JP2021046209A - Vehicle, its control device, and control method - Google Patents

Abstract

To provide a technology for enabling a driver to intuitively make a stop request of lane changing operation.SOLUTION: A vehicle control device of a vehicle includes: a detection unit for detecting a start request and a stop request of lane changing operation on the basis of an operation of an operation element by a driver; and a travel control unit for controlling the lane changing operation on the basis of the start request and the stop request. Positions to which the operation element can move include: a neutral position; first positions which are in two respective directions mutually different with respect to the neutral position. The detection unit detects the start request on the basis of the fact that the operation element is operated into the first position in one of the two directions, and detects the stop request on the basis of the fact that the operation element is operated to the first position in the other of the two directions while the lane changing operation is performed.SELECTED DRAWING: Figure 3

Description

The present invention relates to a vehicle, a control device thereof, and a control method.

As one of the functions of automatic driving of a vehicle and driving support, a function of a vehicle changing lanes is provided regardless of the operation of the driver. Patent Document 1 describes that a request to start lane change support is detected based on the operation of the winker lever by the driver, and a request to stop the lane change support is detected based on the operation of the winker lever in the opposite direction. ing.

JP-A-2018-103767

In the technique described in Patent Document 1, a request to start lane change support is detected by a shallow push operation of the winker lever, and a request to stop lane change support is detected by a deep push operation in the opposite direction of the winker lever. If the operation amount of the blinker lever is asymmetrical in this way, the driver may be confused when requesting to stop the lane change support. An object of the present invention is to provide a technique for intuitively making a request to stop a lane change operation.

In view of the above problems, the vehicle control device is based on the detection means for detecting the start request and the stop request of the lane change operation based on the operation of the operator by the driver, and the start request and the stop request. The driving control means for controlling the lane change operation is provided, and the positions where the operator can move are a neutral position and a first position in two directions different from each other with respect to the neutral position. , The detection means detects the start request based on the operator being operated to the first position in one of the two directions, and the operator is performing the lane change operation. Provided is a control device comprising detecting the stop request based on the operation of the first position in the other of the two directions.

By the above means, it becomes possible to intuitively request to stop the lane change operation.

The block diagram explaining the configuration example of the vehicle which concerns on embodiment. The schematic diagram explaining the structural example of the winker lever which concerns on embodiment. The flow diagram explaining the control method about the lane change operation which concerns on embodiment. The schematic diagram explaining the example which completes the lane change operation which concerns on embodiment. The schematic diagram explaining the example which stops the lane change operation which concerns on embodiment. The schematic diagram explaining the example which does not stop the lane change operation which concerns on embodiment.

Embodiments of the present invention will be described below with reference to the accompanying drawings. Similar elements are designated by the same reference numerals throughout the various embodiments, and duplicate description is omitted. Moreover, each embodiment can be changed and combined as appropriate.

The vehicle 1 includes a vehicle control device 2 (hereinafter, simply referred to as a control device 2) that controls the vehicle 1. The control device 2 includes a plurality of ECUs 20 to 29 that are communicably connected by an in-vehicle network. Each ECU includes a processor typified by a CPU, a memory such as a semiconductor memory, an interface with an external device, and the like. The memory stores programs executed by the processor and data used by the processor for processing. Each ECU may include a plurality of processors, memories, interfaces, and the like. For example, the ECU 20 includes a processor 20a and a memory 20b. When the processor 20a executes an instruction included in the program stored in the memory 20b, the processing by the ECU 20 is executed. Instead of this, the ECU 20 may be provided with a dedicated integrated circuit such as an ASIC for executing the process by the ECU 20. The same applies to other ECUs.

Hereinafter, the functions and the like that each ECU 20 to 29 is in charge of will be described. The number of ECUs and the functions in charge can be appropriately designed, and can be subdivided or integrated as compared with the present embodiment.

The ECU 20 executes control related to the automatic driving of the vehicle 1. In automatic driving, at least one of steering of the vehicle 1 and acceleration / deceleration is automatically controlled. In the control example described later, both steering and acceleration / deceleration are automatically controlled.

The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism for steering the front wheels in response to a driver's driving operation (steering operation) with respect to the steering wheel 31. Further, the electric power steering device 3 includes a motor that exerts a driving force for assisting the steering operation and automatically steering the front wheels, a sensor for detecting the steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20 to control the traveling direction of the vehicle 1.

