JP2020116994A - Vehicle control device - Google Patents

Abstract

To provide a vehicle control device that controls offset in a vehicle width direction reflecting an intention of an occupant.SOLUTION: An offset control unit 220 implements first control in such a way that an own vehicle 12 separates from an obstacle 308 in a vehicle traveling direction, when the obstacle 308 is recognized as a target in a visual line direction 304, whereas the offset control unit implements second control in such a way that the own vehicle 12 approaches a landmark 312 in the vehicle traveling direction, when the landmark 312 is recognized as a target in the visual line direction 304.SELECTED DRAWING: Figure 4

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device that reflects a vehicle occupant's intention, and particularly to a vehicle control device that controls an offset in a vehicle width direction in a vehicle traveling direction.

For example, in the traveling control device of Patent Literature 1, a target route (target trajectory) is determined by determining a margin in the vehicle width direction so as to reduce the risk at the time of collision from the space in front of the traveling road according to the height of risk at the time of collision. When a sufficient margin cannot be obtained, the own vehicle is decelerated to reduce the risk at the time of a collision ([0020] of Patent Document 1).

JP, 2013-043563, A

However, in the technique according to Patent Document 1, the target trajectory is generated by deciding the margin in the vehicle width direction according to the risk so as to reduce the risk at the time of collision, so that the vehicle travels in which the occupant's intention is reflected. It cannot be said that the control is done.

The present invention has been made in consideration of such a problem, and provides a vehicle control device capable of performing offset control in the vehicle width direction that reflects the intention of an occupant in the vehicle traveling direction. With the goal.

One aspect of the present invention is a target recognition unit that recognizes an obstacle and a landmark in front of the host vehicle,
An offset control unit that controls an offset in the vehicle width direction in the vehicle traveling direction based on the recognized obstacle and the landmark,
A line-of-sight detection device that detects a target in the line-of-sight direction of the occupant of the vehicle,
The offset control unit,
When the obstacle is recognized as the target in the line-of-sight direction, the first control is performed to control the own vehicle so as to separate from the obstacle in the vehicle traveling direction, When the landmark is recognized as the mark, the vehicle control device is provided that performs second control for controlling the host vehicle so as to approach the landmark in the vehicle traveling direction.

According to the present invention, it is possible to carry out an accurate offset traveling based on the recognition result (obstacle or landmark) of the target recognized in the direction of the line of sight of the occupant. Since the occupant's line-of-sight direction is the direction expressed by the occupant's intention, offset control in the vehicle width direction that reflects the occupant's intention in the vehicle traveling direction can be performed.

FIG. 1 is a schematic block diagram of a vehicle including a vehicle control device according to an embodiment. FIG. 2 is a block diagram showing components of the arithmetic unit of the vehicle control ECU shown in FIG. FIG. 3 is a flowchart provided for explaining the operation of the vehicle control device. FIG. 4A is a plan view for explaining the operation of the first control, and FIG. 4B is a plan view for explaining the operation of the second control. 9 is a flowchart provided for explaining the operation of the first modification.

An embodiment of a vehicle control device according to the present invention will be described in detail below with reference to the accompanying drawings.

[Example]
[Constitution]
FIG. 1 is a schematic block diagram showing a configuration of a vehicle (own vehicle) 12 including a vehicle control device 10 according to the embodiment.

The vehicle 12 basically includes a vehicle control device 10, a driving force output device 34 controlled by the vehicle control device 10, a braking device 36, and a steering device 38.

The vehicle control device 10 includes an external sensor 20, a map positioning unit (MPU) 22, a navigation device 24, a vehicle body behavior sensor 26, a driving operation sensor 28, a driver sensor 106, a communication device 30, and It has a human-machine interface (HMI) 32 and a vehicle control ECU 40 that also functions as an automatic driving control unit (automatic driving control unit).

The outside world sensor (outside world detection device) 20 detects information about the outside world of the vehicle 12. The external sensor 20 includes a plurality of cameras 60, a plurality of radars 62, and a plurality of LiDARs 64.

