are the content of the control, the driver may temporarily operate the steering wheel in order to drive according to the timing and trajectory based on the driver's own judgment. In such cases, it is preferable to allow the driver's operation so that driving based on the driver's judgment is executed, and to make it difficult to disengage the driving control. Also, after the execution of a lane change has started, the driving environment of the vehicle, including the movement of other vehicles, may change. In order to adapt to changes in the driving environment, the driver may operate the steering wheel to adjust the start timing and / or amount of lateral movement. On the other hand, during the execution of sequence control other than the first sequence control for lane changes, for example, the second sequence control for lane keeping, it is appropriate to make it easier to disengage the driving control by not accepting the driver's steering operation, in order to prevent disturbances in vehicle behavior caused by steering operation.

[0023] Thus, while it is necessary to recognize the driver's intention to intervene through steering input and interrupt the driving control, it is undesirable for the execution of the driving control based on the first sequence control to be canceled by steering input that adjusts the amount of lateral movement in response to changes in the driving environment. Even if the execution of the driving control is canceled in response to driver intervention, it is preferable that the ease of cancellation differs depending on the content of the driving control.

[0024] The processor 10 makes it more difficult to cancel the execution of driving control when the driver operates the steering wheel while the first sequence control, which causes the vehicle to change lanes from the driving lane to an adjacent lane, is being executed, compared to when the driver operates the steering wheel when the first sequence control is not being executed. For example, when the driver operates the steering wheel with a common predetermined amount, if the first sequence control is not being executed, the execution of the running driving control is canceled. However, if the first sequence control is being executed, the execution of the driving control based on the running first sequence control is not canceled and continues as is. In this embodiment, while assuming that the execution of driving control is canceled according to the amount of steering operation by the driver, it is made more difficult to cancel the execution of driving control when the first sequence control, which causes the vehicle to change lanes, is being executed, compared to when the first sequence control is not being executed.

[0025] This allows the ease with which driving control can be released to be changed according to the content of the driving control. In this embodiment, while the first sequence control for lane changes is being executed, the system is made more receptive to steering input from the driver, thereby making it less likely for the first sequence control to be interrupted and easier to continue executing the first sequence control. In this way, the ease with which driving control can be continued or released for the vehicle can be adjusted according to the content of the sequence control being executed.

[0026] The ease with which driving control can be deactivated can be adjusted by the level of the steering input threshold. An example of a control procedure for adjusting the ease with which driving control can be deactivated based on the steering input is shown in the flowchart of Figure 2. As shown in Figure 2, the processor 10 executes automatic driving control (S1). Automatic driving control includes a first sequence control that performs automatic lane changes and a second sequence control other than the first sequence control. The second sequence control includes a lane keeping sequence control that controls the position and attitude of the vehicle so that it can travel in the center of the lane in which it is traveling. To execute automatic driving control, the processor 10 acquires detection information from the sensor 2 (S2). The detection information includes at least detection information based on imaging information from the camera 21 and detection information based on observation information from the radar device 22. The processor 10 acquires vehicle information, including the current position of the vehicle, the amount of steering input, and the speed, from the vehicle information acquisition device 3 (S3). Vehicle information is acquired from the sensor 2 or the vehicle's ECU. In this embodiment, the steering operation amount includes one or more of the following: steering amount (steering angle), steering speed (steering angular velocity), steering force (steering torque (N)), the amount of operation within a predetermined time after the driver touches the steering wheel, and the time from when the driver touches the steering wheel until the predetermined amount of operation is performed. Based on the steering operation amount, the processor 10 determines the driver's intention to intervene. If the driver performs a steering operation within a predetermined time after gripping the steering wheel, it can be predicted that the driver touched the steering wheel with the intention to intervene. The processor 10 refers to the detection information from the sensor 2 and / or the map information 51 and lane information 52 to acquire the driving lane in which the vehicle is traveling, the adjacent lane adjacent to the driving lane, and the position of the lane mark between the driving lane and the adjacent lane as one of the vehicle information items. The processor 10 acquires other vehicle information such as the presence or absence, position (relative distance), speed, and acceleration of other vehicles traveling around the vehicle (in front of / behind the driving lane, in front of / behind the adjacent lane) from the other vehicle information acquisition device 4 (S4).

