JP2019156075A - Vehicle control device, vehicle control method, and program - Google Patents

Abstract

To provide a vehicle control device capable of considering feeling of drivers of the other vehicles at a junction section of roads.SOLUTION: A vehicle control device comprises: recognition units (132, 134) recognizing peripheral state around an own vehicle; a driving control units (140, 160) which control acceleration/deceleration of the own vehicle and steering thereof on the basis of the peripheral state recognized by the recognition unit; and an estimation unit (134) estimating whether the other vehicles are in an automatic operation state, in which the recognition units determine, when lane change of the own vehicle is performed from a first lane to a second lane before a merging section where the first lane on which the own vehicle travelling is merged with the second lane adjacent thereto, whether the ratio of automatic operation vehicles to a plurality of the other vehicles travelling before the merging section is a reference value or more on the basis of the obtained information; and the driving control unit performs the lane change of the own vehicle to the second lane, when the ratio is determined to be the reference value or more by the recognition units, at a location near to the extinction point where the first lane disappears in comparison with the ratio determined to be less than the reference value.SELECTED DRAWING: Figure 2

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 vehicles. In relation to this, a driving support technique is known in which a host vehicle is joined to a train in an adjacent lane at a junction of roads (see, for example, Patent Document 1). According to the driving support technology disclosed in Patent Document 1, the own vehicle recognizes the junction of the road, and the lane in which the other vehicle travels on the own vehicle based on the information transmitted by the other vehicle or the information transmitted by the road. To change the lane.

JP-A-8-263793

  However, the conventional technology does not control the host vehicle in consideration of emotions held by the driver of the concatenated vehicle train. For this reason, there is a possibility that the driver of the concatenated side train will have a negative feeling about the lane change of the own vehicle.

  The present invention has been made in view of such circumstances, and a vehicle control device, a vehicle control method, and a vehicle control method that can drive the host vehicle in consideration of the feelings of the driver of another vehicle at the junction of the road, And one of the purposes is to provide a program.

  (1): a recognition unit for recognizing the surrounding situation of the own vehicle, a driving control unit for controlling acceleration / deceleration and steering of the own vehicle based on the surrounding situation recognized by the recognition unit, and an estimation communicating with another vehicle And the recognizing unit moves the host vehicle from the first lane to the second lane before the merging unit where the first lane in which the host vehicle is traveling joins the adjacent second lane. When changing the lane to the lane, based on the information acquired by the estimation unit, it is determined whether the proportion of the autonomous driving vehicle in a plurality of other vehicles traveling on the near side of the merging unit is equal to or higher than a reference. The driving control unit is configured such that when the recognition unit determines that the ratio is greater than or equal to a reference, the first lane is greater than when the recognition unit determines that the ratio is less than a reference. The vehicle is near the vanishing point To lane change to the second lane, and a vehicle control device.

  (2): In (1), the recognizing unit causes the estimating unit to transmit first information to the plurality of other vehicles, and then based on the number of second information received by the estimating unit. Whether or not the ratio is equal to or higher than a reference is determined, and the second information is information that is returned in response to the first information if the vehicle is an autonomous driving vehicle.

  (3): In (1), the other vehicle for which the recognition unit determines the ratio is another vehicle that is traveling in the second lane.

  (4): In (1), the driving control unit causes the host vehicle to enter the front of the autonomous driving vehicle when changing the host vehicle from the first lane to the second lane. is there.

  (5): In (1), the operation control unit causes the host vehicle to enter before the unmanned autonomous driving vehicle when changing the host vehicle from the first lane to the second lane. Is.

  (6): A recognition unit for recognizing the surrounding situation of the own vehicle, a driving control unit for controlling acceleration / deceleration and steering of the own vehicle based on the surrounding situation recognized by the recognition unit, and an occupant on another vehicle An estimation unit that estimates whether or not the vehicle is in an unmanned state, and the recognition unit is on the near side of the junction unit where the first lane in which the host vehicle is traveling joins the adjacent second lane And when the vehicle changes the lane from the first lane to the second lane, based on the information acquired by the estimation unit, the unmanned vehicle in a plurality of other vehicles traveling on the near side of the merging unit It is determined whether or not the proportion of vehicles in the state is greater than or equal to a reference. When the recognition control unit determines that the proportion is greater than or equal to the reference, the recognition unit determines that the ratio is less than the reference. As compared with the case where it is determined that At a point close to the vanishing point lane disappears, the to change lanes to the host vehicle to the second lane, a vehicle control device.

  (7): The computer recognizes the surrounding situation of the own vehicle, controls acceleration / deceleration and steering of the own vehicle based on the recognized surrounding situation, communicates with other vehicles, and the own vehicle is running Based on information acquired by communicating with the other vehicle when changing the lane of the host vehicle from the first lane to the second lane on the near side of the junction where one lane merges with the adjacent second lane Determining whether or not the proportion of the autonomous driving vehicle in the plurality of other vehicles traveling on the near side of the junction is greater than or equal to a reference, and if it is determined that the ratio is greater than or equal to the reference, the ratio is the reference It is a vehicle control method in which the host vehicle is changed to the second lane at a location close to the vanishing point where the first lane disappears as compared to a case where it is determined that the vehicle is less than the vehicle.