The plurality of cameras 60 outputs image information regarding peripheral images obtained by capturing the periphery (front, side, and rear) of the vehicle 12. The plurality of radars 62 outputs radar information indicating reflected waves for the electromagnetic waves transmitted to the vicinity (front, side, and rear) of the vehicle 12. The plurality of LiDAR 64 continuously emits laser light in all directions of the vehicle 12, measures the three-dimensional position of the reflection point based on the reflected wave, and outputs three-dimensional information.

The MPU 22 manages a map database (map) 70. The map database 70 stores map information with higher accuracy than the map information in the map database included in the navigation device 24. The MPU 22 provides map information in response to a request from the navigation device 24 or the vehicle control ECU 40.

The navigation device 24 has a satellite positioning sensor, here a GPS sensor 80. The GPS sensor 80 detects the current position of the vehicle 12. The navigation device 24 calculates a target route from the current position to the destination and guides it to the occupant. At the time of calculating the target route, the navigation device 24 acquires and uses the map information from its own map database. The destination is input via the display (display device) 103 or the microphone 105 which also functions as a touch panel.

The vehicle body behavior sensor 26 detects information regarding the behavior of the vehicle 12 (vehicle body) (vehicle body behavior information). The vehicle body behavior sensor 26 includes a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor detects the vehicle speed (current vehicle speed) Vj [km/h] of the vehicle 12 and the traveling direction. The acceleration sensor detects the acceleration G [m/s ² ] of the vehicle 12. The acceleration G includes longitudinal acceleration, lateral acceleration, and vertical acceleration. The yaw rate sensor detects the yaw rate Y [rad/s] of the vehicle 12.

The driving operation sensor 28 includes an automatic driving switch (automatic driving SW) 100, and detects information (driving operation information) regarding the driving operation by the driver. The driving operation sensor 28 includes an accelerator pedal sensor, a brake pedal sensor, and a turn signal switch. The accelerator pedal sensor detects the operation amount [%] of the accelerator pedal. The brake pedal sensor detects the operation amount [%] of the brake pedal. The driving operation sensor 28 includes a steering angle sensor, a steering torque sensor, and the like.

The automatic driving SW 100 is a switch for instructing the start and end of the automatic driving control by the operation of the occupant. In addition to or instead of the automatic driving SW 100, it is also possible to command the start or end of the automatic driving control by another method (such as voice input via the microphone 105).

The driver sensor (occupant sensor) 106 includes a capacitance sensor and/or a pressure sensor that detects (monitors) the contact, grip, or pressure of a user {occupant including a driver (driver)} on the steering wheel. A contact sensor 108 and a driver camera 110 that detects the driver's face direction and line of sight are included.

The communication device 30 performs wireless communication with an external device.

The HMI 32 receives an operation input from an occupant and presents various information to the occupant visually, audibly and tactilely. The HMI 32 includes a meter panel 102, a display 103, a speaker 104, and a microphone 105.

The driving force output device 34 has a traveling drive source (engine, traveling motor, etc.) and a drive electronic control device (drive ECU) which are not shown. The drive ECU controls the traveling drive source based on the operation amount of the accelerator pedal or a command from the vehicle control ECU 40 to adjust the traveling drive force of the vehicle 12.

The braking device 36 includes a brake motor and/or a hydraulic mechanism, a braking member, and a braking electronic control unit (braking ECU). The braking device 36 may control the engine braking by the engine and/or the regenerative braking by the traveling motor. The braking ECU controls the braking force of the vehicle 12 by operating the brake motor or the like based on the operation amount of the brake pedal or a command from the vehicle control ECU 40.

The steering device 38 has an electric power steering (EPS) motor and an EPS electronic control device (hereinafter referred to as “EPS ECU”). The EPS ECU controls the EPS motor in response to a driver's operation of the steering wheel or a command from the vehicle control ECU 40 to control the steering angle of the vehicle 12.

