CN111717203A - Vehicle control device, vehicle, and vehicle control method - Google Patents

Abstract

The invention relates to a vehicle control device, a vehicle, and a vehicle control method. The vehicle control device (12) has an information acquisition unit (58) and a control unit (64), wherein the information acquisition unit (58) acquires traffic flow deterioration information indicating deterioration of a traffic flow in front of the host vehicle, from traffic participant information relating to traffic participants (76A, 76B) located in the periphery of the host vehicle (10); the control unit (64) restricts a lane change when the information acquisition unit detects traffic flow deterioration information. Accordingly, the vehicle can be better brought to the destination.

Description

Vehicle control device, vehicle, and vehicle control method

Technical Field

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

Background

Japanese patent laid-open publication No. 2003-85698 discloses that when a moving obstacle is present in a vehicle traveling lane and no moving obstacle is present in a lane other than the vehicle traveling lane, a notification is made to recommend a lane change to the lane in which no moving obstacle is present.

Disclosure of Invention

However, when a lane change is made only to a lane where no moving obstacle is present, it is sometimes difficult to reach the destination.

An object of the present invention is to provide a vehicle control device, a vehicle, and a vehicle control method that enable the vehicle to better reach a destination.

A vehicle control device according to an aspect of the present invention includes an information acquisition unit that acquires traffic flow deterioration information indicating deterioration of a traffic flow from traffic participant information, and a control unit that: the traffic participant information is information relating to traffic participants located in the periphery of the own vehicle, and the traffic flow is a traffic flow in front of the own vehicle;

the control unit restricts a lane change when the traffic flow deterioration information is acquired by the information acquisition unit.

A vehicle according to another aspect of the present invention includes the vehicle control device.

A vehicle control method according to still another aspect of the present invention includes: a step of acquiring traffic flow deterioration information indicating deterioration of a traffic flow, which is information on traffic participants located in the periphery of the own vehicle, from traffic participant information indicating a traffic flow in front of the own vehicle; and restricting a lane change when the traffic flow deterioration information is acquired.

According to the present invention, it is possible to provide a vehicle control device, a vehicle, and a vehicle control method that enable the vehicle to better reach a destination.

The above objects, features and advantages should be readily understood from the following description of the embodiments with reference to the accompanying drawings.

Drawings

Fig. 1 is a block diagram showing a vehicle according to an embodiment.

Fig. 2 is a diagram showing an example of a driving lane.

Fig. 3 is a diagram showing an example of a travel lane.

Fig. 4 is a flowchart showing an operation example of the vehicle control device according to the embodiment.

Fig. 5 is a flowchart showing an operation example of the vehicle control device according to the embodiment.

Fig. 6 is a flowchart showing an operation example of the vehicle control device according to the embodiment.

Fig. 7 is a flowchart showing an operation example of the vehicle control device according to the embodiment.

Fig. 8 is a flowchart showing an operation example of the vehicle control device according to the embodiment.

Fig. 9 is a flowchart showing an operation example of the vehicle control device according to the embodiment.

Fig. 10 is a flowchart showing an operation example of the vehicle control device according to the embodiment.

Detailed Description

Hereinafter, a vehicle control device, a vehicle, and a vehicle control method according to the present invention will be described in detail with reference to the accompanying drawings by referring to preferred embodiments.

[ one embodiment ]

A vehicle control device, a vehicle, and a vehicle control method according to an embodiment will be described with reference to the drawings. Fig. 1 is a block diagram showing a vehicle according to the present embodiment.

The vehicle (own vehicle) 10 has a vehicle control device 12, i.e., a vehicle control ecu (electronic control unit). The vehicle 10 also has an external sensor 14, a vehicle body behavior sensor 16, a vehicle operation sensor 18, a communication section 20, and an HMI (Human machine interface) 22. The vehicle 10 also has a drive device 24, a brake device 26, a steering device 28, a navigation device 30, and a positioning portion 33. The vehicle 10 also has components other than these components, but the description thereof is omitted here.

The external sensor 14 acquires external information, that is, information on the periphery of the vehicle 10. The environment sensor 14 has a plurality of cameras 32 and a plurality of radars 34. The ambient sensor 14 also has a plurality of LiDAR (Light Detection And Ranging: Laser imaging Detection And Ranging) 36.

The information acquired by the camera (imaging unit) 32, i.e., camera information, is supplied from the camera 32 to the vehicle control device 12. The camera information may be photographic information or the like. The camera information is combined with radar information and LiDAR information, which will be described later, to constitute external information. In fig. 1, 1 camera 32 is illustrated, but actually, there are a plurality of cameras 32.

The radar 34 transmits a transmission wave to the outside of the vehicle 10, and receives a reflected wave reflected by the detection object in the transmitted transmission wave. Examples of the transmission wave include an electromagnetic wave. Examples of the electromagnetic wave include a millimeter wave. Examples of the detection object include another vehicle 76 (see fig. 2) including a preceding vehicle. Note that the mark 76 is used when other vehicles are explained collectively, and the marks 76A and 76B are used when each other vehicle is explained (see fig. 2). The radar 34 generates radar information (reflected wave signal) from the reflected wave or the like. The radar 34 supplies the generated radar information to the vehicle control device 12. In fig. 1, 1 radar 34 is illustrated, but in reality the vehicle 10 has a plurality of radars 34. The radar 34 is not limited to the millimeter-wave radar. For example, a laser radar, an ultrasonic sensor, or the like may be used as the radar 34.