[0027] The processor 10 determines whether or not the execution of the first sequence control (lane change sequence control) has started (S5). The processor 10 can determine that the execution of the first sequence control will start when it is decided to execute the first sequence control to make the vehicle change lanes in a situation where a lane change is necessary. If the processor 10 determines that a lane change is necessary and that the execution of the first sequence control will start (YES in S5), it calculates a first threshold value related to the steering input (S6). The first threshold value is defined using one or more of the steering input amount (steering angle), steering speed (steering angular velocity), and steering force (steering torque). The first threshold value is greater than the second threshold value, which will be described later. The first threshold value may be calculated experimentally based on the vehicle speed of the vehicle, the relative speed with other vehicles traveling in adjacent lanes, and the road attributes of the driving lane / adjacent lane (road type such as highway, main road, or city road). The processor 10 may calculate the first threshold value, or it may obtain a first threshold value that has been calculated in advance according to the vehicle performance and stored in the ROM 12. When the execution of the first sequence control is decided, the processor 10 informs the driver that a lane change will be performed using the display 53 or speaker 54. The processor 10 also requests the driver to give approval for the execution of the lane change. The processor 10 may calculate a first threshold when it receives approval. In this way, by obtaining approval from the driver for the execution of the lane change and then calculating and changing the first threshold, the release of the driving control of the first sequence control can be performed appropriately.

[0028] The method for calculating the first threshold in this embodiment will be described, although it is not particularly limited. (1) The processor 10 calculates the first threshold considering the vehicle speed. The processor 10 obtains the vehicle speed of the vehicle from the vehicle information acquisition device 3 and calculates a first threshold that is higher when the vehicle speed is low than when the vehicle speed is high. The first threshold may be defined so that it becomes higher as the vehicle speed decreases, or the first threshold may be defined in stages corresponding to a vehicle speed range, such that a predetermined vehicle speed range is set and the first threshold is higher in the lower vehicle speed range. When the vehicle speed of the vehicle is low, it is necessary to make a predetermined amount of lateral movement by making a relatively large steering operation. When the vehicle speed is low, it is expected that the amount of steering operation will be large, so the first threshold is calculated to be higher when the vehicle speed is low. As a result, when the vehicle is traveling at a low speed, even if the driver makes a larger steering operation to adjust the lateral position than when the vehicle is traveling at a high speed, the driving control based on the first sequence control for lane changes will not be canceled midway. While accepting lateral position adjustments by the driver, the vehicle can continue executing driving control based on the first sequence control and complete its lane change.

[0029] (2) The processor 10 calculates a first threshold considering the curvature of the lane change trajectory. The processor 10 obtains the curvature or change in curvature of the trajectory that causes the vehicle to change lanes, and calculates a first threshold that is higher when the curvature or change in curvature is high than when the curvature or change in curvature is low. The lane change trajectory in the first sequence control is calculated by the processor 10. The first threshold may be defined to be higher as the curvature or change in curvature increases, or a predetermined curvature range or change in curvature range may be set and the first threshold may be defined in stages corresponding to the vehicle speed range such that a higher curvature range or change in curvature range results in a higher first threshold. When the curvature or change in curvature of the lane change trajectory is high, the steering input must be relatively large in order to move the vehicle along the trajectory. When the curvature or change in curvature of the trajectory is high, it is expected that the steering input will be large, so the first threshold is calculated to be high when the curvature or change in curvature of the trajectory is high. As a result, even if the driver makes a larger steering input to adjust the lateral position or lane change trajectory when the curvature or change in curvature is high, the driving control that follows the first sequence control for lane changes will not be canceled midway. The system will continue to execute the driving control that follows the first sequence control while accepting fine adjustments to the lateral position by the driver, and the vehicle's lane change will be completed.