The ECUs 22 and 23 control the detection units 41 to 43 for detecting the state of the outside world of the vehicle and process the information processing of the detection result. The detection unit 41 is a camera that photographs the front of the vehicle 1 (hereinafter, may be referred to as a camera 41), and in the case of the present embodiment, it is attached to the vehicle interior side of the front window at the front of the roof of the vehicle 1. Be done. By analyzing the image taken by the camera 41, it is possible to extract the outline of the target and the lane marking line (white line or the like) on the road.

The detection unit 42 is a lidar (Light Detection and Ranging) (hereinafter, may be referred to as a lidar 42), detects a target around the vehicle 1, and measures a distance from the target. .. In the case of the present embodiment, five riders 42 are provided, one at each corner of the front portion of the vehicle 1, one at the center of the rear portion, and one at each side of the rear portion. The detection unit 43 is a millimeter-wave radar (hereinafter, may be referred to as a radar 43), detects a target around the vehicle 1, and measures a distance from the target. In the case of the present embodiment, five radars 43 are provided, one in the center of the front portion of the vehicle 1, one in each corner of the front portion, and one in each corner of the rear portion.

The ECU 22 controls one of the cameras 41 and each rider 42, and processes information processing of the detection result. The ECU 23 controls the other camera 41 and each radar 43, and processes information processing of the detection result. By equipping two sets of devices that detect the surrounding conditions of the vehicle, the reliability of the detection results can be improved, and by equipping different types of detection units such as cameras, riders, and radar, the surrounding environment of the vehicle can be analyzed. Can be done in multiple ways.

The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and processes the detection result or the communication result. The gyro sensor 5 detects the rotational movement of the vehicle 1. The course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5, the wheel speed, and the like. The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c wirelessly communicates with a server that provides map information and traffic information, and acquires such information. The ECU 24 can access the map information database 24a built in the memory, and the ECU 24 searches for a route from the current location to the destination. The ECU 24, the map database 24a, and the GPS sensor 24b constitute a so-called navigation device.

The ECU 25 includes a communication device 25a for vehicle-to-vehicle communication. The communication device 25a wirelessly communicates with other vehicles in the vicinity and exchanges information between the vehicles.

The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The ECU 26 controls the engine output in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, the vehicle speed detected by the vehicle speed sensor 7c, or the like. The shift stage of the transmission is switched based on the information of. When the operating state of the vehicle 1 is automatic operation, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20 to control acceleration / deceleration of the vehicle 1.

The ECU 27 controls a lighting device 8 (a lighting device such as a headlight or a taillight) including a direction indicator (winker). In the case of the example of FIG. 1, the lighting device 8 is provided at the front portion, the door mirror, and the rear portion of the vehicle 1. The ECU 27 further controls the sound device 11 directed to the outside of the vehicle, including the horn of the horn. The lighting device 8, the sound device 11, or a combination thereof has a function of providing information to the outside world of the vehicle 1.

The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and accepts input of information from the driver. The sound output device 91 notifies the driver of information by voice. The display device 92 notifies the driver of information by displaying an image. The display device 92 is arranged on the surface of the driver's seat, for example, and constitutes an instrument panel or the like. In addition, although voice and display are illustrated here, information may be notified by vibration or light. In addition, information may be transmitted by combining a plurality of voices, displays, vibrations, and lights. Further, the combination may be different or the notification mode may be different depending on the level of information to be notified (for example, the degree of urgency). The input device 93 is a group of switches that are arranged at a position that can be operated by the driver and give an instruction to the vehicle 1, but a sound input device may also be included. The ECU 28 can provide guidance regarding the traveling control of the ECU 20. The details of the guidance will be described later. The input device 93 may include a switch used to control the operation of travel control by the ECU 20. The input device 93 may include a camera for detecting the direction of the driver's line of sight.

The ECU 29 controls the braking device 10 and the parking brake (not shown). The brake device 10 is, for example, a disc brake device, which is provided on each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by applying resistance to the rotation of the wheels. The ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the brake device 10 in response to an instruction from the ECU 20 to control deceleration and stop of the vehicle 1. The braking device 10 and the parking brake can also be operated to maintain the stopped state of the vehicle 1. Further, when the transmission of the power plant 6 is provided with a parking lock mechanism, this can be operated to maintain the stopped state of the vehicle 1.

A configuration example of the winker lever 200 of the vehicle 1 will be described with reference to FIG. The blinker lever 200 is attached near the steering wheel 31 (for example, rearward on the right side), and is used by the driver to instruct the vehicle 1 to blink / turn off the blinker. Further, as will be described later, the blinker lever 200 is also used for the driver to request the vehicle 1 to start and stop the lane change operation. The operation of the blinker lever 200 by the driver is detected by, for example, the ECU 27.