  (8): The computer recognizes the surrounding situation of the host vehicle, controls acceleration / deceleration and steering of the host vehicle based on the recognized surrounding situation, communicates with other vehicles, and the host vehicle is traveling Information obtained by communicating with the other vehicle when changing the lane of the host vehicle from the first lane to the second lane on the near side of the junction where the first lane merges with the adjacent second lane Based on the above, when the ratio of the autonomous driving vehicle in a plurality of other vehicles traveling on the near side of the merging portion is determined to be greater than or equal to a reference, and the ratio is determined to be equal to or greater than the reference, the ratio Compared to the case where the vehicle is determined to be less than the reference, the program changes the vehicle to the second lane at a location near the vanishing point where the first lane disappears.

  According to (1) to (8), the host vehicle can be driven in consideration of the feelings of the driver of the other vehicle at the junction of the road.

It is a lineblock diagram of vehicle system 1 using a vehicle control device concerning an embodiment. 3 is a functional configuration diagram of a first control unit 120 and a second control unit 160. FIG. It is a figure which shows an example of the point where a lane merges. 3 is a flowchart showing an example of a flow of processing executed in the automatic operation control apparatus 100. 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.

[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1 using a vehicle control device according to an embodiment. The vehicle 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 a combination thereof. 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 output unit 90, an automatic driving control device 100, a traveling 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 a vehicle (hereinafter, the host vehicle M) on which the vehicle system 1 is mounted. 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, information on the center of the lane or information on the boundary of the lane. 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 output unit 90 is, for example, a direction indicator (blinker). The output unit 90 is controlled by, for example, the automatic driving control device 100, and displays intention to change lanes to other vehicles when changing the lane of the host vehicle as will be described later. In addition, the output unit 90 may output information given from the own vehicle to the other vehicle. The output unit 90 includes, for example, a light, a horn, a speaker, an external display device, an external speaker, the communication device 20, and the like, and may output light, sound, message display, transmission information, and the like to another vehicle.

  The automatic operation control device 100 includes, for example, a first control unit 120 and a second control unit 160. Each of the first control unit 120 and the second control unit 160 is realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software), for example. 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 a storage device such as an HDD or a flash memory of the automatic operation control apparatus 100, or is stored in a removable storage medium such as a DVD or a CD-ROM, and the storage medium is a drive device. May be installed in the HDD or flash memory of the automatic operation control device 100.

  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 (traveling lane) in which the host vehicle M is traveling. 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. The driving lane is recognized by comparing with the pattern. Note that the recognition unit 130 may recognize a travel lane by recognizing not only a road lane line but also a road lane line (road boundary) including a road lane line, a road shoulder, a curb, a median strip, a guardrail, and the like. . 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 traveling lane, the recognizing unit 130 recognizes the position and posture of the host vehicle M with respect to the traveling lane. For example, the recognizing unit 130 determines the relative position of the host vehicle M with respect to the travel lane by making an angle between the deviation of the reference point of the host vehicle M from the center of the lane and the 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 traveling lane as the relative position of the own vehicle M with respect to the traveling lane. May be.

  The recognition unit 130 includes a surrounding environment recognition unit 132, another vehicle recognition unit 134, and a communication control unit 136. The surrounding environment recognition unit 132 recognizes the surrounding environment of the host vehicle M. The other vehicle recognition unit 134 recognizes other vehicles existing around the host vehicle. The communication control unit 136 controls the communication device 20 in accordance with an instruction from the surrounding environment recognition unit 132 to cause communication between the host vehicle and the other vehicle. Processing executed in these configurations will be described later. A combination of the communication control unit 136 and the communication device 20 is an example of the communication unit.

  In principle, the action plan generation unit 140 travels in the recommended lane determined by the recommended lane determination unit 61, and the host vehicle M automatically (driver) A target trajectory to be run in the future is generated (independent of the operation of). The target trajectory includes, for example, a velocity element. For example, the target track is expressed as a sequence of points (track points) that the host vehicle M should reach. The track point is a point where the host vehicle M should reach every predetermined travel distance (for example, about several [m]) as a road distance. Separately, the track point is a predetermined sampling time (for example, about 0 comma [sec]). ) Is generated as part 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, information on the target speed and target acceleration is expressed by the interval between the trajectory points.

  The action plan generation unit 140 may set an automatic driving event when generating the target trajectory. The automatic driving event includes a constant speed driving event, a low speed following driving event, a lane change event, a branch event, a merge event, a takeover event, and the like. The action plan generation unit 140 generates a target trajectory corresponding to the activated event.

  The action plan generation unit 140 includes a lane change control unit 142 and a display control unit 144. The lane change control unit 142 generates a target track when the host vehicle changes lanes from a traveling lane in which the host vehicle is traveling to an adjacent lane as described later, and changes the host vehicle lane. The display control unit 144 controls the intention display operation of the host vehicle M with respect to other vehicles such as the blinker h when the host vehicle M is changed to a lane according to an instruction from the lane change control unit 142. Processing executed by the lane change control unit 142 and the display control unit 144 will be described later.

