JP2019147437A - Vehicle control device, vehicle control method and program - Google Patents

Abstract

To provide a vehicle control device, a vehicle control method and a program capable of quickly avoiding an obstacle.SOLUTION: A vehicle control device comprises: a recognition unit for recognizing a surrounding situation around an own vehicle; a drive control unit for controlling speed and steering of the own vehicle to make the own vehicle travel; and a determination unit for, when a preceding vehicle is recognized by the recognition unit, determining whether or not the preceding vehicle has approached one partition line out of two partition lines that partition a lane on which the own vehicle is traveling from a center side of the lane on which the own vehicle is traveling, in the lane on which the own vehicle is traveling. When it is recognized by the recognition unit that the lane on which the own vehicle is traveling is a prescribed lane closest to a road outer side and when it is determined by the determination unit that the preceding vehicle has approached one partition line from the center side of the line on which the own vehicle is traveling, the drive control unit controls the speed and steering of the own vehicle to make the own vehicle move to the partition line side to which the preceding vehicle has approached in the lane.SELECTED DRAWING: Figure 1

Description

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

  In recent years, research has been conducted on automatically controlling the driving of a vehicle (hereinafter referred to as automatic driving). On the other hand, when a preceding vehicle avoids an obstacle, a technique is known in which obstacle avoidance is performed on the same travel route as the preceding vehicle (see, for example, Patent Document 1).

JP 2017-13678 A

  However, with the conventional technology, there are cases where obstacles cannot be avoided quickly.

  The present invention has been made in consideration of such circumstances, and an object of the present invention is to provide a vehicle control device, a vehicle control method, and a program capable of quickly avoiding an obstacle.

  (1): a recognition unit for recognizing a situation around the host vehicle, a driving control unit for controlling the speed and steering of the host vehicle to drive the host vehicle, and a host in which the host vehicle exists by the recognition unit. When a preceding vehicle existing in front of the own vehicle in the lane is recognized as the surrounding situation, the preceding vehicle demarcates the own lane from the center side of the own lane in the own lane 2 A determination unit that determines whether or not one of the two lane lines is approached, and the operation control unit is configured to determine that the own lane is a predetermined lane closest to the outside of the road by the recognition unit. When the determination unit determines that the preceding vehicle has approached one lane line from the center side of the own lane when recognized as a surrounding situation, the speed and steering of the own vehicle are controlled. , In your own lane The vehicle control device moves to the partition line side run vehicle before the host vehicle is approaching.

  (2): In the vehicle control device according to (1), the determination unit further determines that the preceding vehicle is a center of the own lane based on a change in the past vehicle width direction position of the preceding vehicle. Before approaching one lane line from the side, it is determined whether or not the behavior of the preceding vehicle has been stable, and the driving control unit determines whether the preceding vehicle is in the middle of the own lane by the determination unit. And when it is determined that the behavior of the preceding vehicle is stable before the preceding vehicle approaches one lane line, the host vehicle is moved to the preceding vehicle. Is moved to the lane line side that approaches.

  (3): In the vehicle control device according to (1) or (2), the determination unit further determines whether the preceding vehicle is based on a change in the past vehicle width direction position of the preceding vehicle. Before approaching one lane line from the center side of the own lane, it is determined whether or not the behavior of the preceding vehicle is stable, and the driving control unit determines whether the preceding vehicle is the own vehicle by the determining unit. When it is determined that the vehicle has approached one lane line from the center side of the lane, and the vehicle in front has approached one lane line, it is determined that the behavior of the vehicle in front is not stable. Is not moved to the lane line on which the preceding vehicle approaches.

  (4): In the vehicle control device according to any one of (1) to (3), the recognition unit further recognizes a two-wheeled vehicle lane adjacent to the own lane, and performs the driving. When the control unit recognizes the two-wheeled vehicle lane, the determination unit determines that the preceding vehicle has approached a lane marking that is not on the two-wheeled vehicle lane from the center side of the own lane. In this case, the own vehicle is moved in the own lane toward the lane line where the preceding vehicle approaches.

  (5): In the vehicle control device according to any one of (1) to (4), the recognition unit further recognizes a type of the preceding vehicle, and the operation control unit recognizes the recognition. When the type of the preceding vehicle recognized by the unit is a predetermined type, even if the determination unit determines that the preceding vehicle has approached one lane line from the center side of the own lane, The own vehicle is not moved to the lane line on which the preceding vehicle approaches.

  (6): In the vehicle control device according to any one of (1) to (5), the determination unit further includes an adjoining vehicle in which the preceding vehicle passes the lane line and is adjacent to the own lane. It is determined whether the lane is changed to a lane or whether the lane is changed, and the operation control unit determines that the preceding vehicle is to change the lane to the adjacent lane by the determination unit, or the preceding When it is determined that the vehicle has changed to the adjacent lane and the obstacle is recognized in front of the own lane by the recognition unit, the lane is changed from the own lane to the adjacent lane.

  (7): In the vehicle control device according to any one of (1) to (6), the driving control unit may determine whether the preceding vehicle is one section from the center side of the own lane by the determination unit. If it is not determined that the vehicle is approaching a line, based on the surrounding situation recognized by the recognizing unit, the vehicle is allowed to keep the vehicle traveling along the vehicle lane, and the determining unit causes the vehicle in front to move to the vehicle lane. When it is determined that the vehicle has approached one lane line from the center side of the vehicle, the host vehicle is moved to the lane line side where the preceding vehicle approaches, or the host vehicle has approached the lane line. To follow.

  (8): a recognition unit for recognizing an object around the own vehicle, and a vehicle recognized by the recognition unit as the object before the vehicle exists in front of the own vehicle in the own lane where the own vehicle exists. In the own lane, a determination unit that determines whether or not the running vehicle has approached one of the two lane lines that divide the lane from the center side of the own lane, and the determination unit, From the time when it is determined that the preceding vehicle has approached one lane line from the center side of the own lane, the vehicle starts to control the speed and steering of the own vehicle in the own lane. A vehicle control device comprising: an operation control unit that moves the vehicle toward a lane line on which the vehicle approaches.

  (9): The in-vehicle computer recognizes the situation around the host vehicle, controls the speed and steering of the host vehicle, causes the host vehicle to travel, and in front of the host vehicle in the host lane where the host vehicle exists. When the preceding vehicle existing in the vehicle is recognized as the surrounding situation, the preceding vehicle is one of two division lines that divide the own lane from the center side of the own lane in the own lane. When it is determined whether or not the vehicle is approaching a line and the vehicle is recognized as the surrounding situation that the vehicle is a predetermined vehicle that is closest to the outside of the road, the preceding vehicle is separated from the central side of the vehicle A vehicle control method for controlling the speed and steering of the host vehicle to move the host vehicle toward the lane line approaching the preceding vehicle in the host lane when it is determined that the vehicle is approaching a line.