The direction in which the blinker lever 200 can move includes the clockwise direction 204R and the counterclockwise direction 204L about the axis 205. The clockwise direction 204R and the counterclockwise direction 204L are examples of two different directions. The direction in which the blinker lever 200 can move may include a front direction and a back direction with respect to the driver.

The position where the blinker lever 200 can move includes the neutral position 201, the intermediate positions 202R and 202L, and the terminal positions 203R and 203L. The neutral position 201 is a position where the blinker lever 200 is placed when the driver does not give an instruction to the vehicle 1.

The intermediate position 202R is a position located in the clockwise direction 204R with respect to the neutral position 201. The intermediate position 202L is a position located at 204L in the counterclockwise direction with respect to the neutral position 201. The blinker levers 200 at the intermediate positions 202R and 202L return to the neutral position 201 by the physical urging mechanism when there is no operating force by the driver. The intermediate positions 202R and 202L may also be referred to as half positions. As shown in FIG. 2, the intermediate positions 202R and 202L may be positions having a predetermined width.

The end position 203R is a position located in the clockwise direction 204R with respect to the neutral position 201. The end position 203L is a position located at 204L in the counterclockwise direction with respect to the neutral position 201. The winker levers 200 at the terminal positions 203R and 203L can maintain their positions by a physical locking mechanism when there is no operating force by the driver. The end positions 203R and 203L may also be referred to as abutting positions.

The amount of movement from the neutral position 201 to the terminal position 203R is larger than the amount of movement from the neutral position 201 to the intermediate position 202R. In other words, the intermediate position 202R is between the neutral position 201 and the end position 203R. There may be play between the intermediate position 202R and the neutral position 201. That is, the ECU 27 may consider that the blinker lever 200 is not in the intermediate position 202R when the winker lever 200 is within a predetermined movement amount from the neutral position 201. Similarly, there may be play between the intermediate position 202R and the terminal position 203R. The relationship between the neutral position 201, the intermediate position 202L, and the terminal position 203L is the same as the above-mentioned relationship between the neutral position 201, the intermediate position 202R, and the terminal position 203R.

When the driver wants to blink the blinker on the right side of the vehicle 1, he / she operates the blinker lever 200 up to the end position 203R. In response to this operation, the ECU 27 blinks the blinker on the right side of the vehicle 1. On the other hand, when the driver wants to blink the blinker on the left side of the vehicle 1, he / she operates the blinker lever 200 up to the terminal position 203L. In response to this operation, the ECU 27 blinks the blinker on the left side of the vehicle 1.

A control method for the vehicle 1 for performing a lane change operation will be described with reference to FIG. In this control method, the vehicle 1 (specifically, the ECU 20) detects a start request and a stop request for the lane change operation based on the operation of the winker lever 200 by the driver, and the detected start request and stop request. The lane change operation of the vehicle 1 is controlled based on the above. As will be specifically described below, the driver operates the blinker lever 200 to the intermediate position 202R when he / she wants to change lanes to the adjacent lane on the right side, and moves the blinker lever 200 to the intermediate position when he / she wants to change lanes to the adjacent lane on the left side. Operate at position 202L. Further, the driver can request the stop of the lane change operation by operating the blinker lever 200 to the intermediate position 202L or 202R on the opposite side.

The control method of FIG. 3 may be performed by the processor 20a of the ECU 20 executing a program stored in the memory 20b. Alternatively, some or all steps of the method may be performed in a dedicated circuit such as an ASIC (application specific integrated circuit). In the former case, the processor 20a is a component for a specific operation, and in the latter case, a dedicated circuit is a component for a specific operation.

The control method of FIG. 3 is started when the ECU 20 determines that the lane change operation of the vehicle 1 can be executed based on the surrounding environment of the vehicle 1. It is assumed that the blinker lever 200 is in the neutral position 201 at the start of the control method. When the surrounding environment changes during the execution of this control method and the lane change operation becomes infeasible, the ECU 20 terminates this control method and performs an operation according to the surrounding environment. For example, the ECU 20 may either stay in the lane in which the vehicle is traveling or move to an adjacent lane in consideration of safety.

In step S301, the ECU 20 notifies the driver that the lane change operation can be executed. This notification is performed, for example, by changing the display content of the display device 92. After the notification, the ECU 20 enters the lane change standby state, which waits for the start request from the driver.