  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 action plan generation unit 140 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. The acquisition unit 162 acquires information on the target trajectory (orbit point) generated by the action plan generation unit 140 and stores it in a memory (not shown). The speed control unit 164 controls the travel driving force output device 200 or the brake device 210 based on a speed element associated with the target track stored in the memory. The steering control unit 166 controls the steering device 220 according to the degree of bending of the target trajectory 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.

  Returning to FIG. 1, the driving force output device 200 outputs a driving force (torque) for driving the vehicle to the driving wheels. The travel driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these. The ECU controls the above-described configuration according to 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.

[About lane changes at lane junctions]
Hereinafter, an example of the process of the merge event and the lane change event executed in the action plan generation unit 140 will be described.

  FIG. 3 is a diagram illustrating an example of a point where lanes merge. As shown in the figure, the first lane L1 merges with the adjacent second lane L2. The place where the first lane L1 merges with the second lane L2 is, for example, an expressway junction or a road lane reduction section, but there are obstacles and construction sites on a road with multiple lanes. Therefore, it may be a place where a lane change is required.

  When the host vehicle M changes lanes from the first lane L1 to the second lane L2, if a plurality of other vehicles m are traveling in the second lane L2, the host vehicle M is in the other lane L2 of the second lane L2. It is necessary to change lanes by joining between. When changing lanes, the first lane L1 travels to a position close to the vanishing point F of the first lane L1 and merges with the second lane L2.

  However, for example, when the traffic in the second lane L2 is congested, if the own vehicle M merges at a position near the vanishing point F of the first lane L1 from the parallel running section C2 between the first lane and the second lane, There is a possibility that some drivers of other vehicles traveling in the second lane L2 may feel uncomfortable feelings about the host vehicle M because they feel interrupted without observing the order. . Under such circumstances, in consideration of drivers of other vehicles traveling in the second lane L2, the own vehicle M joins in the middle of the parallel running section before the position near the vanishing point F of the first lane L1. There is a case.

  Due to such circumstances, when the own vehicle M approaches the point where the lanes of the road R merge, the automatic operation control device 100 activates a merge event and a lane change event and travels around the own vehicle M. Of the other vehicles m, the position where the host vehicle M changes the lane to the second lane L2 in the first lane L1 is determined according to the ratio of the autonomous driving vehicle, and the host vehicle M is changed to the lane. Hereinafter, processing after the event is activated will be described.

[Functions of the surrounding environment recognition unit]
The surrounding environment recognition unit 132 analyzes the image obtained by the camera 10 based on the difference in luminance, and recognizes the surrounding environment where the other vehicle m is traveling. The surrounding environment recognition unit 132 extracts a road environment such as a lane mark, a median strip, a curb, and a road shoulder drawn on the road R based on, for example, the luminance difference between images acquired by the camera 10. The surrounding environment recognition unit 132 recognizes the first lane L1 in which the host vehicle M is traveling and the second lane L2 in which the other vehicle m is traveling based on the extracted positional relationship of the road environment.

  The surrounding environment recognition unit 132 recognizes a region where the first lane L1 and the second lane L2 are adjacent to each other. The surrounding environment recognition unit 132 recognizes the presence of a lane mark, a wall, a pole, a curb, a separation zone, etc. in an area where the first lane L1 and the second lane L2 are adjacent to each other, and changes the lane in the parallel running section C2. Recognize areas where traffic cannot be made and areas where lane change is possible. The parallel running section C2 is, for example, a section between the start point of the area where the lane change is possible and the vanishing point F of the first lane L1.

  The surrounding environment recognition part 132 recognizes the junction part C1 where the 1st lane L1 and the 2nd lane L2 merge in the parallel running section C2. For example, the surrounding environment recognition unit 132 recognizes the vanishing point F of the first lane L1 based on the recognition result of the road edge E1 on the left side of the first lane L1. The surrounding environment recognition unit 132 estimates the merging unit C1 based on the position of the vanishing point F.

  The junction C1 is, for example, a region including a first lane L1 and a second lane L2 of about several [m] from the vanishing point F to the near side in the traveling direction of the road.

  When the vanishing point F cannot be recognized in a place where lane change is required, such as an obstacle or a construction site, the surrounding environment recognition unit 132 is located on the near side of the number of obstacles or construction sites [m] when viewed from the own vehicle M. The vanishing point F may be set virtually and the junction C1 may be recognized.

  The surrounding environment recognition unit 132 may recognize the road environment around the host vehicle M with reference to the second map information 62 corresponding to the position information acquired by the GNSS receiver 51 or acquired by the camera 10. Information that cannot be used may be supplemented with reference to the second map information 62. The surrounding environment recognition unit 132 outputs the recognition result to the other vehicle recognition unit 134.

[Function of other vehicle recognition unit]
The other vehicle recognition unit 134 refers to, for example, the image captured by the camera 10 and the recognition result of the environment around the host vehicle M recognized by the surrounding environment recognition unit 132, and the first lane L1 around the host vehicle M And a plurality of other vehicles mn (n is an integer of 0 or more) existing in the second lane L2. Hereinafter, when generically referring to other vehicles, it is appropriately described as other vehicle m.