[0030] (3) The processor 10 calculates a first threshold considering the change in the autonomous driving level. The processor 10 calculates a first threshold that is higher than the threshold outside of a predetermined time period from the moment the driving level of the driving control is changed to a relatively lower driving level. If the detection accuracy of the surrounding environment decreases, the current driving level may not be maintained and the driving level may be lowered. A decrease in detection accuracy is caused by changes in the detection environment such as time of day (night), rain, snow, or deterioration of lane markings. For example, when the vehicle is being driven with driving control at a relatively high driving level 3, a change in the surrounding environment may occur, causing the detection accuracy of the sensor 2 to decrease and the driving level 3 to be downgraded to driving level 2 (< driving level 3). In this embodiment, only for a predetermined time period from the moment the driving level is downgraded, that is, from the moment the detection accuracy decreases, the first threshold is calculated to be higher than the threshold outside of that time period, making it easier to accept the driver's steering input and to continue the automatic driving of the first sequence control. Note that this process does not apply when the driving level is maintained or when it is leveled up. Here, the driving level refers to the degree of manual intervention by the driver when assisting the driving of the vehicle. The higher the driving assistance level, the lower the driver's contribution to the driving of the vehicle. The definition of the driving level is not particularly limited and may be defined based on standards such as SAE J3016 of the Society of Automotive Engineers (SAE) or ISO / TC204 of the International Organization for Standardization (ISO). The conditions for downgrading the driving level will be defined as appropriate based on the vehicle's performance.

[0031] In this way, the first threshold is calculated and set higher for a predetermined period of time from the moment the driving level is reduced. Therefore, even if the driver performs steering operations to adjust the lateral position or lane change trajectory, the driving control that follows the first sequence control for lane changes is not canceled midway. In situations where detection accuracy is reduced, it is possible to entrust all driving to the driver, but this increases the driver's burden. From the perspective of reducing the driver's burden, it is preferable to continue partially automated driving even at a reduced driving level rather than having the entire operation be done manually. By raising the first threshold when the driving level is reduced and accepting the driver's steering operation, the execution of the automatic first sequence control continues from the adjusted position, and the vehicle's lane change can be completed.

[0032] (4) The processor 10 calculates a first threshold considering the distance between the vehicle and other vehicles traveling in the adjacent lane. The processor 10 obtains the position of other vehicles traveling in the adjacent lane from the other vehicle information acquisition device 4, and if the distance between the vehicle and other vehicles is less than a predetermined distance, it calculates a first threshold that is higher than when the distance is greater than or equal to the predetermined distance. For example, the processor 10 calculates the distance between vehicles by multiplying the relative speed between the vehicle and the other vehicle by a predetermined time. The predetermined time is not particularly limited, but may be 0.5 seconds or more and 1.5 seconds or less. In this example, the predetermined time is set to 1.0 second. In this way, if the distance between the vehicle and other vehicles in the adjacent lane to which the lane change will take place is less than the predetermined distance and is not a sufficient distance, the first threshold is calculated to be higher, so that even if the driver makes steering operations to adjust the lane change trajectory while maintaining distance from other vehicles, the driving control of the first sequence control will not be canceled midway. When the distance between vehicles is relatively short and the distance to other vehicles is close, for example, when the adjacent lane is congested, delicate driving is required. In such situations, it is preferable to accept the driver's steering input. In this example, when the distance between vehicles is short, the steering input by the driver is accepted and the first sequence control is not canceled. This allows the execution of the first sequence control to continue, and the vehicle's lane change can be completed.

[0033] The processor 10 sets the calculated first threshold as the threshold for canceling the execution of the driving control of the first sequence control. The set first threshold is applied from the start to the end of the first sequence control. The start and end times of the first sequence control can be defined as appropriate by the processor 10. The processor 10 defines the period for applying the first threshold according to the start and end times of the first sequence control. The processor 10 sets the timing at which the execution of the first sequence control is decided (YES in S5) as the start of application of the first threshold, and sets the calculated first threshold as the threshold for deciding whether to cancel the driving control (S7). The execution of the first sequence control, the calculation of the first threshold, and the setting of the first threshold are performed almost simultaneously. As a result, even if steering input is received immediately after the start of the first sequence control, it is possible to determine whether to cancel or continue the driving control that is currently being executed based on the first threshold.