The LiDAR36 emits laser light continuously in all directions of the vehicle 10, measures the three-dimensional position of the reflection point from the reflected wave of the emitted laser light, and outputs three-dimensional information, which is information on the three-dimensional position. The LiDAR36 supplies this three-dimensional information, i.e., LiDAR information, to the vehicle control device 12. In FIG. 1, 1 LiDAR36 is illustrated, but in practice the vehicle 10 has multiple LiDAR 36.

The vehicle body behavior sensor 16 acquires vehicle body behavior information, which is information related to the behavior of the vehicle 10. The vehicle body behavior sensor 16 includes a vehicle speed sensor, a wheel speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor detects the speed of the vehicle 10, i.e., the vehicle speed. In addition, the vehicle speed sensor also detects the traveling direction of the vehicle 10. The wheel speed sensor detects a wheel speed, which is a speed of a wheel not shown. The acceleration sensor detects the acceleration of the vehicle 10. The acceleration includes a front-rear acceleration, a lateral acceleration, and an up-down acceleration. The acceleration sensor may detect only acceleration in a part of directions. The yaw rate sensor detects the yaw rate of the vehicle 10.

The vehicle operation sensor (driving operation sensor) 18 acquires information on a driving operation performed by a user (driver), that is, driving operation information. The vehicle operation sensors 18 include an accelerator pedal sensor, a brake pedal sensor, a steering angle sensor, and a steering torque sensor, which are not shown. The accelerator pedal sensor detects an operation amount of an accelerator pedal, not shown. The brake pedal sensor detects an operation amount of a brake pedal, not shown. The steering angle sensor detects a steering angle of a steering wheel, not shown. The steering torque sensor detects torque applied to the steering wheel.

The communication unit 20 performs wireless communication with an external device not shown. The external device may include, for example, an external server not shown. The communication unit 20 may be non-detachable with respect to the vehicle 10, or may be detachable with respect to the vehicle 10. Examples of the communication unit 20 attachable to and detachable from the vehicle 10 include a mobile phone and a smartphone.

The HMI22 accepts an operation input (input operation) by a user (occupant), and provides various information to the user by visual, auditory, or tactile sense. The HMI22 includes, for example, an automatic driving switch (driving assist switch) 38, a display 40, a contact sensor 42, a camera 44, a speaker 46, and an operation member 68.

The automatic driving switch 38 is a switch for a user to instruct the start and stop of automatic driving. The automatic drive switch 38 includes a start switch not shown and a stop switch not shown. The start switch outputs a start signal to the vehicle control device 12 in response to an operation by a user. The stop switch outputs a stop signal to the vehicle control device 12 in response to an operation by a user.

The display (display portion) 40 includes, for example, a liquid crystal panel, an organic EL panel, and the like. Here, a case where the display 40 is a touch panel will be described as an example, but the present invention is not limited thereto.

The touch sensor 42 is a sensor for detecting whether a user (driver) touches the steering wheel. The signal output from the contact sensor 42 is supplied to the vehicle control device 12. The vehicle control device 12 can determine whether the user touches the steering wheel based on the signal supplied from the touch sensor 42.

The camera 44 images the inside of the vehicle 10, that is, the cabin, not shown. The camera 44 may be provided on an instrument panel, not shown, or may be provided on a roof, not shown, for example. In addition, the camera 44 may be provided to photograph only the driver, or may be provided to photograph each occupant. The camera 44 outputs image information, which is information acquired by imaging the vehicle interior, to the vehicle control device 12.

The speaker 46 is a means for providing various information to the user in the form of voice. The vehicle control device 12 outputs various notifications, alarms, and the like using the speaker 46.

The operating element (operation input unit) 68 is a member for the user to perform an operation input for instructing a lane change. In the case of a lane change proposal, which is a proposal for a lane change, performed by the vehicle control device 12, the user can use the operating element 68 to indicate whether or not to approve the lane change proposal. The operation member 68 is, for example, a rod-shaped operation member not shown, but is not limited thereto. The operating member 68 is provided on, for example, a steering column not shown, but is not limited thereto. The operating member 68 can rotate clockwise or counterclockwise about the fulcrum. The operating element 68 includes an operating position sensor not shown. The operating position sensor detects the operating position of the operating member 68. The operating element 68 supplies information obtained by the operating position sensor, that is, information on the operating position of the operating element 68 to the operation detecting unit 60 described later.

The driving device (driving force control system) 24 includes a driving ECU (not shown) and a driving source (not shown). The drive ECU controls the driving force (torque) of the vehicle 10 by controlling the driving source. Examples of the drive source include an engine and a drive motor. The drive ECU controls the drive source in accordance with the operation of the accelerator pedal by the user, whereby the drive force can be controlled. The drive ECU can control the driving force by controlling the driving source in accordance with the command supplied from the vehicle control device 12. The driving force of the driving source is transmitted to wheels, not shown, via a transmission, not shown, and the like.

The brake device (braking force control system) 26 includes a brake ECU (not shown) and a brake mechanism (not shown). The brake mechanism operates the brake member by a brake motor, a hydraulic mechanism, or the like. The brake ECU controls the brake mechanism in accordance with the operation of the brake pedal by the user, whereby the braking force can be controlled. The brake ECU can control the braking force by controlling the brake mechanism in accordance with a command supplied from the vehicle control device 12.