  The other vehicle recognition unit 134 generates, for example, a three-dimensional model that indicates the relative positional relationship between the other vehicle m and the own vehicle M recognized from the image captured by the camera 10 with reference to the position of the own vehicle M at a certain time. To do. The other vehicle recognizing unit 134 derives the movement of the other vehicle m from the time-series image captured by the camera 10 and compares the changes in the position and posture of the other vehicle m in a plurality of images in a predetermined sampling period to obtain a three-dimensional Generate a model.

  The other vehicle recognizing unit 134, for example, the position in the three-dimensional model of the other vehicle m in the three-dimensional space whose appearance changes from the own vehicle M after traveling to some extent, and the position in the image of the already acquired other vehicle m. And the position of the other vehicle m, the number of other vehicles m, the moving direction, the speed, the area between the vehicles of the plurality of other vehicles m, and the like are recognized or predicted.

  In the example of FIG. 3, the other vehicle recognition unit 134 refers to the recognition result of the surrounding environment of the host vehicle M recognized by the surrounding environment recognition unit 132, and determines a train of a plurality of other vehicles m in the second lane L <b> 2. recognize. The other vehicle recognition unit 134 includes a distance between the other vehicles in the train, a distance between the subject vehicle and the other vehicle m, a relative speed between the subject vehicle and the other vehicle m, and a merging target in the subject vehicle and the train. The distance to the specific other vehicle m, the relative speed, and the like are recognized in association with the position of the host vehicle M on the road R.

  The other vehicle recognizing unit 134, for example, calculates the ratio of the autonomous driving vehicle in the plurality of other vehicles m in the parallel running section C2 on the near side of the junction C1 before changing the own vehicle M to the second lane L2. judge. The other vehicle m to be determined by the other vehicle recognition unit 134 is the other vehicle m traveling in the second lane L2. The other vehicle recognition unit 134 instructs the communication control unit 136 to send a first information via the communication device 20 to a plurality of other vehicles traveling in the parallel running section C2 in which the lane change on the near side of the junction C1 can be changed. To send.

  The first information is, for example, information used in vehicle-to-vehicle communication, and is information transmitted by the own vehicle M to start communication with another vehicle m. The first information is transmitted, for example, included in header information added to the packet data. The first information may be transmitted from the own vehicle M to another vehicle via a communication device provided on the road R by inter-road communication.

  The communication control unit 136 acquires the second information transmitted from the other vehicle m via the communication device 20. The second information is information returned in response to the first information if the other vehicle m is an autonomous driving vehicle. The second information is, for example, a positive response or a negative response. The first information and the second information described above are examples, and other information may be used as long as the response of the autonomous driving vehicle can be obtained. For example, the second information may be position information of an autonomous driving vehicle around the host vehicle M acquired from a server on the network.

  The other vehicle recognition unit 134 identifies the second information of the plurality of autonomous driving vehicles acquired by the communication control unit 136 for each vehicle, and determines the number of the autonomous driving vehicles in the plurality of other vehicles traveling in the parallel running section C2. calculate. The other vehicle recognition unit 134 may use not only a positive response but also a negative response in the second information when measuring the number of autonomous driving vehicles.

  The other vehicle recognition unit 134 determines whether or not the proportion of the autonomous driving vehicle in the plurality of other vehicles m traveling in the parallel running section C2 is greater than or equal to the reference. For example, the other vehicle recognition unit 134 instructs the communication control unit 136 to transmit the first information to the plurality of other vehicles m via the communication device 20, and then receives the second information received by the communication device 20. Based on the number of information, it is determined whether or not the proportion of the autonomous driving vehicle in the plurality of other vehicles m is equal to or higher than a reference.

  As an example, the other vehicle recognition unit 134 compares the number of recognized other vehicles m with the number of autonomous driving vehicles, and determines whether the ratio is equal to or greater than a threshold value. The other vehicle recognition unit 134 compares the calculated ratio with a threshold value and determines whether the ratio is equal to or higher than a reference. The threshold is, for example, about 60 [%] where it is recognized that the ratio of the autonomous driving vehicle is larger than that of the manually driven vehicle, but is not limited thereto.

  As another example, the number of autonomous driving vehicles may be represented by a code such as A (large), B (normal), or C (small) according to the number. The other vehicle recognition unit 134 ranks the number or ratio of the autonomous driving vehicles based on the acquired second information with a code assigned according to a predetermined criterion, and determines the ratio of the autonomous driving vehicle based on the code. .

  The other vehicle recognition unit 134 determines that the ratio is high when the ratio of the autonomous driving vehicle in the plurality of other vehicles is equal to or greater than the threshold value. The other vehicle recognition unit 134 determines that the ratio is low when the ratio of the autonomous driving vehicle in the plurality of other vehicles is less than the threshold. This is because the feeling of the driver of the other vehicle m traveling in the second lane L2 is taken into consideration.

  The other vehicle recognition unit 134 may estimate an autonomous driving vehicle from other vehicles based on the analysis result of the image captured by the camera 10. For example, the other vehicle recognition unit 134 recognizes information related to automatic driving displayed on the display unit with respect to the outside when the other vehicle is in automatic driving, and estimates that the other vehicle is an automatic driving vehicle. In addition to this, the other vehicle recognition unit 134 refers to the area information stored in the second map information 62, and when the road on which the host vehicle M travels is an autonomous driving exclusive road, the other vehicle is an autonomous driving vehicle. It may be estimated. The other vehicle recognition unit 134 may estimate the ratio of the autonomous driving vehicle on the road on which the host vehicle M travels based on the ratio of the autonomous driving vehicle recognized in the past with reference to the regional information. The other vehicle recognition unit 134 is an example of an “estimation unit”. The other vehicle recognition unit 134 outputs the determination result to the lane change control unit 142.