  (10): In the in-vehicle computer, in a process of recognizing a situation around the host vehicle, a process of controlling the speed and steering of the host vehicle to run the host vehicle, and the host vehicle in which the host vehicle exists When a preceding vehicle existing in front of the host vehicle is recognized as the surrounding situation, the preceding vehicle has two lanes dividing the host lane from the center side of the host lane in the host lane. The process of determining whether one of the lanes is approached, and when the preceding vehicle recognizes that the lane is a predetermined lane closest to the outside of the road as the surrounding situation, When it is determined that the vehicle has approached one lane line from the center side, a process of controlling the speed and steering of the host vehicle and moving the host vehicle to the lane line side where the preceding vehicle approaches in the host lane And the fruit Program to be.

  According to (1) to (10), obstacles can be avoided quickly.

It is a lineblock diagram of vehicles system 1 using a vehicle control device concerning a 1st embodiment. 3 is a functional configuration diagram of a first control unit 120 and a second control unit 160. FIG. It is a flowchart which shows an example of the flow of a series of processes by the automatic operation control apparatus 100 of 1st Embodiment. 2 is a diagram illustrating an example of an image generated by a camera 10. FIG. It is a figure which shows the other example of the image produced | generated by the camera. It is a figure which shows the other example of the image produced | generated by the camera. It is a figure which shows an example of transition of distance (DELTA) D according to progress of time. It is a figure which shows the other example of transition of distance (DELTA) D according to time passage. It is a figure which shows an example of the scene which moves the own vehicle M also to the one side of a lane when a preceding vehicle moves to the one side of a lane. It is a figure which shows an example of the scene which makes the own vehicle M change a lane from the own lane to an adjacent lane. It is a figure which shows an example of the scene where the own vehicle M drive | works the road containing a motorcycle exclusive lane. It is a figure which shows an example of the scene which is making the own vehicle M follow the bus | bath which is a preceding vehicle. It is a figure showing an example of hardware constitutions of automatic operation control device 100 of an embodiment.

  Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a program according to the present invention will be described with reference to the drawings. In the following, the case where the left-hand traffic law is applied will be described. However, when the right-hand traffic law is applied, the right and left may be read in reverse.

<First Embodiment>
[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1 using the vehicle control device according to the first embodiment. A vehicle (hereinafter referred to as a host vehicle M) on which the vehicle system 1 is mounted is, for example, a vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, Or the combination of these is included. The electric motor operates using electric power generated by a generator connected to the internal combustion engine or electric discharge power of a secondary battery or a fuel cell.

  The vehicle system 1 includes, for example, a camera 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, An MPU (Map Positioning Unit) 60, a driving operator 80, an automatic driving control device 100, a travel driving force output device 200, a brake device 210, and a steering device 220 are provided. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. The configuration illustrated in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  The camera 10 is a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to an arbitrary location of the host vehicle M. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like. For example, the camera 10 periodically and repeatedly images the periphery of the host vehicle M. The camera 10 may be a stereo camera.

  The radar device 12 radiates a radio wave such as a millimeter wave around the host vehicle M and detects a radio wave (reflected wave) reflected by the object to detect at least the position (distance and direction) of the object. The radar device 12 is attached to an arbitrary location of the host vehicle M. The radar apparatus 12 may detect the position and speed of an object by FM-CW (Frequency Modulated Continuous Wave) method.

  The finder 14 is LIDAR (Light Detection and Ranging). The finder 14 irradiates light around the host vehicle M and measures scattered light. The finder 14 detects the distance to the object based on the time from light emission to light reception. The irradiated light is, for example, pulsed laser light. The finder 14 is attached to an arbitrary location of the host vehicle M.

  The object recognition device 16 performs sensor fusion processing on the detection results of some or all of the camera 10, the radar device 12, and the finder 14, and recognizes the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic driving control device 100. The object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the finder 14 to the automatic driving control device 100 as they are. The object recognition device 16 may be omitted from the vehicle system 1.

  The communication device 20 communicates with other vehicles existing around the host vehicle M using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or wirelessly. It communicates with various server apparatuses via a base station.

  The HMI 30 presents various information to the occupant of the host vehicle M and accepts an input operation by the occupant. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like.

  The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity around the vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like.

  The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 holds the first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory.

  The GNSS receiver 51 specifies the position of the host vehicle M based on the signal received from the GNSS satellite. The position of the host vehicle M may be specified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40.

  The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partly or wholly shared with the HMI 30 described above.

  The route determination unit 53 is, for example, a route from the position of the host vehicle M specified by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52 (hereinafter, referred to as “route”). The route on the map is determined with reference to the first map information 54. The first map information 54 is information in which a road shape is expressed by, for example, a link indicating a road and nodes connected by the link. The first map information 54 may include road curvature and POI (Point Of Interest) information. The on-map route is output to the MPU 60.

  The navigation device 50 may perform route guidance using the navigation HMI 52 based on the map route. The navigation device 50 may be realized, for example, by a function of a terminal device such as a smartphone or a tablet terminal held by an occupant. The navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and obtain a route equivalent to the on-map route from the navigation server.

  The MPU 60 includes, for example, a recommended lane determining unit 61 and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determining unit 61 divides the on-map route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 Determine the recommended lane for each block. The recommended lane determining unit 61 performs determination such as what number of lanes from the left to travel. The recommended lane determining unit 61 determines a recommended lane so that the host vehicle M can travel on a reasonable route for proceeding to the branch destination when a branch point exists on the map route.

  The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, lane center information, lane boundary information, lane type information, and the like. The second map information 62 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like. The second map information 62 may be updated as needed by the communication device 20 communicating with other devices.

  The driving operation element 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a deformed steer, a joystick, and other operation elements. A sensor for detecting the amount of operation or the presence or absence of an operation is attached to the driving operator 80, and the detection result is the automatic driving control device 100, or the traveling driving force output device 200, the brake device 210, and the steering device. A part or all of 220 is output.

  The automatic operation control device 100 includes, for example, a first control unit 120, a second control unit 160, and a storage unit 180. The first control unit 120 and the second control unit 160 are realized, for example, when a processor such as a CPU (Central Processing Unit) executes a program (software). In addition, some or all of these components include hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). Part (including circuit)), or may be realized by cooperation of software and hardware. The program may be stored in advance in the storage unit 180 of the automatic operation control apparatus 100, or stored in a removable storage medium such as a DVD or CD-ROM, and the storage medium is attached to the drive device. May be installed in the storage unit 180.

  The storage unit 180 is realized by, for example, an HDD, a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), or a RAM (Random Access Memory). The storage unit 180 stores, for example, a program that is read and executed by a processor.