[0034] Next, the termination of the application of the first threshold will be explained. The termination of the application of the first threshold is the termination of the first sequence control. In this embodiment, the completion (termination) of the execution of the first sequence control is defined according to whether the driver is in contact with the steering wheel or not. The processor 10 uses the hands-on / hands-off sensor of sensor 2 to determine contact between the driver of the vehicle and the steering wheel. If it is determined that the driver of the vehicle and the steering wheel are in contact, the processor 10 determines that the execution of the first sequence control is completed at any point between the timing when the entire vehicle moves into the adjacent lane by the first sequence control and the timing when the center of the vehicle's width moves to the center of the adjacent lane, and changes the first threshold to the second threshold at any point. Based on the current and future positions of the vehicle V1 and the positions of the lane marks between the driving lane and the adjacent lane, the processor 10 can pre-calculate the timing when the entire vehicle moves into the adjacent lane and the timing when the center of the vehicle's width moves to the center of the adjacent lane. In other words, it predicts the timing before the entire vehicle moves into the adjacent lane, and predicts the timing before the center of the vehicle's width moves into the center of the adjacent lane.

[0035] Using Figure 3(a), an example of the timing for changing the first threshold to the second threshold when the driver is in contact with the steering wheel is explained. The timing for changing the first threshold to the second threshold is at the end of the application of the first threshold. Figure 3(a) shows the change in position of the vehicle V1 when the first sequence control is executed to change the vehicle V1 from the driving lane L2 to the adjacent lane L3. The future position of the vehicle V1 can be calculated at the upstream position of that position. The planned driving position of the vehicle is calculated based on the current position, vehicle speed, and steering amount. The planned driving position of the vehicle can be calculated based on the trajectory of the first sequence control.

[0036] Vehicle V1 moves from position T1 to position T2. ​​At position T2, processor 10 decides to perform a lane change. At this time, processor 10 sets a first threshold. Processor 10 notifies the driver of the planned lane change using the display 53 of the in-cabin navigation device 5 or the speaker 54, and also notifies the outside by illuminating the turn signal lamp. At position T3, driving control based on the first sequence control is started. Position T3 is the point that the vehicle passes 3 seconds after passing position T2. ​​When passing position T3, processor 10 starts driving control involving lateral movement of vehicle V1. Processor 10 moves vehicle V1 laterally from position T3 to the adjacent lane L3, and then moves it to position T5 ahead via position T4. Between position T4 and position T5, vehicle V1 crosses the lane mark MK between the driving lane L2 and the adjacent lane L3. The processor 10 may change the set first threshold to the second threshold at the moment when the entire vehicle V1 moves into the adjacent lane at position T6, and set the second threshold. The processor 10 may change the first threshold to the second threshold at any position (section DT1 from TM1a to TM1b) between position T6, when the entire vehicle V1 moves into the adjacent lane, and position T7, when the center of the vehicle's width moves to the center of the adjacent lane. The processor 10 may gradually decrease the first threshold between position T6 and position T7, and change it to the second threshold at position T7. The processor 10 moves the vehicle V1 to position T8 while maintaining its lateral position. After passing position T7, if a steering operation of an amount greater than or equal to the second threshold is input, the driving control is released even if it is less than the first threshold. In this way, the first threshold is set higher than the second threshold in section DT1 from position T2, when the execution of the lane change is decided, to any threshold change point between position T6 and position T7. This makes it easier to accept the driver's steering input and facilitates the continuation of the first sequence control. In this example, any threshold change point within the interval D1 between position T6 and position T7 marks the end of the first sequence control. On the other hand, a second threshold lower than the first threshold is set upstream of position T2, which includes position T1, and downstream of any point between position T6 and position T7.This makes it more difficult for the driver's steering input to be accepted, thereby stabilizing the behavior of the vehicle's V1.

[0037] If the driver is in contact with the steering wheel, a relatively high first threshold is set at any threshold change point from when the entire vehicle V1 moves to the adjacent lane L3 until the center of the vehicle width V1 moves to the center of the adjacent lane, making it easier to accept the driver's steering input. In the case of hands-on driving, considering that the driver can immediately start driving, a first threshold higher than the second threshold is accepted over a longer distance (time) to a point relatively further away than in the hands-off case. In the case of hands-on driving, the section over which the first threshold is set is extended compared to the hands-off case, making it easier to complete the first sequence control.