The steering device (steering system) 28 includes an EPS (electric power steering) ECU, which is a steering ECU not shown, and a steering motor not shown. The steering ECU controls the steering motor in accordance with the operation of the steering wheel by the user, and controls the direction of the wheels (steering wheel). The steering ECU controls the steering motor in accordance with a command supplied from the vehicle control device 12, and controls the direction of the wheels. In addition, steering may be performed by changing the torque distribution or the braking force distribution to the left and right wheels.

The Navigation device 30 includes a GNSS (Global Navigation Satellite System) sensor (not shown). The navigation device 30 further includes an unillustrated computing unit and an unillustrated storage unit. The GNSS sensor detects the current position of the vehicle 10. The calculation unit reads map information corresponding to the current position detected by the GNSS sensor from a map database, not shown, stored in the storage unit. The calculation unit specifies a target route from the current position to the destination using the map information. In this way, the navigation device 30 can function as a target route specifying unit that specifies a target route to a destination in advance. Additionally, the destination is entered by the user through the HMI 22. As mentioned above, the display 40 is a touch screen. The input of the destination is performed by the user operating the touch panel. The navigation device 30 outputs the created target route to the vehicle control device 12. The vehicle control device 12 supplies the target route to the HMI 22. The HMI22 displays the target path on the display 40. The navigation device 30 can supply map information to the vehicle control device 12. In addition, the navigation device 30 can acquire road traffic information. The road traffic information can be supplied to the navigation device 30 by FM multiplex broadcasting, beacons, or the like, for example. The navigation device 30 can supply road traffic information to the vehicle control device 12.

The positioning portion 33 has GNSS 48. The positioning section 33 also has an IMU (Inertial Measurement Unit) 50 and a map database (map DB) 52. The positioning section 33 determines the position of the vehicle 10 using the information obtained from the GNSS48, the information obtained from the IMU50, and the map information stored in the map database 52 as appropriate. The positioning unit 33 can supply vehicle position information, which is information indicating the position of the vehicle 10, to the vehicle control device 12. In addition, the positioning unit 33 can supply map information to the vehicle control device 12.

The vehicle control device 12 includes a calculation unit 54 and a storage unit 56. The arithmetic unit 54 is responsible for controlling the entire vehicle control device 12. The arithmetic unit 54 is constituted by, for example, a cpu (central Processing unit). The computing unit 54 controls each unit according to a program stored in the storage unit 56, thereby executing vehicle control.

The calculation unit 54 includes an information acquisition unit 58, an operation detection unit 60, a road type determination unit 62, a control unit 64, and a lane change proposal unit 66. The information acquisition unit 58, the operation detection unit 60, the road type determination unit 62, the control unit 64, and the lane change proposal unit 66 can be realized by the calculation unit 54 executing the program stored in the storage unit 56.

Fig. 2 and 3 are diagrams showing examples of the travel lane. Fig. 2 shows an example of a case where the host vehicle 10 and another vehicle 76 are traveling on the lane 78L. Fig. 3 shows an example of a case where the host vehicle 10 is traveling on the lane 78R and the other vehicle 76 is traveling on the lane 78L. Note that, as described above, the mark 76 is used when other vehicles are explained collectively, and the marks 76A and 76B are used when the other vehicles are explained individually. Lane 78L is the left lane and lane 78R is the right lane. Note that the mark 78 is used when describing the lanes collectively, and the marks 78L and 78R are used when describing the respective lanes. Fig. 2 illustrates an example in a case where another vehicle (front traveling vehicle) 76A and another vehicle 76B located in front of the other vehicle 76A are located in front of the own vehicle 10. Fig. 3 shows an example of a case where the other vehicles 76A, 76B are located in a lane 78L different from the lane 78R on which the host vehicle 10 travels. Fig. 2 and 3 show an example in which a hazard lamp (hazard warning lamp)80 of another vehicle 76A located in front of the host vehicle 10 is flashing. The number of the other vehicles 76 may be 1, and the number of the other vehicles 76 may be 3 or more. In addition, the other vehicle 76 may be present in the lane 78R, and the other vehicle 76A and the other vehicle 76B may be present in different lanes 78.

The information acquisition unit 58 can acquire traffic flow deterioration information indicating deterioration of the traffic flow ahead of the host vehicle 10. The deterioration of the traffic flow is, for example, traffic congestion. The information acquisition unit 58 can detect or estimate (predict) deterioration of the traffic flow in front of the host vehicle 10 from the host vehicle position information and the road traffic information. The information acquisition unit 58 can detect or estimate deterioration of the traffic flow in front of the host vehicle 10 from the information acquired by the external sensor 14 included in the host vehicle 10. The information acquisition unit 58 can detect or estimate deterioration of the traffic flow in front of the host vehicle 10 based on the navigation information, which is information supplied from the navigation device 30. The information acquisition unit 58 can detect or estimate deterioration of the traffic flow in front of the host vehicle 10 from information supplied from a VICS (vehicle information and Communication System) (registered trademark), not shown. The information acquisition unit 58 can detect or estimate deterioration of the traffic flow ahead of the host vehicle 10 from information acquired by performing communication, specifically, information acquired by performing vehicle-to-vehicle communication or the like. The information acquisition unit 58 can detect or estimate deterioration of the traffic flow ahead of the host vehicle 10 from the travel history, specifically, from the travel histories of the host vehicle 10 and the other vehicles 76, which can be stored in a not-shown database. In this way, the information acquisition unit 58 can acquire traffic flow deterioration information indicating deterioration of the traffic flow in front of the host vehicle 10, based on other vehicle information (traffic participant information) relating to other vehicles (traffic participants) 76 located in the periphery of the host vehicle 10.