The vehicle control ECU 40 executes automatic driving control for driving the vehicle 12 to a destination without requiring a driver's driving operation (acceleration, deceleration, and steering), and includes a central processing unit (CPU). The vehicle control ECU 40 includes an input/output device 120, a computing device 122, and a storage device 124.

The input/output device 120 performs input/output with devices (sensors 20, 26, 28, 106, etc.) other than the vehicle control ECU 40. The arithmetic unit 122 performs arithmetic operations based on signals from the sensors 20, 26, 28, 106, the communication device 30, the HMI 32, and the like. Then, the arithmetic device 122 generates signals to the communication device 30, the HMI 32, the driving force output device 34, the braking device 36, and the steering device 38 based on the arithmetic result.

The storage device 124 stores programs and data used by the arithmetic device 122. The storage device 124 has a RAM (nonvolatile and volatile) and a ROM.

FIG. 2 is a block diagram showing components of the arithmetic unit 122 of the vehicle control ECU 40.

The arithmetic unit 122 of the vehicle control ECU 40 includes an external world recognition unit 200, a line-of-sight detection unit 201, a vehicle position recognition unit 202, a communication control unit 204, an action planning unit 206, and a travel control unit 208. Each of these units is realized, for example, by the arithmetic unit 122 (CPU or the like) executing a program stored in the storage device 124 of the vehicle control ECU 40. A part of the program may be configured by hardware.

The outside world recognition unit 200 recognizes the situation around the host vehicle 12 and the target based on the outside world information from the outside world sensor 20. More specifically, the external world recognition unit 200 includes a target recognition unit 210 and a lane recognition unit 212, and based on the image information of the camera 60, other than the lane mark, the road environment in general, for example, road shape, road width, It recognizes the position of lane marks, the number of lanes, the width of lanes, traffic signs, guide signs, the lighting status of traffic signals, and the traffic flow such as the status of other vehicles traveling in the traveling lane and the oncoming lane.

The line-of-sight detection unit 201 detects the line-of-sight direction of the driver based on the output information of the driver camera 110. The driver's line-of-sight direction is detected by detecting the movement of the driver's eyeball, particularly the position of the pupil (center of the pupil).

The own vehicle position recognizing unit 202 raises the current position of the own vehicle 12 on the map database 70 (local map) based on the recognition result of the external world recognizing unit 200, the map information from the MPU 22, and the current position from the navigation device 24. Recognize with precision. The communication control unit 204 controls communication between the vehicle control ECU 40 and a device outside the vehicle.

The voice recognition unit 203 recognizes the conversation content related to the occupant's target (obstacles such as a preceding vehicle or landmark such as a tower) based on the output information of the microphone 105.

The action planning unit 206 calculates the target trajectory of the vehicle 12 to the destination input via the HMI 32. Then, the action planning unit 206 determines the traveling state of the own vehicle 12 based on the recognition results of the outside world recognition unit 200 and the own vehicle position recognition unit 202 and the detection result of the vehicle body behavior sensor 26, and updates the target trajectory. Then, various actions of the own vehicle 12 are formulated.

The target route calculated by the navigation device 24 is to inform the driver of the road to be traveled, and is only a relatively rough route. On the other hand, the target trajectory calculated by the action planning unit 206 includes not only a rough trajectory calculated by the navigation device 24 but also relatively detailed contents for controlling acceleration, deceleration, and steering of the vehicle 12.

The target recognition unit 210 detects and recognizes an external target existing around the vehicle 12. External targets include landmarks related to road facilities including lanes, which may be obstacles, and targets of facilities outside the road, such as ferris wheels, service areas, and towers. Be done. The image information of the camera 60 is used to detect the external target. In addition to the image information of the camera 60, the map database 70 (map information), the radar information of the radar 62, and the LiDAR information of the LiDAR 64 may be used. Alternatively, the other vehicle may be detected by communicating with the other vehicle via the communication device 30. The camera 60 may be a stereo camera capable of accurate distance detection.