[Function of Lane Change Control Unit 142]
The lane change control unit 142 changes the host vehicle M to the second lane L2 based on the determination results of the surrounding environment recognition unit 132 and the other vehicle recognition unit 134 by the activation of the merge event and the lane change event. The lane change control unit 142, when the other vehicle recognition unit 134 determines that the proportion of the autonomous driving vehicle in the plurality of other vehicles is equal to or higher than the reference, the vehicle of the other vehicle traveling in the second lane L2 at the junction C1. Decide to join your vehicle in the queue. In other words, the lane change control unit 142 merges the host vehicle M at the merge unit C1 with priority on the efficiency of merge when the ratio of the autonomous driving vehicle is high.

  At this time, the lane change control unit 142 joins the host vehicle M at the joining unit C1 so as to enter the autonomous driving vehicle as much as possible based on the recognition result of the other vehicle recognition unit 134. For example, the lane change control unit 142 waits for the passage of the manually operated vehicle and waits for the automatic operation when the succeeding vehicle of the manually operated vehicle is the automatic operation vehicle even at the timing of joining before the manually operated vehicle. The host vehicle M is entered in front of the vehicle. Further, it is more preferable that the self-vehicle M is entered before the unmanned driving vehicle among the autonomous driving vehicles.

  However, if the manually operated vehicle opens a space between the preceding vehicle and the movement for promoting the entry of the own vehicle M is recognized, the lane change control unit 142 sets the own vehicle M before the manually operated vehicle. May be entered. This is because in such a case, if the vehicle does not enter in front of the manually driven vehicle, there is a risk that the emotion of the driver of the manually driven vehicle may be damaged.

  The lane change control unit 142, when the other vehicle recognition unit 134 determines that the proportion of the autonomous driving vehicle in the plurality of other vehicles is less than the reference, is included in the vehicle train of the other vehicle m traveling on the second lane L2. It is determined that the host vehicle M is caused to change lanes in the middle of the parallel running section C2 on the near side when the host vehicle M is viewed from the host vehicle M with respect to the junction C1.

  The lane change control unit 142 joins the own vehicle in the middle of the parallel running section C2 when the ratio of the autonomous driving vehicle is low. That is, the lane change control unit 142 joins the own vehicle in the parallel running section C2 in consideration of the feelings of the driver of the other vehicle m driving the manually driven vehicle traveling on the second lane L2.

  At this time, the lane change control unit 142 changes the lane of the host vehicle M so as to enter the autonomous driving vehicle as much as possible based on the recognition result of the other vehicle recognition unit 134. For example, the lane change control unit 142 waits for the passage of the manually operated vehicle and waits for the automatic operation when the succeeding vehicle of the manually operated vehicle is the automatic operation vehicle even at the timing of joining before the manually operated vehicle. The host vehicle M is entered in front of the vehicle.

[Processing when the percentage of autonomous driving vehicles is high]
When it is determined that the ratio of the autonomous driving vehicle is high, the lane change control unit 142 determines that the host vehicle M is joined in the first lane L1 based on the recognition results of the surrounding environment recognition unit 132 and the other vehicle recognition unit 134. To reach. At this time, the lane change control unit 142 sets the inter-vehicle area D1 generated by the other vehicles m0 and m1 traveling in the second lane L2 at the junction C1 as an entry target.

  When the inter-vehicle area D1 is longer than the virtual total length obtained by giving a margin width of a predetermined distance to the entire length of the host vehicle M, the lane change control unit 142 causes the host vehicle M to enter the inter-vehicle area D1. The predetermined distance is a distance of about 1 [m] set according to the total length of the vehicle, for example. Then, the lane change control unit 142 causes the host vehicle M to travel at a speed faster than the other vehicle m1 behind the inter-vehicle area D1, and causes the own vehicle M to enter the inter-vehicle area D1. At this time, the lane change control unit 142 is based on the recognition result of the other vehicle recognition unit 134 so as to enter the front of the autonomous driving vehicle as much as possible in order to consider the feelings of the occupants of the manually operated vehicle. It is desirable to change the lane.

  When changing the lane of the host vehicle M, the lane change control unit 142 instructs the display control unit 144 to cause the other vehicle m1 to output lane change intention display information. The lane change intention display information includes, for example, blinking the blinker h on the merging direction side. The lane change control unit 142 may instruct the display control unit 144 to output a voice message such as “I will enter” from an external speaker when the lane of the host vehicle M is changed. When the lane change of the host vehicle M is changed, the lane change control unit 142 may instruct the display control unit 144 to display a text message such as “I will enter” on the display device visually recognized from the outside.