When the hazard lamps 80 of the other vehicles 76 located in front of the host vehicle 10 are blinking, the information acquisition portion 58 can determine that the traffic flow in front of the host vehicle 10 is in a deteriorated state. That is, when the hazard lamps 80 of the other vehicles 76 located on the lane 78L (see fig. 2) on which the host vehicle 10 is traveling blink, the information acquisition unit 58 can determine that the traffic flow in front of the host vehicle 10 is in a deteriorated state. In addition, when the hazard lamps 80 of the other vehicles 76 located in the lane 78L adjacent to the lane 78R (see fig. 3) in which the host vehicle 10 is traveling blink, the information acquisition unit 58 can perform the following determination. That is, in this case, the information acquisition unit 58 can determine that the traffic flow in front of the host vehicle 10 is in a deteriorated state.

In the case where the travel speed of the other vehicle 76 located ahead of the own vehicle 10 is less than the 1 st threshold value, the information acquisition portion 58 can determine that the traffic flow ahead of the own vehicle 10 is in a deteriorated state. That is, when the traveling speed of another vehicle 76 located on a lane (own lane) 78L (see fig. 2) on which the own vehicle 10 is traveling is less than the 1 st threshold value, the information acquisition unit 58 can determine that the traffic flow in front of the own vehicle 10 is in a deteriorated state. Further, when the traveling speed of another vehicle 76 located in a lane 78L adjacent to a lane 78R (see fig. 3) in which the host vehicle 10 is traveling is smaller than the 1 st threshold value, the information acquisition unit 58 may perform the following determination. That is, in this case, the information acquisition unit 58 can determine that the traffic flow in front of the host vehicle 10 is in a deteriorated state. In addition, the information acquisition unit 58 may determine that the traffic flow ahead of the host vehicle 10 is in a deteriorated state when the traveling speed of the host vehicle 10 is less than the 1 st threshold value. Such determination can be always performed by the information acquisition unit 58.

The control unit (lane change control unit) 64 performs lane change control (automatic lane change control), which is control of a lane change. The lane change that can be executed by the control unit 64 may be a lane change that can be executed by a user operation. The lane change that can be executed by the control unit 64 may be a lane change that can be executed based on the user's agreement with a lane change proposal. These lane changes are lane changes in which a user operates, that is, lane change No. 1. In other words, the 1 st lane change is a lane change intended by the user. The lane change that can be executed by the control unit 64 includes a lane change that is not executed based on an operation by the user. This lane change is a 2 nd lane change that is a lane change in which no user operation is performed. In other words, the 2 nd lane change is a lane change that is guided by the system according to the destination. When the traffic flow deterioration information is acquired by the information acquisition unit 58, the control unit 64 can restrict the lane change, specifically, the 1 st lane change or the 2 nd lane change.

When the lane 78 that is the target of the lane change is the lane 78 on the target route predetermined by the target route determination portion, the control portion 64 permits the lane change, that is, does not restrict the lane change, even in the case where the traffic flow deterioration information is acquired by the information acquisition portion 58. In addition, as described above, the target path can be predetermined by the user, for example, operating the navigation device 30. For example, when the host vehicle 10 is traveling in the lane 78L and the lane 78R that is the target of the lane change is the lane 78 located on the target route (see fig. 2), the control unit 64 permits the lane change even when the traffic flow deterioration information is acquired by the information acquisition unit 58. Further, when the host vehicle 10 is traveling in the lane 78R and the lane 78L that is the target of the lane change is the lane 78 located on the target route (see fig. 3), the control unit 64 permits the lane change even when the traffic flow deterioration information is acquired by the information acquisition unit 58. In the case shown in fig. 3, it is preferable that the host vehicle 10 be lane-changed to the lane 78L before another vehicle, not shown, traveling behind the another vehicle 76A approaches the another vehicle 76A. This is to enable the host vehicle 10 to reach the destination in advance. This is because, when another vehicle, not shown, is located behind another vehicle 76A, the other vehicle, not shown, located behind the other vehicle 76A may prevent the host vehicle 10 from changing lanes to the lane 78L.

When the traveling speed of the host vehicle 10 or the other vehicle 76 changes from less than the 2 nd threshold value to equal to or more than the 2 nd threshold value, the control unit 64 can cancel the restriction on the lane change. That is, when the traveling speed of the host vehicle 10 becomes relatively high, the control unit 64 can cancel the restriction on the lane change. Further, the control unit 64 can cancel the restriction on the lane change when the traveling speed of the other vehicle 76 becomes relatively high.

When the host vehicle 10 passes over another vehicle 76 that is blinking the hazard lamps 80, the control unit 64 can cancel the restriction on the lane change. For example, when the host vehicle 10 is traveling in the lane 78R and the host vehicle 10 passes over another vehicle 76A in which the hazard lamp 80 is blinking, the control unit 64 cancels the restriction on the lane change.