The lane recognition unit 212 uses the image information of the camera 60 to detect and recognize a traveling lane (own vehicle lane), an alternative lane (overtaking lane), and an oncoming lane that exist around the vehicle 12. The lane may be detected and recognized using the current position of the vehicle 12 and map information.

The action planning unit 206 includes an offset control unit 220 including a first control unit 221 and a second control unit 222, a target object determination unit 224, and an adjacent lane attribute detection unit 226.

The target determination unit 224 is a landmark whether the target in the line-of-sight direction detected by the line-of-sight detection unit 201 is an obstacle (basically a preceding vehicle or an oncoming vehicle traveling on the lane). To judge.

The adjacent lane attribute detection unit 226 is an adjacent lane of the vehicle traveling lane in which the vehicle 12 is traveling (the vehicle traveling direction is the right lane in the country where the vehicle drives on the left side, the vehicle traveling direction in the country where the vehicle travels on the right side. The lane on the left side, in this embodiment, it is assumed that the vehicle is traveling in a country that is driving on the left side.) is an alternative lane (passing lane etc.) of the own vehicle traveling lane or an oncoming vehicle lane. It is detected from the external world recognition unit 200 or the map database 70.

The offset control unit 220 basically separates the host vehicle 12 from the obstacle in the vehicle traveling direction when the obstacle is recognized as the target in the line-of-sight direction detected by the line-of-sight detection unit 201. The control (first control) is performed by the first control unit 221 that performs steering control through the traveling control unit 208 and the steering device 38 so as to offset the vehicle from the lane centerline so as to be separated from the obstacle.

On the other hand, when the landmark is recognized as the target in the line-of-sight direction, the host vehicle 12 approaches the landmark in the vehicle traveling direction (offset from the lane center line to approach the landmark). The control (second control) by the second control unit 222 that performs steering control through the traveling control unit 208 and the steering device 38 is performed.

In the implementation history storage unit 130 in the storage device 124, the landmark (landmark name) for which the second control unit 222 has performed the second control is associated with the map information (map position) of the map database 70 (corresponding to). And is stored as history information.

The traveling control unit 208 calculates and transmits a control command to the driving force output device 34, the braking device 36, and the steering device 38 based on the action plan (target trajectory, speed, acceleration/deceleration information) supplied from the action planning unit 206. .. In other words, the traveling control unit 208 controls the output of each actuator that controls the vehicle body behavior. The actuator mentioned here includes an engine, a brake motor, an EPS motor, and the like. The traveling control unit 208 controls the behavior amount of the vehicle 12 (particularly the vehicle body) by controlling the output of the actuator. The vehicle body behavior amount here includes, for example, vehicle speed, longitudinal acceleration, steering angle, lateral acceleration, and yaw rate.

[Detailed operation]
The operation of the vehicle control device 10 that is basically configured and operates as described above will be described with reference to the flowchart in FIG. The offset control unit 220 executes the program according to the flowchart.

While the automatic driving switch 100 is in the ON state and the vehicle 12 is traveling in the traveling lane by automatic driving or driving assistance such as lane keeping assist/adaptive cruise control, the offset control unit 220 causes the driver camera to operate in step S1. Through 110, it is determined whether or not there is a gazing point regarding the driver's line-of-sight direction detected by the line-of-sight detection unit 201.

When it is determined that there is no gazing point (step S1: YES), the lane center line is set as the target trajectory for the host vehicle 12 through the travel control unit 208 and the vehicle travels along the lane center line in step S2. Carry out normal running.

When it is determined that there is the gazing point (step S2: NO), the alternative lane (in the same traveling direction) is detected from the external sensor 20, particularly the image information captured by the camera 60, through the target recognition unit 210 and the target determination unit 224. Whether there is an obstacle on the adjacent lane (another lane) is determined.

When there is an obstacle (adjacent obstacle) (step S3: YES), in step S4, it is determined whether or not the existing obstacle is on the line-of-sight direction (matches the line-of-sight direction). If the judgment is made through 201 and it does not match the line-of-sight direction (step S4: NO), the normal running of step S2 is carried out.