  FIG. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160. The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The first control unit 120 implements, for example, a function based on AI (Artificial Intelligence) and a function based on a predetermined model in parallel. For example, the “recognize intersection” function executes recognition of an intersection by deep learning or the like and recognition based on a predetermined condition (such as a signal that can be matched with a pattern and road marking) in parallel. May be realized by scoring and comprehensively evaluating. This ensures the reliability of automatic driving.

  Based on information input from the camera 10, the radar device 12, and the finder 14 through the object recognition device 16, the recognition unit 130 determines the positions of objects around the host vehicle M, and states such as speed and acceleration. recognize. For example, the position of the object is recognized as a position on an absolute coordinate with the representative point (the center of gravity, the center of the drive shaft, etc.) of the host vehicle M as the origin, and is used for control. The position of the object may be represented by a representative point such as the center of gravity or corner of the object, or may be represented by a represented area. The “state” of the object may include acceleration or jerk of the object, or “behavioral state” (for example, whether or not the lane is changed or is about to be changed).

  Further, the recognition unit 130 recognizes, for example, a lane in which the host vehicle M is traveling (hereinafter referred to as a host lane), an adjacent lane adjacent to the host lane, and the like. For example, the recognizing unit 130 has a road lane marking line around the host vehicle M recognized from the road lane marking pattern (for example, an array of solid lines and broken lines) obtained from the second map information 62 and an image captured by the camera 10. By comparing with the pattern, the own lane and the adjacent lane are recognized. The recognizing unit 130 recognizes the own lane and adjacent lanes by recognizing not only road lane lines but also road lane lines, road shoulders, curbstones, median strips, guard road boundaries including guard rails, and the like. May be. In this recognition, the position of the host vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into account. In addition, the recognition unit 130 recognizes a stop line, an obstacle, a red light, a toll gate, and other road events.

  When recognizing the host lane, the recognizing unit 130 recognizes the relative position and posture of the host vehicle M with respect to the host lane. For example, the recognizing unit 130 determines the relative position of the host vehicle M with respect to the host lane, by making an angle between the deviation of the reference point of the host vehicle M from the center of the lane and a line connecting the center of the lane in the traveling direction of the host vehicle M And may be recognized as a posture. Instead, the recognizing unit 130 recognizes the position of the reference point of the own vehicle M with respect to any side end portion (road lane line or road boundary) of the own lane as a relative position of the own vehicle M with respect to the own lane. May be.

  The recognizing unit 130 may recognize what type of lane the recognized lane is. For example, when the recognition unit 130 recognizes a lane closest to the outside of the road among the plurality of lanes on the road including the own lane, the own lane is the first traveling lane. Recognize. The first travel lane is a lane determined to travel in the lane in principle when there are a plurality of lanes. For example, when the left-hand traffic law is applied, the leftmost lane is the first travel lane, and when the right-hand traffic law is applied, the rightmost lane is the first travel lane. The first travel lane is an example of a “predetermined lane”.

  The recognizing unit 130 recognizes that the own lane is the first traveling lane based on the high accuracy map indicated by the second map information 62 and the position of the own vehicle M specified by the navigation device 50. Also good.

  The action plan generation unit 140 includes, for example, an event determination unit 142, a target trajectory generation unit 144, and a determination unit 146. The event determination unit 142 determines an automatic driving event on the route for which the recommended lane is determined. The event is information that defines the traveling mode of the host vehicle M.

  The event is, for example, a constant speed traveling event in which the host vehicle M travels on the same lane at a constant speed, and is within a predetermined distance in front of the host vehicle M (for example, within 100 [m]). A follow-up driving event that causes the host vehicle M to follow a nearby other vehicle (hereinafter referred to as a preceding vehicle), a lane change event that changes the host vehicle M from its own lane to an adjacent lane, and the host vehicle M at a branch point of the road A branch event for branching to the lane on the destination side, a merge event for joining the vehicle M to the main line at the junction, a takeover event for ending automatic driving and switching to manual driving are included. “Following” may be, for example, a traveling mode in which the relative distance (inter-vehicle distance) between the host vehicle M and the preceding vehicle is maintained constant, or the relative distance between the host vehicle M and the preceding vehicle is constant. In addition to maintaining the vehicle, a travel mode in which the host vehicle M travels in the center of the host lane may be used. Further, the event exists in front of the own vehicle M, for example, an overtaking event in which the host vehicle M is once changed to an adjacent lane and the preceding vehicle is overtaken in the adjacent lane and then changed to the original lane again. An avoidance event that causes the host vehicle M to perform at least one of braking and steering in order to avoid the obstacle OB may be included.

  In addition, the event determination unit 142 may change an event already determined for the current section or the next section to another event according to the surrounding situation recognized by the recognition unit 130 when the host vehicle M is traveling. A new event may be determined for the current section or the next section.

  In principle, the target track generation unit 144 travels along the recommended lane determined by the recommended lane determination unit 61, and further responds to surrounding conditions when the host vehicle M travels along the recommended lane. Then, a future target trajectory for automatically driving the host vehicle M in a driving mode defined by the event (without depending on the operation of the driver) is generated. The target track includes, for example, a position element that determines the future position of the host vehicle M and a speed element that determines the future speed of the host vehicle M and the like.

  For example, the target track generation unit 144 determines a plurality of points (track points) that the host vehicle M should reach in order as position elements of the target track. The track point is a point where the host vehicle M should reach every predetermined travel distance (for example, about several [m]). The predetermined travel distance may be calculated by, for example, a road distance when traveling along a route.

  Further, the target trajectory generation unit 144 determines a target speed and a target acceleration for each predetermined sampling time (for example, about 0 comma number [sec]) as a speed element of the target trajectory. Further, the track point may be a position to which the host vehicle M should arrive at the sampling time for each predetermined sampling time. In this case, the target speed and target acceleration are determined by the sampling time and the orbit point interval. The target trajectory generation unit 144 outputs information indicating the generated target trajectory to the second control unit 160.

  Based on the recognition result of the recognition unit 130, the determination unit 146 determines that a preceding vehicle existing ahead of the host vehicle M, that is, a preceding vehicle existing in the same lane as the host vehicle M, is in the own lane from the center of the lane. It is determined whether one of the two lane markings that divide the own lane is approached.

  When the determination unit 146 determines that the preceding vehicle has approached one lane line from the center of the lane in the own lane, the event determination unit 142 is relatively informed that the preceding vehicle has approached one lane line. Assuming that the obstacle OB exists on the other lane marking side that has moved away, the event planned for the section in which the host vehicle M currently travels is changed to an avoidance event.

  In response to this, the target trajectory generation unit 144 generates a target trajectory corresponding to the avoidance event. For example, the target trajectory generation unit 144 generates a target trajectory for moving the host vehicle M to the lane line side where the preceding vehicle approaches in a range where the host vehicle M does not deviate from the host lane.