The road type determination unit 62 determines the type of the road on which the vehicle 10 is traveling. When the road type determined by the road type determination unit 62 is a predetermined type and the information acquisition unit 58 determines deterioration of the traffic flow, the control unit 64 restricts a lane change. The prescribed category is, for example, a highway. When the road type determined by the road type determination unit 62 is an expressway and the information acquisition unit 58 determines deterioration of the traffic flow, the lane change is restricted. On the other hand, when the road type determined by the road type determination unit 62 is a general road and the information acquisition unit 58 determines that the traffic flow is deteriorated, the restriction on the lane change is not performed.

The operation detection unit 60 detects an operation input to the operation element 68 by the user based on a signal supplied from the operation element 68. When the traffic flow deterioration information is acquired by the information acquisition unit 58, the control unit 64 restricts a lane change corresponding to the operation input detected by the operation detection unit 60. For example, when the operation input of the clockwise rotation operation element 68 is performed while the host vehicle 10 is traveling in the lane 78L, the lane change corresponding to the operation input is a lane change to the lane 78R (see fig. 2). When the traffic flow deterioration information is acquired by the information acquisition unit 58, the control unit 64 restricts such a lane change. For example, when the operation input of the counterclockwise rotation operation element 68 is performed while the host vehicle 10 is traveling in the lane 78R, the lane change corresponding to the operation input is a lane change to the lane 78L (see fig. 3). When the traffic flow deterioration information is acquired by the information acquisition unit 58, the control unit 64 restricts such a lane change.

The lane change advising unit 66 can advise the user of a lane change. The lane change proposal unit 66 proposes a lane change to the user using, for example, the HMI 22. More specifically, the lane change proposing unit 66 proposes a lane change to the user using voice. The speech can be output using the speaker 46.

Here, a case where a lane change is proposed using voice will be described as an example, but the present invention is not limited to this. For example, a lane change proposal may be made by display. In addition, a lane change proposal may be made by a combination of voice and display. The lane change proposal based on the display can be performed using, for example, the display 40.

When the lane change proposal is made by the lane change proposal unit 66, the user can indicate whether to approve the lane change proposal, for example, by using the operation element 68. For example, when the lane change proposal unit 66 proposes a lane change to the lane 78 located on the left side of the lane (own lane) 78 in which the own vehicle 10 is traveling, the user performs, for example, the 1 st operation input when the lane change proposal is approved. The 1 st operation input can be performed by, for example, turning the operation element 68 counterclockwise, but is not limited thereto. Not performing the 1 st operation input means that the lane change proposal is not approved. For example, when the lane change proposal unit 66 proposes a lane change to the lane 78 on the right side of the own lane 78, the user performs, for example, the 2 nd operation input when the lane change proposal is approved. The 2 nd operation input can be performed by, for example, rotating the operation element 68 clockwise, but is not limited thereto. Not performing the 2 nd operation input means that the lane change proposal is not approved.

The storage unit 56 includes a volatile memory not shown and a nonvolatile memory not shown. Examples of the volatile memory include a ram (random Access memory). Examples of the nonvolatile memory include a rom (read Only memory) and a flash memory. The outside world information, the vehicle body behavior information, the vehicle operation information, and the like are stored in the volatile memory, for example. Programs, tables, maps, and the like are stored in the nonvolatile memory, for example.

Fig. 4 is a flowchart showing an operation example of the vehicle control device according to the present embodiment. Fig. 4 shows an example of a case where there is a lane change by an operation performed by the user, that is, a 1 st lane change.

In step S1, the operation detection unit 60 detects whether or not the user has made an operation input to the operation element 68 based on the signal supplied from the operation element 68. As described above, the operation input to the operation element 68 is an operation input for the user to give an instruction for a lane change. When the operation input is made to the operation element 68 (yes at step S1), the process proceeds to step S2. If no operation input is made to the operation element 68 (no in step S1), step S1 is repeated. When there is no 2 nd lane change which is a lane change by the operation of the user, step S2 is executed without executing step S1.

In step S2, the control unit 64 determines whether or not traffic flow deterioration information is acquired by the information acquisition unit 58. As described above, the information acquisition unit 58 always determines whether or not the traffic flow is deteriorated. When the traffic flow deterioration information is acquired by the information acquisition unit 58 (yes at step S2), the process proceeds to step S3. If the traffic flow deterioration information has not been acquired by the information acquisition unit 58 (no at step S2), the process proceeds to step S4.

In step S3, the control unit 64 restricts the lane change. That is, the control unit 64 does not perform the lane change. In the case where step S3 is completed, the processing shown in fig. 4 is completed.

In step S4, the control unit 64 permits the lane change. That is, the control unit 64 performs lane change. In the case where step S4 is completed, the processing shown in fig. 4 is completed.

As described above, according to the present embodiment, when the traffic flow deterioration information is acquired, the lane change is restricted. Therefore, according to the present embodiment, it is possible to provide the vehicle control device 12 that can make the vehicle 10 reach the destination more favorably. Further, according to the present embodiment, it is possible to prevent the host vehicle 10 from being unable to return to the lane 78 on which the host vehicle 10 was traveling before the lane change was made.

Fig. 5 is a flowchart showing an operation example of the vehicle control device according to the present embodiment. Fig. 5 shows an example of a case where there is a 1 st lane change which is a lane change by an operation performed by the user.