In step S302, the ECU 20 determines whether the blinker lever 200 has been operated to the intermediate position 202R or 202L. The ECU 20 transitions the process to step S303 when the blinker lever 200 is operated to the intermediate position 202R or 202L (YES in step S302), and transitions the process to step S302 in other cases (NO in step S302). .. In this way, the ECU 20 waits for the winker lever 200 to be operated from the neutral position 201 to the intermediate position 202R or 202L in one direction of the clockwise direction 204R and the counterclockwise direction 204L. In the following, for the sake of simplicity, it is assumed that the blinker lever 200 is moved to the intermediate position 202R in step S302. When the winker lever 200 has been moved to the intermediate position 202L in step S302, the clockwise direction 204R and the counterclockwise direction 204L are interchanged in the following description. The ECU 27 may start blinking the blinker in response to the operation of the blinker lever 200 to the intermediate position 202R or 202L.

In step S303, the ECU 20 determines whether or not the blinker lever 200 has been operated to the terminal position 203R. The ECU 20 ends the process when the blinker lever 200 is operated to the terminal position 203R (YES in step S303), and transitions the process to step S304 in other cases (NO in step S303). When the blinker lever 200 moves to the terminal position 203R, the ECU 20 determines that the driver manually changes lanes to the adjacent lane (in this case, the adjacent lane on the right side). Therefore, the ECU 20 ends the automatic lane change operation.

In step S304, the ECU 20 determines whether the duration of the blinker lever 200 maintained at intermediate position 202R (by the driver) is longer than the threshold time Th1 (eg, 2 seconds). The ECU 20 transitions the process to step S305 when the duration of the blinker lever 200 maintained at the intermediate position 202R is longer than the threshold time Th1 (YES in step S304), and in other cases (NO in step S304). The process transitions to step S306.

In step S305, the ECU 20 detects a request to start the lane change operation. In this way, the request to start the lane change operation is detected based on the fact that the blinker lever 200 is operated to the intermediate position 202R and the duration from the operation is longer than the threshold time Th1 (for example, 2 seconds). Ru. At this point, only the start request is detected and the lane change operation has not yet started.

In step S306, the ECU 20 determines whether the blinker lever 200 has moved to the neutral position 201. The ECU 20 transitions the process to step S307 when the blinker lever 200 moves to the neutral position 201 (YES in step S306), and transitions the process to step S303 in other cases (NO in step S306).

In step S307, the ECU 20 determines whether or not the request to start the lane change operation is detected in step S305. The ECU 20 transitions the process to step S308 when the start request for the lane change operation is detected in step S305 (YES in step S307), and transitions the process to step S303 in other cases (NO in step S307). ..

In step S308, the ECU 20 starts the lane change operation. Thus, based on the detection of the request to start the lane change operation and the movement of the blinker lever 200 from the intermediate position 202R to the neutral position 201 (by the driver releasing the blinker lever 200), the lane The change operation is started. As a result, the lane change operation is started on condition that the blinker lever 200 returns to the neutral position 201, so that the driver can easily grasp the start timing of the lane change operation. Further, since the lane change operation is started while the driver is not operating the blinker lever 200, it becomes easy to monitor the driver's surroundings and intervene when necessary.

On the other hand, when the duration of the blinker lever 200 maintained at the intermediate position 202R is shorter than the threshold time Th1, the lane change operation is not started. The operation of the blinker lever 200 for such a short time may be a mere erroneous operation. Therefore, the ECU 20 can accurately grasp the driver's intention by comparing the duration of the winker lever 200 maintained at the intermediate position 202R with the threshold time Th1.

In step S309, the ECU 20 determines whether or not the lane change operation is completed. The ECU 20 ends the process when the lane change operation is completed (YES in step S309), and transitions the process to step S310 in other cases (NO in step S309). For example, the ECU 20 may determine that the lane change operation is completed when the vehicle 1 completes the movement to the vicinity of the center of the lane of the adjacent lane (the lane to be changed), or may determine that the lane change operation is completed, or between the adjacent lane and the traveling lane. When the vehicle 1 exceeds the lane marking by a predetermined ratio or more, it may be determined that the lane change operation is completed. The ECU 27 turns off the blinkers when the lane change operation is completed.

In step S310, the ECU 20 determines whether or not the blinker lever 200 has been operated to the opposite intermediate position 202L. The ECU 20 transitions the process to step S311 when the blinker lever 200 is operated to the intermediate position 202L on the opposite side (YES in step S310), and shifts the process to step S309 in other cases (NO in step S310). To do. In this way, the ECU 20 waits for the blinker lever 200 to be operated to the opposite intermediate position 202L or for the lane change operation to be completed.