  In addition, the event determination unit 142 determines the event planned for the section in which the host vehicle M currently travels when the determination unit 146 does not determine that the preceding vehicle has approached one lane line from the center of the lane in the host lane. Keep the current event without changing it to an evasion event. In this case, the target trajectory generation unit 144 generates a target trajectory corresponding to the current event.

  The second control unit 160 controls the driving force output device 200, the brake device 210, and the steering device 220 so that the host vehicle M passes the target track generated by the target track generation unit 144 at a scheduled time. Control.

  The second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. A combination of the event determination unit 142, the target trajectory generation unit 144, and the second control unit 160 is an example of an “operation control unit”.

  The acquisition unit 162 acquires information on the target trajectory (orbit point) generated by the target trajectory generation unit 144 and stores it in the memory of the storage unit 180.

  The speed control unit 164 controls one or both of the travel driving force output device 200 and the brake device 210 based on a speed element (for example, a target speed or a target acceleration) included in the target track stored in the memory.

  The steering control unit 166 controls the steering device 220 in accordance with a position element (for example, a curvature indicating the degree of bending of the target track) included in the target track stored in the memory.

  The processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control. As an example, the steering control unit 166 executes a combination of feed-forward control corresponding to the curvature of the road ahead of the host vehicle M and feedback control based on deviation from the target track.

  The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling of the vehicle to driving wheels. The traveling driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and a power ECU (Electronic Control Unit) that controls these. The power ECU controls the above configuration in accordance with information input from the second control unit 160 or information input from the driving operator 80.

  The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with the information input from the second control unit 160 or the information input from the driving operation element 80 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operation element 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to information input from the second control unit 160 and transmits the hydraulic pressure of the master cylinder to the cylinder. Also good.

  The steering device 220 includes, for example, a steering ECU and an electric motor. For example, the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the driving operator 80, and changes the direction of the steered wheels.

[Processing flow]
Hereinafter, a flow of a series of processes performed by the automatic operation control device 100 according to the first embodiment will be described with reference to flowcharts. FIG. 3 is a flowchart illustrating an example of a flow of a series of processes performed by the automatic operation control device 100 according to the first embodiment. For example, in the processing of this flowchart, the recognition unit 130 recognizes the preceding vehicle, recognizes that the own lane is the first lane, and further maintains a constant inter-vehicle distance from the preceding vehicle. It may be started when traveling is taking place. In addition, about a driving | running | working aspect, it is not restricted to a follow-up driving | running | working, Another aspect may be sufficient.

  First, when the recognition unit 130 recognizes that the road on which the host vehicle M travels includes a plurality of lanes and the own lane is the first travel lane, the determination unit 146 determines whether the recognition unit 130 recognizes the recognition result. Based on this, it is determined whether the preceding vehicle has deviated from the center of the own lane and has approached one of the two lane markings that divide the lane (step S100).

FIG. 4 is a diagram illustrating an example of an image generated by the camera 10. In the figure, LM1 and LM2 represent two lane markings that divide the own lane, and m1 represents a preceding vehicle. For example, when the recognition unit 130 recognizes the preceding vehicle m1 from the image, the determination unit 146, on the image, the vehicle body center line LN _m1 that passes through the center of the vehicle body of the preceding vehicle m1, the lane line LM1, and the lane line LM2 By determining whether the distance ΔD between the vehicle and the lane center line LN _L1 passing through the middle exceeds the first threshold value D _TH1 , the preceding vehicle deviates from the center of the own lane, and one of the lane markings It is determined whether or not it has approached. The first threshold value D _TH1 represents a distance that can be considered that the preceding vehicle has not deviated from the center of the lane. For example, the distance from the number [%] of the own lane width to about several tens [%] It may be.

For example, when the distance ΔD exceeds the first threshold value D _TH1 , the determination unit 146 determines that the preceding vehicle has deviated from the center of the lane and has approached one of the lane markings, and the distance ΔD has the first threshold value D _TH1. In the following cases, it is determined that the preceding vehicle has not deviated from the center of the lane and has not approached any lane marking. In the illustrated example, since the distance ΔD is equal to or less than the first threshold value _DTH1, it is determined that the preceding vehicle has not deviated from the center of the lane and has not approached any lane marking.

  Next, when determining that the preceding vehicle has deviated from the center of the own lane and has approached one of the lane markings, the determining unit 146 further determines whether or not the preceding vehicle has crossed the lane marking ( Step S102).

5 and 6 are diagrams illustrating other examples of images generated by the camera 10. For example, when the distance ΔD exceeds the second threshold value D _TH2 , the determination unit 146 determines that the preceding vehicle has exceeded the lane marking, and when the distance ΔD is equal to or less than the second threshold value D _TH2 , Judge that it does not cross the line. The second threshold value D _TH2 represents a distance at which it can be considered that at least a part of the vehicle body of the preceding vehicle has crossed the lane marking. %]). In the example of FIG. 5, since the distance ΔD exceeds the first threshold value D _TH1 and is equal to or less than the second threshold value D _TH2, it is determined that the preceding vehicle m1 does not exceed the lane marking. Further, in the example of FIG. 6, since the distance ΔD exceeds the first threshold value D _TH1 and exceeds the second threshold value D _TH2 , it is determined that the preceding vehicle m1 has exceeded the lane marking.

For example, the determination unit 146 has a predetermined range (for example, 50 [%]) of a ratio between the distance A from the vehicle body center line LN _m1 to the lane marking LM1 and the distance B from the vehicle body center line LN _m1 to the lane marking LM2. If it is within the range of several tens [%] above and below, the preceding vehicle is judged not to exceed the lane line, and if the ratio is outside the predetermined range, the preceding vehicle exceeds the lane line. It may be determined that

  When the determination unit 146 determines that the preceding vehicle does not exceed the lane line, the determination unit 146 further determines the behavior of the preceding vehicle before approaching the lane line based on the past position change of the preceding vehicle in the vehicle width direction. Is determined whether or not is stable (step S104).

FIG. 7 is a diagram illustrating an example of a transition of the distance ΔD according to the passage of time. The horizontal axis represents time, and the vertical axis represents the distance ΔD. The time tk represents the time when the distance ΔD exceeds the second threshold value _DTH2 , that is, the time when the preceding vehicle approaches the lane line by the threshold value or more. Such a transition of the distance ΔD according to the passage of time is observed by the recognition unit 130 and stored in the storage unit 180.

For example, when the preceding vehicle approaches the lane line by a threshold value or more, the determination unit 146 determines whether or not the distance ΔD has exceeded the first threshold value D _{TH1 a} predetermined number of times or more during a predetermined time from the time tk to the past time tk #. Determine whether. Hereinafter, as an example, the predetermined number of times will be described as one time. In the example of FIG. 7, since the distance ΔD has never exceeded the first threshold value D _TH1 , it represents that the preceding vehicle was traveling without deviating from the center of the own lane until the predetermined time had elapsed. ing. In this case, the determination unit 146 determines that the behavior of the preceding vehicle is stable before approaching the lane marking.