In step S11, the road type determination unit 62 determines the type of the road on which the host vehicle 10 is traveling. The control unit 64 determines whether or not the road type determined by the road type determination unit 62 is a predetermined type. The prescribed category is, for example, a highway. If the road type determined by the road type determination unit 62 is the predetermined type (yes in step S11), for example, if the road on which the host vehicle 10 is traveling is an expressway, the process proceeds to step S1. If the road type determined by the road type determination unit 62 is not the predetermined type (no in step S11), for example, if the road on which the host vehicle 10 is traveling is not an expressway, the processing shown in fig. 5 is completed.

Steps S1 to S4 are the same as steps S1 to S4 described above with reference to fig. 4, and therefore, description thereof is omitted. When there is no 2 nd lane change which is a lane change by the operation of the user, step S2 is executed without executing step S1.

In this way, when the road type determined by the road type determination unit 62 is a predetermined type and the information acquisition unit 58 determines that the traffic flow is deteriorated, the lane change may be restricted.

Fig. 6 is a flowchart showing an operation example of the vehicle control device according to the present embodiment. Fig. 6 shows details of the processing performed in step S2 described above.

In step S21, the information acquisition unit 58 determines whether or not the hazard lamps 80 (see fig. 2) of the other vehicle 76 located in front of the host vehicle 10 are blinking. If the hazard lamps 80 of the other vehicles 76 located in front of the host vehicle 10 are blinking (yes in step S21), the process proceeds to step S22. If the hazard lamps 80 of the other vehicles 76 located in front of the host vehicle 10 do not blink (no in step S21), the processing shown in fig. 6 is completed.

In step S22, the information acquisition unit 58 determines that the traffic flow in front of the host vehicle 10 is in a deteriorated state. In the case where step S22 is completed, the processing shown in fig. 6 is completed.

In this way, when the hazard lamps 80 of the other vehicles 76 located in front of the host vehicle 10 are blinking, it may be determined that the traffic flow in front of the host vehicle 10 is in a deteriorated state.

Fig. 7 is a flowchart showing an operation example of the vehicle control device according to the present embodiment. Fig. 7 shows details of the processing performed in step S2 described above.

In step S31, the information acquisition unit 58 determines whether the travel speed of the other vehicle 76 located in front of the host vehicle 10 is less than the 1 st threshold. When the traveling speed of the other vehicle 76 located in front of the host vehicle 10 is less than the 1 st threshold value (yes in step S31), the process proceeds to step S32. When the traveling speed of the other vehicle 76 located in front of the host vehicle 10 is equal to or higher than the 1 st threshold value (no in step S31), the processing shown in fig. 7 is completed.

In step S32, the information acquisition unit 58 acquires information on deterioration of the traffic flow ahead of the host vehicle 10. In the case where step S32 is completed, the processing shown in fig. 7 is completed.

In this way, when the traveling speed of the other vehicle 76 is less than the 1 st threshold value, it may be determined that the traffic flow in front of the host vehicle 10 is in a deteriorated state.

Fig. 8 is a flowchart showing an operation example of the vehicle control device according to the present embodiment. Fig. 8 shows an example of a case where there is a 1 st lane change which is a lane change by an operation performed by the user.

Steps S1 to S2 are the same as steps S1 to S2 described above with reference to fig. 4, and therefore, description thereof is omitted. When the traffic flow deterioration information is acquired by the information acquisition unit 58 (yes at step S2), the process proceeds to step S41. If the traffic flow deterioration information has not been acquired by the information acquisition unit 58 (no at step S2), the process proceeds to step S4. When there is no 2 nd lane change which is a lane change by the operation of the user, step S2 is executed without executing step S1.

In step S41, the control unit 64 determines whether or not the lane 78 that is the lane change target is the lane 78 located on the target route. If the lane 78 as the lane change target is the lane 78 located on the target route (yes at step S41), the process proceeds to step S4. If the lane 78 as the lane change target is not the lane 78 located on the target route (no in step S41), the process proceeds to step S3.

Steps S3 to S4 are the same as steps S3 to S4 described above with reference to fig. 4, and therefore, the description thereof is omitted.

In this way, when the lane 78 as the lane change target is the lane 78 located on the target route, even in the case where the traffic flow deterioration information is acquired by the information acquisition portion 58, it is possible to permit the lane change.

Fig. 9 is a flowchart showing an operation example of the vehicle control device according to the present embodiment. The processing shown in fig. 9 can be performed when the restriction of the lane change is being executed (step S3).

In step S51, the control unit 64 determines whether the traveling speed of the host vehicle 10 has changed from less than the 2 nd threshold to equal to or more than the 2 nd threshold. When the traveling speed of the host vehicle 10 changes from being lower than the 2 nd threshold to being equal to or higher than the 2 nd threshold (yes in step S51), that is, when the traveling speed of the host vehicle 10 becomes relatively high, the process proceeds to step S54. If the traveling speed of the host vehicle 10 has not changed from being lower than the 2 nd threshold to being equal to or higher than the 2 nd threshold (no in step S51), that is, if the traveling speed of the host vehicle 10 is kept relatively low, the process proceeds to step S52.