In step S311 the ECU 20 determines whether the duration of the blinker lever 200 maintained at the intermediate position 202L (by the driver) is longer than the threshold time Th2. The ECU 20 transitions the process to step S316 when the duration of the blinker lever 200 maintained at the intermediate position 202L is longer than the threshold time Th2 (YES in step S311), and in other cases (NO in step S311). The process transitions to step S312. The duration of the blinker lever 200 maintained at the intermediate position 202L is the duration from the most recent switch to the intermediate position 202L to the time of determination. The threshold time Th2 is set shorter than the threshold time Th1, for example, 1.5 seconds. By making it a condition for detecting the stop request that the blinker lever 200 stays continuously for a threshold time Th2 or more at the intermediate position on the opposite side, the blinker lever 200 is moved to the opposite side due to the overstroke when the driver returns the blinker lever 200 to the neutral position 201. Over-detection due to moving to can be suppressed.

In step S312, the ECU 20 determines whether or not the blinker lever 200 has moved to the neutral position 201. The ECU 20 transitions the process to step S309 when the blinker lever 200 moves to the neutral position 201 (YES in step S312), and transitions the process to step S313 in other cases (NO in step S312). In this way, when the winker lever 200 is returned to the neutral position 201 without the threshold time Th2 elapsed after the winker lever 200 is operated to the intermediate position 202L, the ECU 20 moves the winker lever 200 to the intermediate position 202L again. Wait for the lane change operation to be completed.

In step S313, the ECU 20 determines whether or not the blinker lever 200 has been operated to the terminal position 203L. The ECU 20 transitions the process to step S314 when the blinker lever 200 is operated to the terminal position 203L (YES in step S313), and transitions the process to step S311 in other cases (NO in step S313).

In step S314, the ECU 20 determines whether the duration of the winker lever 200 maintained at the termination position 203L (by the locking mechanism) is longer than the threshold time Th3 (eg, 0.1 seconds). The ECU 20 transitions the process to step S316 when the duration of the blinker lever 200 maintained at the terminal position 203L is longer than the threshold time Th3 (YES in step S314), and in other cases (NO in step S314). The process transitions to step S315. The duration of the blinker lever 200 maintained at the terminal position 203L is the duration from the most recent switch to the terminal position 203L to the time of determination. The threshold time Th3 may be shorter than the threshold time Th2.

In step S315, the ECU 20 determines whether or not the blinker lever 200 has been operated to the intermediate position 202L. The ECU 20 transitions the process to step S311 when the blinker lever 200 is operated to the intermediate position 202L (YES in step S315), and transitions the process to step S314 in other cases (NO in step S315).

In step S316, the ECU 20 detects that the driver has requested to stop the lane change operation during the execution of the lane change operation. In this way, the stop request is detected based on the fact that the blinker lever 200 is operated to the intermediate position 202L during the lane change operation and the duration maintained at the intermediate position 202L is longer than the threshold time Th2. Ru. Since the operation for the start request and the operation for the stop request of the lane change operation are symmetrical, the driver can intuitively make the stop request for the lane change operation. Further, since the stop request can be made at the intermediate position 202L, the driver's intention to stop can be detected earlier.

Further, the ECU 20 detects the stop request based on the fact that the blinker lever 200 is operated to the terminal position 203L during the lane change operation and the duration maintained at the terminal position 203L is longer than the threshold time Th3. Will be done. With this configuration, the stop request can be detected by the same logic as the start request detection, and the start / stop operation becomes consistent. Further, since the threshold time Th3 is shorter than the threshold time Th2, the driver can request the stop in a shorter time. The threshold time Th3 may be zero. In this case, the stop request is immediately detected in response to the operation of the blinker lever 200 to the terminal position 203L.

In step S317, the ECU 20 determines whether or not the lane change operation can be stopped. The ECU 20 transitions the process to step S308 when the lane change operation can be stopped (YES in step S317), and transitions the process to step S309 in other cases (NO in step S317). For example, the ECU 20 may determine whether or not the lane change operation can be stopped based on the progress of the lane change operation. Specifically, when the vehicle 1 stays in the traveling lane, the ECU 20 may determine that the lane change operation can be stopped. On the other hand, when the vehicle 1 straddles the white line between the traveling lane and the adjacent lane, the ECU 20 may determine that the lane change operation cannot be stopped. In this way, when the progress of the lane change operation is progressing, it is expected that the following vehicle of the vehicle 1 will travel on the premise of the lane change of the vehicle 1. Therefore, it is safer to complete the lane change operation than to return to the original driving lane.