FIG. 8 is a diagram illustrating another example of the transition of the distance ΔD according to the passage of time. In the illustrated example, the distance ΔD exceeds the first threshold value D _TH1 twice in a predetermined time from the time tk when the preceding vehicle approaches the lane line by the threshold value or more to the past time tk #. In this case, the determination unit 146 determines that the behavior of the preceding vehicle is not stable before approaching the lane marking.

In addition, instead of or in addition to the number of times the distance ΔD exceeds the first threshold value D _TH1 , the determination unit 146 determines whether the distance ΔD exceeds the first threshold value D _TH1 before approaching the lane marking. It may be determined whether or not the behavior of the preceding vehicle is stable. For example, the determination unit 146 determines that the behavior of the preceding vehicle is stable before approaching the lane line when the distance ΔD until the predetermined time elapses exceeds the first threshold value _DTH1 is equal to or greater than the threshold value. and determines that did not, if the time distance ΔD between until a predetermined time elapses exceeds the first threshold D _TH1 is less than the threshold value, the behavior of the pre-run vehicle before approaching the lane line stably You may decide that you were doing.

  When the determination unit 146 determines that the behavior of the preceding vehicle is stable before approaching the lane line, the determination unit 146 is configured to avoid the obstacle OB in the own lane by using the behavior of the preceding vehicle approaching the lane line. It is determined that there is (step S106).

  Next, the automatic driving control apparatus 100 starts avoidance traveling (step S108). For example, the event determination unit 142 assumes that an obstacle OB exists on the other lane line side that is relatively far away as the preceding vehicle approaches one lane line, and the current vehicle M is currently traveling The event (following driving event) planned for the section to be changed is changed to an avoidance event. In response to this, the target trajectory generation unit 144 generates a target trajectory for moving the host vehicle M toward the lane line on which the preceding vehicle approaches, within a range in which the host vehicle M does not deviate from the host lane. At this time, the target trajectory generation unit 144 may generate a target trajectory including a target speed or the like determined as a speed element so that the inter-vehicle distance from the preceding vehicle is constant. As a result, the own vehicle M moves from the center of the own lane toward the lane line where the preceding vehicle approaches, while following the preceding vehicle (with a constant inter-vehicle distance from the preceding vehicle). Moreover, the target track generation unit 144 generates a target lane for the host vehicle M by generating a target track for maintaining the host vehicle M in the current driving lane according to the surrounding environment as a target track corresponding to the following driving event. If the current event is changed to an avoidance event by the event determination unit 142 in the case where the vehicle is maintained, the host vehicle M is apparently tracked as the target track corresponding to the avoidance event so as to track the travel trajectory of the preceding vehicle. A target trajectory that follows the preceding vehicle may be generated, or a target trajectory that causes the host vehicle M to approach the lane line near the preceding vehicle may be generated.

  FIG. 9 is a diagram illustrating an example of a scene in which the host vehicle M is also moved to one side of the lane when the preceding vehicle has moved to one side of the lane. In the figure, L1 represents the own lane and the first traveling lane, and L2 represents an adjacent lane adjacent to the own lane. X represents the vehicle width direction, and Y represents the traveling direction of the vehicle.

  For example, in the scene (A) at time t1, the recognition unit 130 cannot recognize the situation ahead of the preceding vehicle m1. In scene (B) at time t2 where time further advances from such scene (A), the recognition unit 130 recognizes that the preceding vehicle m1 has moved to one side of the own lane L1 (adjacent lane L2 side). ing. In this scene (B), the recognition of the area on the side of the preceding vehicle m1 may not be completed yet. For this reason, in the scene (C) at time t3 where the time further advances from the scene (B), the automatic driving control device 100 has approached the preceding vehicle closer to one lane line regardless of the recognition result by the recognition unit 130. Following the above, the own vehicle M is moved from the center of the own lane to the lane line where the preceding vehicle approaches.

  In general, when a preceding vehicle is present in front of the host vehicle M, the recognition accuracy of the obstacle OB in front of the preceding vehicle is reduced because the front of the preceding vehicle becomes a blind spot when viewed from the host vehicle M. It's easy to do. Moreover, even if the size of the obstacle OB in the vehicle width direction is large, or the vehicle width of the preceding vehicle is large relative to the width of the own lane, even if the preceding vehicle is just on one side of the lane From the viewpoint of the host vehicle M, it is assumed that a part or all of the obstacle OB is hidden in the vehicle body of the preceding vehicle, so that the host vehicle M still cannot recognize a part of the obstacle OB. For example, when a part of the reflected wave of the radar device 12 or the finder 14 is diffused due to the presence of the preceding vehicle, a part of the outline of the object that seems to be an obstacle OB further ahead of the preceding vehicle is blurred. Although it can be recognized that some kind of object exists, there is a possibility that the type of the object cannot be recognized. In such a case, whether the object recognized as the obstacle OB is an object that the own vehicle M should avoid such as a falling object, or is not necessarily avoided by the own vehicle M like other vehicles that the preceding vehicle follows. It is assumed that an object that does not need to be judged can be judged with sufficient accuracy, and obstructions OB that do not need to be avoided are avoided unnecessarily, or avoidance of obstacles OB is delayed. The

  On the other hand, in this embodiment, when the preceding vehicle that has traveled stably in the center of the lane so far has approached one side of the lane, the preceding vehicle does not approach the other side of the lane. It is determined that there is a high probability that there is an obstacle OB that cannot be obtained, and the own vehicle M is also moved to one lane line along the preceding vehicle, so that the obstacle OB is actually recognized by the recognition unit 130. Before it is done, or before the type of the obstacle OB is determined, it is possible to start avoiding the obstacle OB that would exist on the other lane marking side.

  On the other hand, if the determination unit 146 determines in the process of S104 that the behavior of the preceding vehicle is not stable before approaching the lane line, the determination unit 146 determines that the behavior approaching the lane line due to the preceding vehicle is merely staggering. (Step S110). In this case, the automatic driving control device 100 continues the follow-up running (step S112).

  On the other hand, in the process of S102, when the determination unit 146 determines that the preceding vehicle has crossed the lane line, the determination unit 146 determines that the behavior approaching the lane line by the preceding vehicle is a lane change from the own lane to the adjacent lane. (Step S114).

  When the preceding vehicle changes lanes to the adjacent lane, the recognition area 130 becomes a new obstacle in front of the host vehicle M because the front area that was a blind spot due to the presence of the preceding vehicle is no longer a blind spot. The object OB may be recognized. Therefore, the determination unit 146 determines whether there is an obstacle OB in front of the host vehicle M based on the recognition result of the recognition unit 130 after the preceding vehicle has changed to the adjacent lane (step S116). ).