In step S52, the control unit 64 determines whether the traveling speed of the other vehicle 76 has changed from less than the 2 nd threshold to equal to or more than the 2 nd threshold. If the traveling speed of the other vehicle 76 changes from being lower than the 2 nd threshold value to being equal to or higher than the 2 nd threshold value (yes in step S52), that is, if the traveling speed of the other vehicle 76 becomes relatively high, the process proceeds to step S54. If the traveling speed of the other vehicle 76 has not changed from being less than the 2 nd threshold to being equal to or greater than the 2 nd threshold (no in step S52), that is, if the traveling speed of the other vehicle 76 is kept relatively low, the process proceeds to step S53.

In step S53, the control unit 64 keeps the restriction on the lane change. In the case where step S53 is completed, the processing shown in fig. 9 is completed.

In step S54, the control unit 64 releases the restriction on the lane change. In the case where step S54 is completed, the processing shown in fig. 9 is completed.

In this way, when the traveling speed of the host vehicle 10 or the other vehicle 76 changes from being lower than the 2 nd threshold to being equal to or higher than the 2 nd threshold, the restriction on the lane change may be released.

Fig. 10 is a flowchart showing an operation example of the vehicle control device according to the present embodiment. The processing shown in fig. 10 can be performed while the restriction of the lane change is being executed (step S3).

In step S61, the control unit 64 determines whether the own vehicle 10 has passed the other vehicle 76A on which the hazard lamp 80 is blinking. If the host vehicle 10 has passed the other vehicle 76A on which the hazard lamp 80 is blinking (yes in step S61), the process proceeds to step S63. If the host vehicle 10 does not pass the another vehicle 76A that is blinking the hazard lamps 80 (no in step S61), the process proceeds to step S62.

In step S62, the control unit 64 keeps the restriction on the lane change. In the case where step S62 is completed, the processing shown in fig. 10 is completed.

In step S63, the control unit 64 releases the restriction on the lane change. In the case where step S63 is completed, the processing shown in fig. 10 is completed.

In this way, when the host vehicle 10 has passed over the other vehicle 76A on which the hazard lamps 80 are blinking, the restriction on the lane change may be released.

[ modified embodiment ]

While the preferred embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the present invention.

In the above embodiment, the case where it is determined whether or not the traveling speed of the other vehicle 76 located in front of the host vehicle 10 is less than the 1 st threshold value in step S31 shown in fig. 7 has been described as an example, but the present invention is not limited to this. For example, in step S31 shown in fig. 7, it may be determined whether or not the traveling speed of the host vehicle 10 is smaller than the 1 st threshold value. In this case, when the traveling speed of the host vehicle 10 is smaller than the 1 st threshold value, the process proceeds to step S32. On the other hand, when the traveling speed of the host vehicle 10 is equal to or higher than the 1 st threshold, the processing shown in fig. 7 is completed.

In the above embodiment, the case where the traffic flow deterioration information indicating the deterioration of the traffic flow in front of the host vehicle 10 is acquired from the other-vehicle information about the other vehicles 76 located in the periphery of the host vehicle 10 has been described as an example. However, the acquisition of the traffic flow deterioration information is not limited to only the other vehicle information. That is, traffic flow deterioration information indicating deterioration of the traffic flow in front of the host vehicle 10 may be acquired from traffic participant information that is information on traffic participants located in the vicinity of the host vehicle 10. Examples of the traffic participants other than the other vehicles include, but are not limited to, animals including humans.

The above embodiments are summarized as follows.

The vehicle control device (12) has an information acquisition unit (58) and a control unit (64), wherein the information acquisition unit (58) acquires traffic flow deterioration information indicating deterioration of traffic flow from traffic participant information, wherein: the traffic participant information is information relating to traffic participants (76A, 76B) located in the periphery of the own vehicle (10), and the traffic flow is a traffic flow in front of the own vehicle; the control unit (64) restricts a lane change when the traffic flow deterioration information is acquired by the information acquisition unit. According to this configuration, since the lane change is restricted when the traffic flow deterioration information is acquired, it is possible to provide a vehicle control device that can make the vehicle reach the destination more favorably. Further, according to this configuration, it is possible to prevent the host vehicle from being unable to return to the lane on which the host vehicle was traveling before the lane change.

The following steps can be also included: the traffic participants are other vehicles.

The following steps can be also included: the information acquisition unit determines that the traffic flow ahead of the host vehicle is in a deteriorated state when hazard lamps (80) of the other vehicles (76A) located ahead of the host vehicle are blinking. With this configuration, it is possible to reliably determine deterioration of the traffic flow in front of the host vehicle.

The following steps can be also included: the information acquisition unit determines that the traffic flow ahead of the host vehicle is in a deteriorated state when the travel speed of the other vehicle (76A) located ahead of the host vehicle or the travel speed of the host vehicle is less than a 1 st threshold value. With this configuration, it is possible to reliably determine deterioration of the traffic flow in front of the host vehicle.

The following steps can be also included: the information acquisition unit acquires the traffic flow deterioration information ahead of the host vehicle on the basis of host vehicle position information and road traffic information. With this configuration, it is possible to reliably determine deterioration of the traffic flow in front of the host vehicle.

The following steps can be also included: the information acquisition unit acquires the traffic flow deterioration information ahead of the host vehicle on the basis of information acquired by an external sensor (14) disposed on the host vehicle. With this configuration, it is possible to reliably determine deterioration of the traffic flow in front of the host vehicle.