  In addition, the lane change control unit 142 instructs the communication control unit 136 to “enter” the other vehicle m via the communication device 20 when the other vehicle m1 behind the inter-vehicle area D1 is an autonomous driving vehicle. Send information to that effect. Thereafter, the lane change control unit 142 may adjust the positional relationship between the host vehicle M and the other vehicle m1 in cooperation with the host vehicle M and the other vehicle m1 through inter-vehicle communication, and may change the lane. When the inter-vehicle area D1 is less than the virtual total length, the lane change control unit 142, for example, causes the host vehicle M to travel so as to be located in front of the other vehicle m1 and proximal to the left side of the other vehicle m1.

  At this time, the lane change control unit 142 instructs the display control unit 144 to blink the blinker h as a lane change intention display. After the other vehicle m1 confirms the behavior of the host vehicle M, the lane change control unit 142 causes the host vehicle M to enter the inter-vehicle region D1 when the vehicle is decelerated or stopped and the inter-vehicle region D1 exceeds the virtual total length. At this time, the lane change control unit 142 instructs the display control unit 144 to blink the hazard lamp, display a text message such as “I will enter” on the display device, or “Thank you” from the external speaker. Or a voice message such as

  For example, when the other vehicle m1 is a manually operated vehicle, the other vehicle m1 is not decelerated or stopped, and the inter-vehicle area D1 does not exceed the virtual total length, the lane change control unit 142 causes the own vehicle M to move at a slower speed than the other vehicle m1. Decelerate or stop. Then, the lane change control unit 142 is traveling in the own vehicle M so as to be positioned in front of the other vehicle M2 and in proximity to the left side of the other vehicle m2 in accordance with the movement of the other vehicle m2 following the other vehicle m1. Stop. The lane change control unit 142 instructs the display control unit 144 to blink the blinker h as a lane change intention display.

  When the other vehicle m2 confirms the behavior of the host vehicle M and then decelerates or stops and the inter-vehicle area D2 between the other vehicle m1 and the other vehicle m2 exceeds the virtual total length, the lane change control unit 142 The host vehicle M is caused to enter the inter-vehicle area D2 in front of the vehicle m2. At this time, it is preferable that the lane change control unit 142 changes the lane of the host vehicle M so as to enter the front of the autonomous driving vehicle as much as possible based on the recognition result of the other vehicle recognition unit 134. Other processes are the same as described above.

[Processing when the percentage of autonomous driving vehicles is low]
When the ratio of the autonomous driving vehicle is low, the lane change control unit 142 causes the host vehicle M to travel in the parallel running section C2 in the first lane L1 based on the recognition results of the surrounding environment recognition unit 132 and the other vehicle recognition unit 134. . At this time, the lane change control unit 142 sets the inter-vehicle area D3 generated by the other vehicles m3 and m4 traveling in the second lane L2 in the parallel running section C2 as the entry target.

  When the inter-vehicle area D3 is longer than the virtual total length, the lane change control unit 142 causes the host vehicle M to enter the inter-vehicle area D3. Then, the lane change control unit 142 causes the host vehicle M to travel at a speed faster than the other vehicle m4 behind the inter-vehicle area D3, and causes the own vehicle M to enter the inter-vehicle area D3. The process when the inter-vehicle area D3 is less than the virtual total length is the same as the process when the ratio of the autonomous driving vehicle is high.

  However, when the lane change control unit 142 changes the lane of the host vehicle M from the first lane L1 to the second lane L2, the traffic lane change control unit 142 applies traffic instructions or traffic direction guidance instructions when traffic lane change instructions are applied. The host vehicle M is made to travel with priority given to regulations and guidance of traffic controllers.

  When the other vehicle recognition unit 134 determines that the ratio of the autonomous driving vehicle is equal to or higher than the reference by performing the above-described processing, the lane change control unit 142 performs the ratio of the autonomous driving vehicle. Compared to the case where it is determined that the vehicle is less than the reference, the vehicle m is changed to the second lane L2 at a location near the vanishing point F where the first lane L1 disappears.

[Processing flow]
Next, the process performed in the automatic driving control apparatus 100 will be described. FIG. 4 is a flowchart illustrating an example of a flow of processing executed in the automatic driving control apparatus 100.

  When the host vehicle approaches the junction where the first lane and the second lane where the host vehicle M is traveling, the surrounding environment recognition unit 132 recognizes the first lane and the second lane, and Recognizing the junction between the first lane and the second lane (step S100). Next, the other vehicle recognition unit 134 recognizes a plurality of other vehicles running on the near side of the junction (step S102).

  The other vehicle recognizing unit 134 instructs the communication control unit 136 to communicate with a plurality of other vehicles existing in the vicinity of the merging unit, and based on the communication result, the ratio of the autonomous driving vehicle in the plurality of other vehicles mn is greater than or equal to the reference. Is determined (step S104). When a positive determination is obtained, the lane change control unit 142 changes the lane of the host vehicle in the lane of the other vehicle traveling in the second lane at the junction (step S106).

  When a negative determination is obtained, the lane change control unit 142 is a first vehicle that is present on the near side as seen from the own vehicle with respect to the own vehicle in the train of other vehicles traveling in the second lane. The lane is changed in the middle of the parallel running section between the lane and the second lane (step S108). The lane change control unit 142 instructs the display control unit 144 to cause the other vehicle to blink a blinker or the like to display an intention to change the lane (step S110).