In step S318, the ECU 20 stops the lane change operation, maintains the traveling in the original traveling lane, and ends the process. The ECU 27 may turn off the blinkers when the lane change operation is stopped. In step S319, the ECU 20 completes the lane change operation and ends the process. The ECU 27 may turn off the blinkers when the lane change operation is completed.

In the control method described above, it was determined in step S304 whether the duration of the blinker lever 200 maintained at the intermediate position 202R is longer than the threshold time Th1 while the blinker lever 200 is at the intermediate position 202R. Instead, it may be determined whether the duration of the blinker lever 200 maintained at the intermediate position 202R is longer than the threshold time Th1 after the blinker lever 200 has moved from the intermediate position 202R to the neutral position 201. For example, step S304 and step S305 are not performed between step S303 and step S306, but between step S306 and step S307.

In the above-mentioned control method, the threshold time Th2 used for detecting the stop request before the threshold time Th4 elapses after the lane change operation is started in step S308 is the threshold time after the lane change operation is started in step S308. It may be longer than the threshold time Th2 used for detecting the stop request after Th4 has elapsed. Specifically, the threshold time Th2 used for detecting the stop request before the threshold time Th4 elapses after the lane change operation is started in step S308 may be, for example, 1 second. The threshold time Th2 used for detecting the stop request after the threshold time Th4 has elapsed since the lane change operation was started in step S308 may be 0.5 seconds. The threshold time Th4 may be, for example, 0.5 seconds. As a result, overshooting due to the winker lever 200 overshooting and moving to the opposite side can be suppressed.

In the control method described above, in addition to or instead of step S317, the ECU 20 may tighten the detection condition of the stop request as the progress of the lane change operation progresses. For example, the ECU 20 may increase the threshold time Th2, increase the amount of movement from the neutral position 201 to reach the intermediate position 202L, or increase the amount of movement from the neutral position 201 as the progress of the lane change operation progresses. The scanning speed of the winker lever 200 may be required, or the load required for operating the winker lever 200 may be increased, or any combination thereof may be used. In this way, as the progress of the lane change operation progresses, it is possible to reduce the driver's discomfort by making it difficult to make a stop request.

A plurality of scenarios of lane change operation will be described with reference to FIGS. 4 to 6. In FIGS. 4 to 6, the "vehicle position" indicates the traveling position of the vehicle 1. Vehicle 1 is traveling in lane 401. Lane 402 is adjacent to the right side of lane 401. A white line 403 is drawn between the lanes 401 and the lane 402. "Vehicle operation" indicates an operation performed by the vehicle. The "lever position" indicates the position of the winker lever 200.

FIG. 4 describes a scenario in which the driver makes a request to start the lane change operation and then does not make a stop request. At time t0, the control method of FIG. 3 is started. At time t1, the driver operates the blinker lever 200 to the intermediate position 202R (YES in step S302). At time t2, the driver releases the winker lever 200 and the winker lever 200 moves to the neutral position 201 (YES in step S306). It is assumed that the time from the time t1 to the time t2 is longer than the threshold time Th1 (YES in step S304). Therefore, the ECU 20 starts the lane change operation (step S308). At time t3, the ECU 20 completes the lane change operation (YES in step S309). This ends the control method of FIG.

FIG. 5 describes a scenario in which a driver makes a request to start a lane change operation, then makes a stop request, and the stop request is accepted. Since it is the same as the scenario of FIG. 4 until time t2, the description thereof will be omitted. At time t3, the driver operates the blinker lever 200 to the intermediate position 202L (YES in step S310). At time t4, the duration of the blinker lever 200 maintained at the intermediate position 202L exceeds the threshold time Th2 (YES in step S311). At this point, vehicle 1 does not straddle white line 403 and vehicle 1 remains in lane 401. Therefore, the ECU 20 determines that the lane change operation can be stopped (YES in step S317), and stops the lane change operation (step S318). At time t5, vehicle 1 returns to the center of lane 401.

FIG. 6 describes a scenario in which a driver makes a request to start a lane change operation, then makes a stop request, and the stop request is not accepted. Since it is the same as the scenario of FIG. 5 until time t4, the description thereof will be omitted. At time t4, vehicle 1 straddles the white line 403. Therefore, the ECU 20 determines that the lane change operation cannot be stopped (NO in step S317), and continues the lane change operation (step S319). At time t5, the vehicle 1 completes the lane change operation.