  Next, when it is determined that the obstacle OB exists in front of the host vehicle M, the automatic driving control apparatus 100 starts a lane change for moving the host vehicle M from the host lane to the adjacent lane (step S118).

  FIG. 10 is a diagram illustrating an example of a scene where the host vehicle M is changed from the host lane to the adjacent lane. For example, in the scene (D) at time t1, the recognition unit 130 cannot recognize the situation ahead of the preceding vehicle m1. In the scene (E) at time t2 where the time has further advanced from such a scene (D), the preceding vehicle m1 changes the lane from the own lane L1 to the adjacent lane L2. When the preceding vehicle m1 changes lanes to the adjacent lane, the preceding vehicle m1 that has formed the blind spot does not exist, so that the situation ahead of the host vehicle M can be accurately recognized. In the scene (F) at time t3 where the time further advances from the scene (E), the obstacle OB is recognized in front of the host vehicle M. In this case, the determination unit 146 determines that the lane change of the preceding vehicle m1 at the time t2 is a lane change for avoiding the obstacle OB. In the scene (G) at time t4 where the time further advances from the scene (F), the event determination unit 142 changes the event planned for the section where the host vehicle M is currently traveling to a lane change event. In response to this, the target track generation unit 144 generates a target track for moving the host vehicle M from the host lane L1 to the adjacent lane L2. Thereby, the own vehicle M moves to the adjacent lane L2. When the host vehicle M changes the lane to the adjacent lane L2, the event determination unit 142 may plan a follow-up driving event in order to cause the host vehicle M to follow the preceding vehicle m1. As a result, the host vehicle M can be automatically driven while following the preceding vehicle m1 as before the lane change.

  On the other hand, if the automatic driving control device 100 determines in the process of S116 that the obstacle OB does not exist in front of the host vehicle M, the preceding vehicle m1 has changed the lane without the obstacle OB. It is determined that it is not a lane change for avoiding the object OB but a simple course change, and constant speed running is started (step S120).

  For example, the event determination unit 142 changes an event (following travel event) planned for a section in which the host vehicle M currently travels to a constant speed travel event. In response to this, the target trajectory generation unit 144 generates a target trajectory that includes a constant target speed and a constant target acceleration as speed elements and includes a trajectory point arranged at the center of the own lane L1 as a position element. Thereby, the own vehicle M travels in the center of the own lane L1 at a constant speed.

  In the description of the flowchart described above, the behavior of approaching the lane line by the preceding vehicle only after the preceding vehicle has crossed the lane line is described as determining that the lane change from the own lane to the adjacent lane. It is not limited to this. For example, even if the preceding vehicle does not cross the lane line, the determination unit 146 indicates that the approaching vehicle approaches the lane line when the preceding vehicle starts moving toward the adjacent lane. You may determine that it is a lane change to a lane. More specifically, when the preceding vehicle starts to approach the lane line in a state where the acceleration in the vehicle width direction is equal to or greater than the threshold value, the determination unit 146 determines whether the preceding vehicle does not exceed the lane line. The behavior approaching the lane may be determined as a lane change from the own lane to the adjacent lane. When the determination unit 146 determines that the behavior of the preceding vehicle approaching the lane line is a lane change from the own lane to the adjacent lane in a state where the preceding vehicle does not exceed the lane line, the process proceeds to S114. When it is determined that the behavior of the preceding vehicle approaching the lane line is not a lane change from the own lane to the adjacent lane in a state where the preceding vehicle does not exceed the lane line, the process may proceed to S104.

  According to the first embodiment described above, as a situation around the host vehicle, an object around the host vehicle M is recognized, and the host lane where the host vehicle M is present is a predetermined lane closest to the outside of the road. When the preceding vehicle is recognized in the own lane by the recognizing unit 130 and the recognizing unit 130 and the own lane is recognized as the predetermined lane, the preceding vehicle is in the center of the own lane in the own lane. A determination unit 146 that determines whether one of the two lane markings that divides the own lane from (center side) and the determination unit 146 determine whether the preceding vehicle is in the center of the own lane (center side) When it is determined that the vehicle has approached one lane line, a target track generation unit 144 that generates a target track that moves the host vehicle toward the lane line that the preceding vehicle approaches in the host lane, and a target track generation unit 144 Goals generated by Based on the road, for and a second control unit 160 for controlling the speed and steering of the vehicle, the vehicle M can be quickly avoid the obstacle.

Second Embodiment
Hereinafter, a second embodiment will be described. In the second embodiment, the road on which the vehicle M travels includes a lane (hereinafter referred to as a motorcycle-specific lane) that is dedicated to a two-wheeled vehicle such as a bicycle such as a bicycle-only traffic zone or a bicycle-running guidance zone. In this case, when the preceding vehicle moves to one side of the lane, the host vehicle M differs from the first embodiment described above in that the host vehicle M also easily moves to one side of the lane. For example, the two-wheeled vehicle lane is not physically separated from the roadway by a work such as a fence or a pole at the boundary with the roadway, but is separated from the roadway by a lane line drawn on the road surface. The following description will focus on differences from the first embodiment, and descriptions of functions and the like common to the first embodiment will be omitted.

  The recognizing unit 130 in the second embodiment recognizes a two-wheeled vehicle lane that is adjacent to the own lane based on, for example, the distance between recognized lane markings, the type of lane markings, road markings, road signs, and the like. . For example, the recognition unit 130 may recognize a two-wheeled vehicle lane that is adjacent to the own lane based on various information such as the number of lanes and the width of each lane included in the second map information 62.

For example, the determination unit 146 in the second embodiment reduces the first threshold value D _TH1 when the recognition unit 130 recognizes the two-wheeled vehicle lane compared to when the two-wheeled vehicle lane is not recognized. This makes it easier to determine that the preceding vehicle has deviated from the lane center and has approached one of the lane markings. The determination unit 146, instead of changing the first threshold value _{D TH1,} or in addition to, changing and threshold for a time exceeding the threshold value and the first threshold _{D TH1} for the number of times exceeds a first threshold value _{D TH1} May be.