  As described above, according to the embodiment, the automatic driving control device 100 can drive the host vehicle in consideration of the emotion of the driver of the other vehicle at the junction of the roads. The automatic driving control device 100 can change the lane of the host vehicle at a position where the lane can be changed efficiently when the ratio of the automatic driving vehicles is equal to or higher than the reference at the junction of the road. The automatic driving control device 100 can change the lane of the own vehicle at a position that takes into consideration the feelings of the driver of the other vehicle when the proportion of the automatic driving vehicle is less than the reference at the junction of the road.

  The automatic driving control device 100 determines whether or not priority is given to efficiency and whether or not to consider the emotions of the drivers of the surrounding vehicles, smoothes the traffic, and gives it to the psychology of the drivers of other vehicles. The influence can be reduced.

[Modification]
In the embodiment described above, the other vehicle recognition unit 134 is connected to a plurality of other vehicles that are traveling on the near side of the merging portion on the near side of the merging portion where the first lane in which the host vehicle is traveling joins the adjacent second lane. It has been determined whether or not the proportion of the autonomous driving vehicle in the vehicle is above the standard. At this time, the other vehicle recognizing unit 134 may determine whether or not the ratio of unmanned vehicles out of a plurality of other vehicles traveling on the near side of the junction C1 is equal to or higher than a reference.

  In the following description, the same names and symbols are used for the same configurations as those in the above embodiment, and repeated descriptions are omitted as appropriate.

  The other vehicle recognition unit 134, for example, before changing the host vehicle M to the second lane L2, in the parallel running section C2 on the near side of the junction C1, a plurality of other vehicles m are automatically driven vehicles, and It is determined whether or not the occupant is in an unmanned state.

  The communication control unit 136 acquires the second information transmitted from the other vehicle m via the communication device 20 after the first information is transmitted. The second information includes information indicating that the other vehicle m is in an unmanned state. In addition to the second information, the communication control unit 136 may acquire information indicating an unmanned driving state that is automatically transmitted from the other vehicle m when the other vehicle m is in an unmanned state. Further, the other vehicle recognition unit 134 may determine whether or not the other vehicle m is in an unmanned state based on an image captured by the camera 10.

  Based on the acquired information, the other vehicle recognition unit 134 determines whether or not a plurality of other vehicles m are autonomous driving vehicles and are in an unmanned state in which no occupant is on board. The other vehicle recognition unit 134 analyzes the content included in the second information of the plurality of autonomous driving vehicles acquired by the communication control unit 136 for each vehicle, and the unmanned state in the plurality of other vehicles traveling in the parallel running section C2. The number of vehicles is calculated. Based on the calculation result, the other vehicle recognition unit 134 determines whether the ratio of unmanned vehicles in the plurality of other vehicles m is equal to or higher than a reference.

  When the other vehicle recognition unit 134 determines that the proportion of unmanned vehicles in the plurality of other vehicles is greater than or equal to the reference, the lane change control unit 142 determines whether the other vehicles traveling on the second lane L2 in the junction C1. Decide to join your vehicle in the train.

  When the other vehicle recognition unit 134 determines that the proportion of unmanned vehicles in the plurality of other vehicles is less than the reference, the lane change control unit 142 is in the vehicle train of the other vehicle m traveling on the second lane L2. Then, it is determined that the host vehicle M is caused to change lanes in the middle of the parallel running section C2 on the near side when the host vehicle M is viewed from the host vehicle M with respect to the junction C1.

In any of the above cases, the lane change control unit 142 preferably changes the lane of the host vehicle M so as to enter before the autonomous driving vehicle. Further, it is more preferable that the lane change control unit 142 causes the host vehicle M to enter before an unmanned vehicle among the autonomous driving vehicles.
[Hardware configuration]
FIG. 5 is a diagram illustrating an example of a hardware configuration of the automatic operation 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 (Random Access Memory) 100-3 used as a working memory, and a ROM (Read Only Memory) that stores a boot program and the like. 100-4, a storage device 100-5 such as a flash memory or HDD (Hard Disk Drive), a drive device 100-6, and the like are connected to each other via 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, some or all of the surrounding environment recognition unit, the other vehicle recognition unit, the communication control unit, the lane change control unit, and the display control unit are realized.