The following steps can be also included: the information acquisition unit acquires the traffic participant information by communication.

The following steps can be also included: the information acquisition unit acquires the traffic participant information from a travel history.

The following steps can be also included: when the lane as the lane change target is a lane located on the target path predetermined by the target path determining portion, the control portion permits the lane change even in the case where the traffic flow deterioration information is acquired by the information acquiring portion. With this configuration, the host vehicle can reliably reach the destination.

The following steps can be also included: the lane change is a 1 st lane change or a 2 nd lane change, wherein the 1 st lane change is a lane change in which there is an operation by a user, and the 2 nd lane change is a lane change in which there is no operation by the user.

The following steps can be also included: the control unit cancels the restriction on the lane change when the traveling speed of the host vehicle or the other vehicle located in front of the host vehicle changes from less than a 2 nd threshold to equal to or more than the 2 nd threshold. With this configuration, the host vehicle can travel well.

The following steps can be also included: the control unit cancels the restriction on the lane change when the own vehicle has passed the other vehicle in which the hazard lamp is blinking. With this configuration, the host vehicle can travel well.

The vehicle control device (12) further includes a road type determination unit (62), wherein the road type determination unit (62) determines the type of a road on which the vehicle is traveling, and the control unit restricts the lane change when the type of the road determined by the road type determination unit is a predetermined type and the information acquisition unit acquires the traffic flow deterioration information. With this configuration, the restriction of the lane change can be performed only when the host vehicle is traveling on the road of the predetermined type.

The vehicle (10) has the vehicle control device described above.

The vehicle control method has the steps of: a step of acquiring traffic flow deterioration information indicating deterioration of the traffic flow from the traffic participant information (S2), in which: the traffic participant information is information relating to traffic participants located in the periphery of the own vehicle, and the traffic flow is a traffic flow in front of the own vehicle; and a step (S3) of restricting a lane change when the traffic flow deterioration information is acquired.

Claims (15)

1. A vehicle control apparatus (12),

has an information acquisition unit (58) and a control unit (64), wherein,

the information acquisition unit (58) acquires traffic flow deterioration information indicating deterioration of traffic flow from traffic participant information, wherein: the traffic participant information is information relating to traffic participants (76A, 76B) located in the periphery of the own vehicle (10), and the traffic flow is a traffic flow ahead of the own vehicle;

the control unit (64) restricts a lane change when the traffic flow deterioration information is acquired by the information acquisition unit.

2. The vehicle control apparatus according to claim 1,

the traffic participants are other vehicles.

3. The vehicle control apparatus according to claim 2,

the information acquisition unit determines that the traffic flow ahead of the host vehicle is in a deteriorated state when a hazard lamp (80) of the other vehicle (76A) located ahead of the host vehicle is flashing.

4. The vehicle control apparatus according to claim 2,

the information acquisition unit determines that the traffic flow ahead of the host vehicle is in a deteriorated state when the travel speed of the other vehicle (76A) located ahead of the host vehicle or the travel speed of the host vehicle is less than a 1 st threshold value.

5. The vehicle control apparatus according to claim 1,

the information acquisition unit acquires the traffic flow deterioration information ahead of the host vehicle from host vehicle position information and road traffic information.

6. The vehicle control apparatus according to claim 1,

the information acquisition unit acquires the traffic flow deterioration information ahead of the host vehicle on the basis of information acquired by an external sensor (14) disposed on the host vehicle.

7. The vehicle control apparatus according to claim 1,

the information acquisition unit acquires the traffic participant information by communication.

8. The vehicle control apparatus according to claim 1,

the information acquisition unit acquires the traffic participant information from a travel history.

9. The vehicle control apparatus according to claim 1,

when the lane as the lane change target is a lane located on the target path predetermined by the target path determining portion, the control portion permits the lane change even in the case where the traffic flow deterioration information is acquired by the information acquiring portion.

10. The vehicle control apparatus according to claim 1,

the lane change is a 1 st lane change or a 2 nd lane change, wherein the 1 st lane change is a lane change in which there is an operation by a user, and the 2 nd lane change is a lane change in which there is no operation by the user.

11. The vehicle control apparatus according to claim 2,

the control unit cancels the restriction on the lane change when the traveling speed of the host vehicle or the other vehicle located in front of the host vehicle changes from less than a 2 nd threshold to equal to or more than the 2 nd threshold.

12. The vehicle control apparatus according to claim 3,

the control unit cancels the restriction on the lane change when the own vehicle has passed the other vehicle in which the hazard lamp is blinking.

13. The vehicle control apparatus according to claim 1,

further comprising a road type determination unit (62), the road type determination unit (62) determining the type of the road on which the vehicle is traveling,

the control unit restricts the lane change when the road type determined by the road type determination unit is a predetermined type and the information acquisition unit acquires the traffic flow deterioration information.

14. A vehicle (10) characterized in that,

a vehicle control apparatus according to any one of claims 1 to 13.

15. A vehicle control method characterized by comprising, in a vehicle control unit,

comprises the following steps:

a step of acquiring traffic flow deterioration information indicating deterioration of the traffic flow from the traffic participant information (S2), in which: the traffic participant information is information relating to traffic participants located in the periphery of the own vehicle, and the traffic flow is a traffic flow in front of the own vehicle; and

and a step of restricting a lane change when the traffic flow deterioration information is acquired (S3).

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