FIG. 11 is a diagram illustrating an example of a scene where the host vehicle M travels on a road including a two-wheeled vehicle lane. In the figure, L1 represents the own lane and the vehicle-only lane, L2 represents the vehicle-only lane adjacent to the own lane L1, and L3 represents the two-wheeled vehicle lane adjacent to the own lane. RM represents a road marking indicating a two-wheeled vehicle lane formed on the road surface. For example, in the scene (H) at time t1, when the recognition unit 130 recognizes the road marking RM, the lane adjacent to the own lane L1 is recognized as a two-wheeled vehicle lane. In response to this, the determination unit 146 changes the determination threshold (such as the first threshold _DTH1 ). In the scene (I) at time t2 when the time further advances from the scene (H), the preceding vehicle m1 is moving to the car lane L2 side in the own lane L1. In such a case, since the determination unit 146 changes the determination threshold, it is easy to determine that the preceding vehicle m1 has deviated from the center of the own lane L1 and has approached one of the lane markings. For example, in the scene (I), when it is determined that the preceding vehicle m1 has deviated from the center of the own lane L1 and has approached one of the lane markings, the scene at the time t3 that is further advanced from the scene (I) ( In J), the automatic driving control device 100 follows from the center of the own lane L1 as the preceding vehicle m1 approaches one lane, regardless of the recognition result by the recognition unit 130. The vehicle m1 is moved to the lane line side where it approaches.

  According to the second embodiment described above, when the lane adjacent to the own lane is a motorcycle lane, the preceding vehicle deviates from the center of the lane as compared to the case where the lane adjacent to the own lane is not a motorcycle lane. Therefore, it is possible to easily determine that the vehicle has approached one of the lane markings, so that obstacles can be avoided more quickly.

  In general, when a motorcycle lane is adjacent to the own lane, the vehicle on the lane draws a trajectory that swells on the opposite side of the motorcycle lane at the timing of passing the motorcycle (passing timing). It tends to move away from the dedicated lane (approach to the opposite lane). Therefore, following this trend, when the preceding vehicle approaches the lane line and changes the determination index in a situation where it is easy to travel, the preceding vehicle deviates from the lane center and approaches one of the lane lines. By making it easy to determine, obstacles such as motorcycles can be avoided quickly.

<Third Embodiment>
Hereinafter, the third embodiment will be described. In the third embodiment, even if the preceding vehicle deviates from the center of the lane and approaches one of the lane markings, the section where the preceding vehicle approaches when the preceding vehicle is a predetermined type of vehicle. It differs from the first and second embodiments described above in that the host vehicle M is not moved to the line side. The predetermined type of vehicle is a vehicle that frequently stops on one side of the lane, such as a bus. The following description will focus on differences from the first and second embodiments, and descriptions of functions and the like common to the first and second embodiments will be omitted.

  When recognizing the preceding vehicle, the recognizing unit 130 according to the third embodiment recognizes the type of the preceding vehicle based on the total length and width of the preceding vehicle, the type of the license plate, and the like. The determination unit 146 determines whether the preceding vehicle has deviated from the center of the lane when the type of the preceding vehicle recognized by the recognition unit 130 is a predetermined type, that is, when the preceding vehicle is a predetermined type of vehicle. It excludes from the object vehicle which determines.

  FIG. 12 is a diagram illustrating an example of a scene in which the host vehicle M is caused to follow a bus that is a preceding vehicle. In the figure, L1 represents the own lane and the first traveling lane, and L2 represents an adjacent lane adjacent to the own lane. In the scene (K) at time t1, the automatic driving control device 100 causes the host vehicle M to follow the preceding vehicle m1. In the scene (L) at time t2 where the time further advances from the scene (K), the bus that is the preceding vehicle m1 stops at the bus stop installed on the side of the roadway. Approaching the lane marking on the left side of In such a case, since it is determined that the preceding vehicle m1 deviates from the center of the lane and approaches one of the lane markings, the own vehicle M is also viewed from the traveling direction X along with the preceding vehicle m1. Thus, the vehicle moves to the lane marking on the left side of the own lane L1. However, since the preceding vehicle m1 is a predetermined type of vehicle, the determination unit 146 excludes the preceding vehicle m1 from the target vehicle that determines whether the vehicle has deviated from the center of the lane. As a result, as shown in the scene (M) at time t3, where the time has further advanced from the scene (L), the own vehicle M does not follow the preceding vehicle m1 approaching one side of the lane, and the section where the preceding vehicle approaches The own vehicle M does not move to the line side. At this time, the event determination unit 142 may change the event (following traveling event) planned for the section in which the host vehicle M currently travels to a lane change event or an overtaking event. In response to this, the target track generation unit 144 generates a target track for changing the lane of the host vehicle M from the host lane L1 to the adjacent lane L2. Thereby, the own vehicle M will move to the adjacent lane L2, and it can overtake the preceding vehicle m1.

  In addition, when the recognition unit 130 recognizes the bus stop in front of the host vehicle M or the preceding vehicle m1 and the preceding vehicle m1 approaches the lane line on the bus stop side from the center of the lane, the determination unit 146 determines the preceding vehicle m1. In view of a predetermined type of vehicle, the preceding vehicle m1 may be excluded from the target vehicle for determining whether or not the vehicle has deviated from the center of the lane.

  In addition, the determination unit 146 recognizes the preceding vehicle m1 when the recognition unit 130 recognizes the bus stop and the preceding vehicle m1 approaches the lane line that is not on the bus stop side from the center of the lane, that is, the lane line on the adjacent lane L2. It may be determined whether the preceding vehicle m1 has deviated from the center of the lane without being excluded from the target vehicle.

  According to the third embodiment described above, when the preceding vehicle is a predetermined type of vehicle, if the preceding vehicle deviates from the center of the lane and approaches one of the lane markings, the behavior of the preceding vehicle is determined. However, since there is a high probability of non-behavior in order to avoid the obstacle OB, the host vehicle M is not moved to the lane line on which the preceding vehicle approaches, so unnecessary steering control can be suppressed. As a result, the behavior of the host vehicle M is stabilized, and automatic driving can be performed in consideration of the passenger of the host vehicle M and other surrounding vehicles.

[Hardware configuration]
FIG. 13 is a diagram illustrating an example of a hardware configuration of the automatic driving control apparatus 100 according to the embodiment. As shown in the figure, an automatic operation control device 100 includes a communication controller 100-1, a CPU 100-2, a RAM 100-3 used as a working memory, a ROM 100-4 that stores a boot program, a storage device such as a flash memory and an HDD. 100-5, the drive device 100-6, and the like are connected to each other by an internal bus or a dedicated communication line. The communication controller 100-1 communicates with components other than the automatic operation control device 100. The storage device 100-5 stores a program 100-5a executed by the CPU 100-2. This program is expanded in the RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like and executed by the CPU 100-2. Thereby, a part or all of the first control unit 120 and the second control unit 160 is realized.