The embodiment described above can be expressed as follows.
A storage device storing the program;
A hardware processor,
The hardware processor executes a program stored in the storage device,
Recognize the surrounding situation of the vehicle,
Control acceleration / deceleration and steering of the host vehicle based on the recognized surrounding situation,
Estimate whether other vehicles are in an automatic driving state,
When changing the lane of the host vehicle from the first lane to the second lane on the near side of the junction where the first lane in which the host vehicle is traveling joins the adjacent second lane, the other vehicle On the basis of the estimation result of the automatic driving state, it is determined whether or not the proportion of the automatic driving vehicle in a plurality of other vehicles traveling on the near side of the junction is greater than or equal to a reference,
When it is determined that the ratio is greater than or equal to the reference, the host vehicle is moved closer to the vanishing point where the first lane disappears than when the ratio is determined to be less than the reference. Change the lane to two lanes,
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 apparatus, 14 ... Finder, 16 ... Object recognition apparatus, 20 ... Communication apparatus, 40 ... Vehicle sensor, 50 ... Navigation apparatus, 51 ... GNSS receiver, 51 ... Receiver, 52 ... Navi HMI, 53 ... Route determining unit, 54 ... First map information, 61 ... Recommended lane determining unit, 62 ... Second map information, 80 ... Driving operator, 90 ... Output unit, 100 ... Automatic driving control device, DESCRIPTION OF SYMBOLS 100-1 ... Communication controller, 100-2 ... CPU, 100-3 ... RAM, 100-5 ... Memory | storage device, 100-5a ... Program, 100-6 ... Drive apparatus, 120 ... 1st control part, 130 ... Recognition part 132 ... Ambient environment recognition unit, 134 ... Other vehicle recognition unit, 136 ... Communication control unit, 140 ... Action plan generation unit, 142 ... Lane change control unit, 144 ... Display control unit, 160 ... Second Control unit, 162 ... acquisition unit, 164 ... speed control unit, 166 ... steering control unit, 200 ... driving force output unit, 210 ... brake device, 220 ... steering device

Claims (8)

A recognition unit that recognizes the surroundings of the vehicle,
An operation control unit for controlling acceleration / deceleration and steering of the host vehicle based on the surrounding situation recognized by the recognition unit;
An estimation unit for estimating whether or not another vehicle is in an automatic driving state,
The recognizing unit changes the lane of the host vehicle from the first lane to the second lane on the near side of the junction where the first lane in which the host vehicle is traveling joins the adjacent second lane. In addition, based on the information acquired by the estimation unit, it is determined whether the proportion of the autonomous driving vehicle in a plurality of other vehicles traveling on the near side of the merging unit is more than a reference,
In the driving control unit, the first lane disappears when the recognizing unit determines that the ratio is equal to or higher than the reference, as compared with the case where the recognizing unit determines that the ratio is lower than the standard. The vehicle is changed to the second lane at a location close to the vanishing point to be
Vehicle control device. The recognizing unit causes the estimating unit to transmit first information to the plurality of other vehicles, and then based on the number of second information received by the estimating unit, whether the ratio is equal to or higher than a reference. Determine whether
The second information is information returned in response to the first information if the vehicle is an autonomous driving vehicle.
The vehicle control device according to claim 1. The other vehicle for which the recognition unit determines the ratio is the other vehicle that is traveling in the second lane.
The vehicle control device according to claim 1. The driving control unit causes the host vehicle to enter the front of the autonomous driving vehicle when changing the lane from the first lane to the second lane.
The vehicle control device according to claim 1. The driving control unit causes the host vehicle to enter the unmanned autonomous driving vehicle when changing the host vehicle from the first lane to the second lane.
The vehicle control device according to claim 1. A recognition unit that recognizes the surroundings of the vehicle,
An operation control unit for controlling acceleration / deceleration and steering of the host vehicle based on the surrounding situation recognized by the recognition unit;
An estimation unit that estimates whether or not an unoccupied state where no passenger is on another vehicle,
The recognizing unit changes the lane of the host vehicle from the first lane to the second lane on the near side of the junction where the first lane in which the host vehicle is traveling joins the adjacent second lane. In addition, based on the information acquired by the estimation unit, it is determined whether the ratio of unmanned vehicles in a plurality of other vehicles traveling on the near side of the merging unit is greater than or equal to a reference,
In the driving control unit, the first lane disappears when the recognizing unit determines that the ratio is equal to or higher than the reference, as compared with the case where the recognizing unit determines that the ratio is lower than the standard. The vehicle is changed to the second lane at a location close to the vanishing point to be
Vehicle control device. Computer
Recognize the surrounding situation of the vehicle,
Control acceleration / deceleration and steering of the host vehicle based on the recognized surrounding situation,
Estimate whether other vehicles are in an automatic driving state,
When changing the lane of the host vehicle from the first lane to the second lane on the near side of the junction where the first lane in which the host vehicle is traveling joins the adjacent second lane, the other vehicle On the basis of the estimation result of the automatic driving state, it is determined whether or not the proportion of the automatic driving vehicle in a plurality of other vehicles traveling on the near side of the junction is greater than or equal to a reference,
When it is determined that the ratio is greater than or equal to the reference, the host vehicle is moved closer to the vanishing point where the first lane disappears than when the ratio is determined to be less than the reference. Change the lane to two lanes,
Vehicle control method. On the computer,
Recognize the surrounding situation of your vehicle,
Control acceleration / deceleration and steering of the vehicle based on the recognized surrounding situation;
Let us estimate whether the other vehicle is in an automatic driving state,
When changing the lane of the host vehicle from the first lane to the second lane on the near side of the junction where the first lane in which the host vehicle is traveling joins the adjacent second lane, the other vehicle Based on the estimation result of the automatic driving state, it is determined whether or not the ratio of the automatic driving vehicle in a plurality of other vehicles traveling on the near side of the merging portion is more than a reference,
When it is determined that the ratio is greater than or equal to the reference, the host vehicle is moved closer to the vanishing point where the first lane disappears than when the ratio is determined to be less than the reference. Change the lane to two lanes,
program.

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