[0038] Using Figure 3(b), an example of the timing for changing the first threshold to the second threshold when the driver is hands-off and not touching the steering wheel will be explained. The basic method is the same as in the example in Figure 3(a), so the explanation will be used here. Figure 3(b) shows the change in position of the vehicle V1 when the first sequence control is being executed to change the vehicle V1 from the driving lane L2 to the adjacent lane L3. The position of the vehicle V1 can be calculated using the same method as in the example in Figure 3(a). The vehicle V1 moves from position P1 to position P2. At position P2, the processor 10 decides to execute the lane change and notifies the inside and outside of the vehicle of this decision. At position P3, which the vehicle passes 3 seconds after passing position P2, driving control based on the first sequence control is started. The processor 10 moves the vehicle V1 laterally from position P3 to the adjacent lane L3, and then moves it to position P5 ahead via position P4. A portion of the vehicle V1 crosses the lane mark MK between the driving lane L2 and the adjacent lane L3 between position P4 and position P5. At position P5, the center of the vehicle width of the vehicle V1 passes over the lane mark MK. The processor 10 may change the first threshold set at position P5 to the second threshold. The processor 10 may change the first threshold to the second threshold at any position (section DT2 from TM2a to TM2b) between position P5, where the center of the vehicle width of the vehicle V1 is over the lane mark MK, and position P6, which is before the entire vehicle has completed its movement into the adjacent lane L3. Before the entire vehicle has completed its movement into the adjacent lane L3 means that a portion of the vehicle is on the driving lane L2 or the lane mark MK. The processor 10 may gradually decrease the first threshold between position P5 and position P6 to change it to the second threshold. The processor 10 moves the vehicle V1 laterally to the adjacent lane L3 with the second threshold set, passing through position P7, moving to the center of the adjacent lane L3, and then moving to position P8 while maintaining that lateral position. In this way, by setting a first threshold higher than the second threshold in the section DT2 from position P2 where the execution of the lane change is decided to any threshold change point between positions P5 and P6, the system makes it easier to accept the driver's steering input and makes it easier to continue the execution of the first sequence control.On the other hand, a second threshold lower than the first threshold is set upstream of position P2, which includes position P1, and downstream of any point between position P5 and position P6. This makes it more difficult to accept the driver's steering input, thereby stabilizing the behavior of the vehicle V1.

[0039] If the driver is not touching the steering wheel, a relatively high first threshold is set at any threshold change point from when the center of the vehicle width of the vehicle V1 passes the lane mark MK between the driving lane L2 and the adjacent lane L3 until the entire vehicle V1 moves into the adjacent lane, making it easier to accept the driver's steering input. In this example, the end of the first sequence control is at any threshold change point belonging to the section DT2 between positions P5 and P6. If the driver is hands-off, the first threshold is set from when the center of the vehicle width of the vehicle V1 passes the lane mark MK until the entire vehicle V1 moves into the adjacent lane, so the first sequence control can be completed while taking into account the situation where the driver is hands-off.

[0040] In this embodiment, the driver's state, whether hands-on or hands-off, is taken into consideration, and the end of the application of the first threshold is defined according to the amount of vehicle V1 entering the adjacent lane L3. When the driver is hands-on, the first threshold is applied until the amount of lateral (X direction in the figure) entry of vehicle V1 into the adjacent lane L3 is relatively larger than when the driver is hands-off. Incidentally, the end of the application of the first threshold when the driver is hands-on is when the entire vehicle V1 has moved into the adjacent lane L3, and the end of the application of the first threshold when the driver is hands-off is before the entire vehicle V1 has moved into the adjacent lane L3 (the entire vehicle V1 has not moved into the adjacent lane L3, and a part of vehicle V1 is still in the driving lane L2), so the application times of the first threshold in both cases do not overlap. If the driver is hands-on, steering can be performed immediately, so the first threshold is applied until the amount of vehicle V1 entering the adjacent lane L3 is larger than when the driver is hands-off. In other words, during the execution of the first sequence control, the time available to accept the driver's steering input can be extended.