<Summary of Embodiment>
<Structure 1>
The control device (20) of the vehicle (1).
A detection means for detecting a start request and a stop request for a lane change operation based on the operation of the blinker lever (200) by the driver, and
A traveling control means for controlling the lane change operation based on the start request and the stop request is provided.
The position where the blinker lever can be moved is
Neutral position (201) and
First positions (202R, 202L) that are in two different directions with respect to the neutral position and return to the neutral position when there is no operating force on the winker lever by the driver.
The position can be maintained when the driver is in each of the two directions with respect to the neutral position, the amount of movement from the neutral position is larger than that of the first position, and there is no operating force on the winker lever by the driver. 2nd position (203R, 203L), including
The detection means
The start request is detected based on the fact that the blinker lever is operated to the first position in one of the two directions.
A control device comprising detecting a stop request based on the winker lever being operated to the other first position in the two directions during execution of the lane change operation.
With this configuration, the operation for the start request for the lane change operation and the operation for the stop request are symmetrical, so that the stop request for the lane change operation can be intuitively performed. Further, since the stop request can be made at the intermediate position, the driver's intention to stop can be detected earlier.
<Structure 2>
The detection means detects the start request based on the duration of the winker lever being maintained at the first position on one side longer than the first threshold time (Th1).
The travel control means is characterized in that the lane change operation is started based on the detection of the start request and the movement of the winker lever from the first position to the neutral position. The control device according to 1.
With this configuration, the lane change operation is started on condition that the blinker lever returns to the neutral position, so that the driver can easily grasp the start timing of the lane change operation. In addition, since the lane change operation is started without the driver operating the blinker lever, it becomes easy to monitor the driver's surroundings and intervene when necessary.
<Structure 3>
The detection means makes the stop request based on the duration of the winker lever being maintained at the other first position during the lane change operation being longer than the second threshold time (Th2). Detect and
The second threshold time used for detecting the stop request before the third threshold time (Th4) elapses after the lane change operation is started is the third threshold time after the lane change operation is started. The control device according to configuration 1 or 2, wherein the time is longer than the second threshold time used for detecting the stop request after the lapse of time.
According to this configuration, it is possible to suppress overshoot caused by the blinker lever overshooting and moving to the opposite side.
<Structure 4>
The control device according to any one of configurations 1 to 3, wherein the detection means tightens the detection condition of the stop request as the progress of the lane change operation progresses.
According to this configuration, as the progress of the lane change operation progresses, it is possible to reduce the driver's discomfort by making it difficult to make a stop request.
<Structure 5>
Any of the configurations 1 to 4 characterized in that, when the stop request is detected, the travel control means determines whether or not to stop the lane change operation based on the progress of the lane change operation. The control device according to item 1.
With this configuration, when the progress of the lane change operation is in progress, the safety is enhanced by completing the lane change operation.
<Structure 6>
While executing the lane change operation, the detection means detects the stop request based on the duration of the winker lever being maintained at the other first position longer than the second threshold time.
The detection means makes the stop request based on the duration of the winker lever being maintained at the other second position during the lane change operation being longer than the fourth threshold time (Th3). Further detect,
The control device according to any one of configurations 1 to 5, wherein the fourth threshold time is shorter than the second threshold time.
With this configuration, the stop request can be detected by the same logic as the start request detection, and the start / stop operation becomes consistent.
<Structure 7>
A vehicle comprising the control device according to any one of configurations 1 to 6.
According to this configuration, the invention is provided in the form of a vehicle.
<Structure 8>
It is a control method of the vehicle (1).
A detection step (S305) for detecting a start request and a stop request for a lane change operation based on the operation of the blinker lever (200) by the driver, and
A traveling control step (S308, S318, S319) for controlling the lane change operation based on the start request and the stop request is provided.
The position where the blinker lever can be moved is
Neutral position (201) and
First positions (202R, 202L) that are in two different directions with respect to the neutral position and return to the neutral position when there is no operating force on the winker lever by the driver.
The position can be maintained when the driver is in each of the two directions with respect to the neutral position, the amount of movement from the neutral position is larger than that of the first position, and there is no operating force on the winker lever by the driver. 2nd position (203R, 203L), including
The detection step is
Detecting the start request based on the winker lever being operated to the first position in one of the two directions (S302).
Detecting the stop request based on the fact that the blinker lever is operated to the other first position in the two directions during the lane change operation (S310).
A control method comprising.
With this configuration, the operation for the start request for the lane change operation and the operation for the stop request are symmetrical, so that the stop request for the lane change operation can be intuitively performed. Further, since the stop request can be made at the intermediate position, the driver's intention to stop can be detected earlier.
<Structure 9>
A program for operating a computer as each means of the control device according to any one of the configurations 1 to 6.
According to this configuration, the invention is provided in the form of a program.