The embodiment described above can be expressed as follows.
Storage for storing the program;
And a processor,
The processor executes the program,
Recognize the situation around your vehicle,
Controlling the speed and steering of the host vehicle to drive the host vehicle,
When the preceding vehicle existing in front of the own vehicle is recognized as the surrounding situation in the own lane where the own vehicle exists, the preceding vehicle is moved from the center side of the own lane in the own lane. Determine whether one of the two lane markings that divide the lane is approaching,
When it is determined that the own lane is a predetermined lane closest to the outside of the road as the surrounding situation, when it is determined that the preceding vehicle has approached one lane line from the center side of the own lane, Controlling the speed and steering of the vehicle, and moving the host vehicle toward the lane line where the preceding vehicle approaches in the host lane;
A vehicle control device configured as described above.

  As mentioned above, although the form for implementing this invention was demonstrated using embodiment, this invention is not limited to such embodiment at all, In the range which does not deviate from the summary of this invention, various deformation | transformation and substitution Can be added.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle system, 10 ... Camera, 12 ... Radar device, 14 ... Finder, 16 ... Object recognition device, 20 ... Communication device, 30 ... HMI, 40 ... Vehicle sensor, 50 ... Navigation device, 60 ... MPU, 80 ... Driving Operation unit 100 ... automatic driving control device 120 ... first control unit 130 ... recognition unit 140 ... action plan generation unit 142 ... event determination unit 144 ... target trajectory generation unit 146 ... determination unit 160 ... first 2. Control unit 162 ... Acquiring unit 164 ... Speed control unit 166 ... Steering control unit 200 ... Driving force output device 210 ... Brake device 220 ... Steering device

Claims (10)

A recognition unit that recognizes the situation around the host vehicle,
A driving control unit for controlling the speed and steering of the host vehicle to drive the host vehicle;
When a preceding vehicle existing in front of the own vehicle is recognized as the surrounding situation in the own lane where the own vehicle exists, the preceding vehicle is in the own lane A determination unit that determines whether one of the two lane markings that divides the own lane from the center side of the lane is approached,
When the recognition unit recognizes that the own lane is a predetermined lane closest to the outside of the road as the surrounding situation, the driving control unit determines that the preceding vehicle is in the center of the own lane. When it is determined that the vehicle approaches one lane line from the side, the speed and steering of the host vehicle are controlled to move the host vehicle to the lane line side where the preceding vehicle approaches in the host lane.
Vehicle control device. The determination unit further includes the preceding vehicle before the preceding vehicle approaches one lane line from the center side of the own lane based on a change in the past vehicle width direction position of the preceding vehicle. To determine if the behavior of was stable,
The driving control unit determines that the preceding vehicle has approached one lane line from the center side of the own lane by the determination unit, and before the preceding vehicle has approached one lane line, When it is determined that the behavior of the vehicle is stable, the host vehicle is moved to the lane line where the preceding vehicle approaches,
The vehicle control device according to claim 1. The determination unit further includes the preceding vehicle before the preceding vehicle approaches one lane line from the center side of the own lane based on a change in the past vehicle width direction position of the preceding vehicle. To determine if the behavior of was stable,
The driving control unit determines that the preceding vehicle has approached one lane line from the center side of the own lane by the determination unit, and before the preceding vehicle has approached one lane line, When it is determined that the behavior of the vehicle is not stable, the host vehicle is not moved to the lane line where the preceding vehicle approaches,
The vehicle control device according to claim 1 or 2. The recognizing unit further recognizes a two-wheeled vehicle lane adjacent to the own lane,
The driving control unit, when the two-wheeled vehicle lane is recognized by the recognition unit, the front-running vehicle is approaching from the center side of the own lane toward the lane marking that is not the two-wheeled vehicle lane side by the determination unit If determined, in the own lane, the host vehicle is moved to the lane line where the preceding vehicle approaches,
The vehicle control device according to any one of claims 1 to 3. The recognition unit further recognizes the type of the preceding vehicle,
When the type of the preceding vehicle recognized by the recognition unit is a predetermined type, the driving control unit determines that the preceding vehicle has approached one lane line from the center side of the own lane by the determination unit. Even if it is a case, the host vehicle is not moved to the lane line on which the preceding vehicle approaches,
The vehicle control device according to any one of claims 1 to 4. The determination unit further determines whether the preceding vehicle has changed lanes to an adjacent lane adjacent to the own lane beyond the lane, or whether the lane has been changed,
The operation control unit recognizes the recognition when the determination unit determines that the preceding vehicle has changed to the adjacent lane, or when the preceding vehicle has changed to the adjacent lane. When an obstacle is recognized in front of the own lane by the unit, the lane is changed from the own lane to the adjacent lane.
The vehicle control device according to any one of claims 1 to 5. The operation controller is
If it is not determined by the determination unit that the preceding vehicle has approached one lane line from the center side of the own lane, the own lane is assigned to the own vehicle based on the surrounding situation recognized by the recognition unit. Keep running,
When it is determined by the determination unit that the preceding vehicle has approached one lane line from the center side of the own lane, the own vehicle is moved to the lane line side where the preceding vehicle has approached, Causing the vehicle to follow the preceding vehicle approaching the lane marking;
The vehicle control device according to any one of claims 1 to 6. A recognition unit for recognizing objects around the vehicle,
A vehicle that is recognized as the object by the recognition unit and that is in front of the host vehicle in the host lane in which the host vehicle exists is located in the host lane from a center side of the host lane. A determination unit that determines whether one of the two lane markings that divides the own lane is approached;
From the time when the determination unit determines that the preceding vehicle has approached one lane line from the center side of the own lane, the vehicle starts to control the speed and steering of the own vehicle. An operation control unit for moving the vehicle to the lane line on which the preceding vehicle approaches,
A vehicle control device comprising: In-vehicle computer
Recognize the situation around your vehicle,
Controlling the speed and steering of the host vehicle to drive the host vehicle,
When the preceding vehicle existing in front of the own vehicle is recognized as the surrounding situation in the own lane where the own vehicle exists, the preceding vehicle is moved from the center side of the own lane in the own lane. Determine whether one of the two lane markings that divide the lane is approaching,
When it is determined that the own lane is a predetermined lane closest to the outside of the road as the surrounding situation, when it is determined that the preceding vehicle has approached one lane line from the center side of the own lane, Controlling the speed and steering of the vehicle, and moving the host vehicle toward the lane line where the preceding vehicle approaches in the host lane;
Vehicle control method. On-board computer
A process of recognizing the situation around the vehicle,
A process of controlling the speed and steering of the host vehicle to drive the host vehicle;
When the preceding vehicle existing in front of the own vehicle is recognized as the surrounding situation in the own lane where the own vehicle exists, the preceding vehicle is moved from the center side of the own lane in the own lane. A process of determining whether one of the two lane markings that divides the own lane is approached;
When it is determined that the own lane is a predetermined lane closest to the outside of the road as the surrounding situation, when it is determined that the preceding vehicle has approached one lane line from the center side of the own lane, A process of controlling the speed and steering of the vehicle to move the host vehicle toward the lane line where the preceding vehicle approaches in the host lane;
A program for running

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