[0041] When the first threshold is not applied, the second threshold is applied. If the first sequence control that performs a lane change is not executed, it is determined that a second sequence control other than the first sequence control is being executed, and a second threshold lower than the first threshold is set. As shown in Figure 2, when the first sequence control is not started, that is, when a lane change is not planned (NO in S5), it is determined that a second sequence control other than the first sequence control is being executed (S21). In this example, the second sequence control for lane keeping is being executed. The processor 10 calculates the second threshold (S22). The second sequence control for lane keeping does not require large lateral movements like a lane change. Therefore, the need to allow steering input by the driver in lane keeping is lower than when changing lanes. Also, steering input by the driver in the second sequence control for lane keeping may cause disturbances in vehicle behavior, and the acceptable amount of steering input should be limited. Therefore, the second threshold is a threshold related to the amount of steering input, and is a lower value than the first threshold (second threshold < first threshold). The processor 10 calculates a second threshold for releasing the driving control based on the second sequence control. The second threshold may be an initial setting value used to determine when to release the driving control based on the driver's steering input. The second threshold may be calculated experimentally based on the vehicle's speed, the relative speed with other vehicles traveling in adjacent lanes, and the road attributes of the driving lane / adjacent lanes (types such as highway, main road, or city road). The processor 10 may calculate the second threshold, or it may obtain a second threshold that has been calculated in advance according to the vehicle's performance and stored in the ROM 12.

[0042] The processor 10 sets the calculated second threshold (S23). The processor 10 determines whether the amount of steering input by the driver is greater than or equal to the second threshold (S24). If the amount of steering input is greater than or equal to the second threshold (YES in S24), the processor 10 determines that a command to cancel automatic driving has been input from the driver and cancels the driving control based on the second sequence control (S25). The processor 10 may cancel at least the driving control related to steering, or only the driving control related to driving / braking, or both of the driving controls based on the second sequence control. On the other hand, if the amount of steering input is less than the second threshold (NO in S24), the second sequence control is continued (S26).

[0043] Returning to S8, the processor 10 determines whether the amount of steering input by the driver is greater than or equal to a first threshold (S8). If the amount of steering input by the driver is greater than or equal to a first threshold (YES in S8), the execution of the driving control based on the first sequence control that is currently being executed is canceled (S9). The driving control that is canceled is at least steering control. In this case, the drive / braking control continues, and the driver manually steers the vehicle to control the lateral position of the vehicle V1. The drive / braking driving control can also be canceled. In this case, the driver manually operates the steering and accelerator / brake to control the lateral and longitudinal position of the vehicle.

[0044] On the other hand, if the steering operation amount is less than the first threshold (NO in S8), the driver performs manual driving in which the driver is responsible for the steering operation (S12). The driver may perform manual driving in which the driver is only responsible for accelerator / brake operations, or may perform full manual driving. The processor 10 determines whether or not the driver's manual operation has been completed (S13). The processor 10 determines that the driver's manual operation is completed (YES in S13) if the driver releases the hand from the steering after the operation, that is, hands-off is detected. As a condition for determining the completion of the driver's manual operation in S13, a condition that the steering operation amount has decreased from the first threshold and become less than a threshold lower than the first threshold may be employed. Until the driver's manual operation is completed (NO in S13), the driver's manual operation is accepted (S12). When the driver's manual operation is completed (YES in S13), the processor 10 determines that the position adjustment through the driver's driving is completed. The processor 10 adjusts the lane change trajectory in the first sequence control based on the adjusted position of the host vehicle (S14), and continues the first sequence control (S15). The processor 10 uses the adjusted current position of the host vehicle as a starting point, moves the host vehicle along the adjusted trajectory from the current position, and continues the execution of driving control based on the first sequence control. When the lane change is completed by the first sequence control, the process ends (END).