1 vehicle, 2 control device, 20-29 ECU, 200 blinker lever, 201 neutral position, 202R / 202L intermediate position, 203R / 203L terminal position

Claims (16)

It ’s a vehicle control device.
A detection means for detecting a start request and a stop request for a lane change operation based on the operation of the operator by the driver, and
A traveling control means for controlling the lane change operation based on the start request and the stop request is provided.
The position where the operator can move is
Neutral position and
Includes a first position in each of two different directions with respect to the neutral position.
The detection means
The start request is detected based on the operator being operated to the first position in one of the two directions.
A control device comprising detecting a stop request based on the operator being operated to the other first position in the two directions while executing the lane change operation. The detection means detects the stop request based on the duration of the operator being maintained in the other first position during the lane change operation being longer than the second threshold time. The control device according to claim 1. The detection means is used when the operator is in the first position of the one while executing the lane change operation and when the operator moves to the neutral position while executing the lane change operation. The control device according to claim 1, wherein the change operation is continued. It ’s a vehicle control device.
A detection means for detecting a start request and a stop request for a lane change operation based on the operation of the operator by the driver, and
A traveling control means for controlling the lane change operation based on the start request and the stop request is provided.
The position where the operator can move is
Neutral position and
The first position in each of the two different directions with respect to the neutral position,
Includes a second position that is in each of the two directions with respect to the neutral position and has a greater amount of movement from the neutral position than the first position.
The detection means
The start request is detected based on the operator being operated to the first position in one of the two directions.
It is characterized in that the stop request is detected based on the fact that the operator is operated to either the first position or the second position of the other in the two directions during the lane change operation. Control device. While executing the lane change operation, the detection means detects the stop request based on the duration of the operator being maintained at the other first position longer than the second threshold time. Alternatively, while executing the lane change operation, the stop request is further detected based on the duration of the operator being maintained at the other second position longer than the fourth threshold time.
The control device according to claim 4, wherein the fourth threshold time is shorter than the second threshold time. The control device according to claim 4 or 5, wherein the second position is a position that can be maintained when there is no operating force on the operator by the driver. The detection means detects the start request based on the duration of the operator being maintained in the first position on one side longer than the first threshold time.
The travel control means is characterized in that the lane change operation is started based on the detection of the start request and the movement of the operator from the first position to the neutral position. Item 2. The control device according to any one of Items 1 to 6. While executing the lane change operation, the detection means detects the stop request based on the duration of the operator being maintained at the other first position longer than the second threshold time.
The second threshold time used for detecting the stop request before the third threshold time elapses after the lane change operation is started is such that the third threshold time has elapsed since the lane change operation was started. The control device according to any one of claims 1 to 7, wherein the control device is longer than the second threshold time used for detecting the cancellation request later. The control device according to any one of claims 1 to 8, wherein the detection means tightens the detection condition of the stop request as the progress of the lane change operation progresses. The traveling control means according to claim 1 to 9, wherein when the stop request is detected, it is determined whether or not to stop the lane change operation based on the progress of the lane change operation. The control device according to any one item. The control device according to any one of claims 1 to 10, wherein the first position is a position where the driver returns to the neutral position when there is no operating force on the operator. The control device according to any one of claims 1 to 11, wherein the operator is a winker lever. A vehicle comprising the control device according to any one of claims 1 to 12. It ’s a vehicle control method.
A detection process that detects a start request and a stop request for a lane change operation based on the operation of the operator by the driver, and a detection process.
A traveling control step for controlling the lane change operation based on the start request and the stop request is provided.
The position where the operator can move is
Neutral position and
Includes a first position in each of two different directions with respect to the neutral position.
The detection step is
Detecting the start request based on the operator being operated to the first position in one of the two directions.
Detecting the stop request based on the operator being operated to the other first position in the two directions during the lane change operation.
A control method comprising. It ’s a vehicle control method.
A detection process that detects a start request and a stop request for a lane change operation based on the operation of the operator by the driver, and a detection process.
A traveling control step for controlling the lane change operation based on the start request and the stop request is provided.
The position where the operator can move is
Neutral position and
The first position in each of the two different directions with respect to the neutral position,
Includes a second position that is in each of the two directions with respect to the neutral position and has a greater amount of movement from the neutral position than the first position.
The detection step is
Detecting the start request based on the operator being operated to the first position in one of the two directions.
Detecting the stop request based on the fact that the operator is operated to either the first position or the second position of the other in the two directions during the lane change operation.
A control method comprising. A program for operating a computer as each means of the control device according to any one of claims 1 to 12.

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