[0045] As described above, when the steering operation amount is equal to or greater than the first threshold, the execution of driving control based on the first sequence control is canceled, and when the steering operation amount is less than the first threshold, the execution of driving control based on the first sequence control is continued. As a result, even if the operation amount of the driver's manual operation is relatively large, the driver's operation is accepted, and the first sequence control for causing the host vehicle V1 to change lanes can be continued and completed. In addition, since a lane change can be executed from the position moved by the driver's accepted steering operation, the first sequence control can be completed without being canceled even if there is a change in the driving environment.

[0046] 100... Driving control system, 1... Driving control device, 10... Processor, 11... CPU, 12... ROM, 13... RAM, 2... Sensor, 21... Camera, 22... Radar device, 3... Vehicle information acquisition device, 4... Other vehicle information acquisition device, 5... Navigation device, 51... Map information, 52... Lane information, 6... Actuator, 61... Steering device, 62... Drive device, 63... Braking device

Claims

1. A driving control method used in a processor to execute driving control for automatically driving the vehicle, wherein the processor cancels the execution of the driving control based on the amount of steering operation of the vehicle by the driver, and when the steering is operated by the driver while a first sequence control for changing the vehicle's lane from the driving lane to an adjacent lane is being executed, the execution of the driving control based on the first sequence control is less likely to be canceled than when the steering is operated by the driver when the first sequence control is not being executed.

2. The driving control method according to claim 1, wherein the processor calculates a first threshold for the manipulated amount, and if the amount of the steering manipulated by the driver while the first sequence control is being executed is greater than or equal to the first threshold, the execution of the driving control being performed based on the first sequence control is canceled, and the first threshold is higher than a second threshold for the manipulated amount at which the execution of the driving control based on a second sequence control other than the first sequence control is canceled.

3. The driving control method according to claim 2, wherein the processor acquires the vehicle speed of the vehicle and calculates the first threshold, which is higher than the threshold when the vehicle speed is high, when the vehicle speed is low.

4. The driving control method according to claim 2 or 3, wherein the processor obtains the curvature or amount of change in curvature of the trajectory that causes the vehicle to change lanes, and calculates the first threshold which is higher than when the curvature or amount of change in curvature is low if the curvature or amount of change in curvature is high.

5. The operation control method according to any one of claims 2 to 4, wherein the processor calculates the first threshold, which is higher than the threshold outside of the predetermined time, for a predetermined time from the timing when the operation level of the operation control is changed to a relatively lower operation level.

6. The driving control method according to any one of claims 2 to 5, wherein the processor calculates a first threshold that is higher when the distance between its own vehicle and another vehicle traveling in the adjacent lane is less than a predetermined distance than when the distance between vehicles is equal to or greater than the predetermined distance.

7. The driving control method according to any one of claims 2 to 6, wherein the processor calculates the first threshold when confirmation information indicating that the lane change can be performed is input by the driver.

8. The driving control method according to any one of claims 2 to 7, wherein the processor determines that the driver of the vehicle and the steering wheel are in contact, and changes the first threshold to the second threshold during the period from the timing when the entire vehicle moves into the adjacent lane by the first sequence control until the timing when the center of the vehicle width of the vehicle moves to the center of the adjacent lane.

9. The driving control method according to any one of claims 2 to 8, wherein the processor determines that the driver of the vehicle and the steering wheel are not in contact, and the first sequence control changes the first threshold to the second threshold from the time the center of the vehicle width of the vehicle passes the lane mark between the driving lane and the adjacent lane until the time before the entire vehicle has completed moving into the adjacent lane.

10. The operation control method according to any one of claims 2 to 9, wherein the processor cancels the execution of the operation control based on the first sequence control when the manipulated amount is equal to or greater than the first threshold, and continues the execution of the operation control based on the first sequence control when the manipulated amount is less than the first threshold.

11. A driving control device comprising a processor that executes driving control to automatically drive the vehicle, wherein the processor cancels the execution of the driving control based on the amount of steering operation of the vehicle by the driver, and when the steering is operated by the driver while a first sequence control for changing the vehicle's lane from the driving lane to an adjacent lane is being executed, the driving control device makes it less likely to cancel the execution of the driving control based on the first sequence control than when the steering is operated by the driver when the first sequence control is not being executed.

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