FIG. 4A shows that the vehicle 12 is automatically driving along the target lane 302 shown by the broken line in the traveling lane 301, and is an obstacle running in the alternative lane 306 separated by the lane marking 305 in the line-of-sight direction 304. FIG. 3 is a plan view schematically showing a state where a driver 310 is gazing at (here, a truck) 308.

If the position of the obstacle 308 matches the line-of-sight direction 304 of the driver 310 (step S4: YES) as shown in FIG. 4A in the determination of step S4, the obstacle 308 is determined in step S5. It is determined whether or not has approached to a predetermined distance.

When not approaching to the predetermined distance (step S5: NO), the process returns to step S4. If the vehicle has approached the predetermined distance (step S5: YES), in step S6, the first control unit 221 causes the lane center line along the target trajectory 302A indicated by the solid line to be offset from the obstacle 308 and travel. Control the steering so that

In this case, the target trajectory 302A is set to the offset amount from the target trajectory 302 in the traveling lane 301 in which the vehicle 12 is currently traveling, in this case, the lane center line. That is, it is not set as an offset amount that extends over the traveling lane 301. It should be noted that when the vehicle is traveling with the separation offset from the obstacle 308, the passenger may be informed through the speaker 104 that the separation offset traveling will be performed.

When it is determined in step S7 that the obstacle 308 has not been passed (step S7: NO), the process returns to step S6. When it is determined in step S7 that the obstacle 308 has been passed (step S7: YES), the vehicle normally travels along the target track 302 along the lane centerline in step S2.

On the other hand, when the obstacle 308 does not exist in the determination in step S3 described above (step S3: NO), in step S8, the target recognition unit 210 and the target recognition unit 210 are detected from the image information captured by the external sensor 20, particularly the camera 60. The target determination unit 224 determines whether or not the landmark 312 (FIG. 4B) is present.

When there is no landmark 312 (step S8: YES), the normal traveling of step S2 is continued.

If there is a landmark (step S8: NO), it is determined in step S9 whether or not the existing landmark 312 is on the line-of-sight direction 304 (matches the line-of-sight direction 304). When it is determined through 201 and the line-of-sight direction 304 does not match (step S9: NO), the normal traveling of step S2 is continued.

In FIG. 4B, the own vehicle 12 is automatically driving along the traveling lane 301 along a target trajectory 302 indicated by a broken line, and the driver 310 gazes at a landmark (here, a tower) 312 existing on the line-of-sight direction 304. It is a top view which shows the state which is standing. When determining whether the landmark 312 is a landmark 312, the landmark 312 can be determined based on the map database 70 by applying the line-of-sight direction 304 to the map database 70.

In the determination of step S9, as shown in FIG. 4B, the area of the landmark 312 matches the sight line direction 304 of the driver 310, and a nearby area including a point passing through the landmark 312 (second control described later). When it is confirmed that there is no shield that blocks the line of sight of the driver 310 in the target trajectory 302B area at the implementation point of (step S9: YES), the landmark 312 is displayed in step S10. It is determined whether or not a predetermined distance has been reached.

In addition, in the determination of step S9, the shield that blocks the line of sight in a region including the point passing through the landmark 312 includes a wall (including a tall guardrail) provided on the landmark 312 side of the traveling lane 301. ), planting, cutting, etc., and the offset control unit 220 can make a determination based on the map database 70.

When not approaching to the predetermined distance (step S10: NO), the process returns to step S9. When approaching to the predetermined distance (step S10: YES), in step S11, the second control unit 222 causes the landmark 312 to approach and offset with respect to the lane center line along the target trajectory 302B indicated by the solid line. Control to run. Even in this case, the target trajectory 302B is set to the offset amount from the target trajectory 302 in the traveling lane 301 in which the vehicle 12 is currently traveling, in this case, the lane center line. That is, it is not set as an offset amount that extends over the traveling lane 301. It should be noted that when the vehicle approaches the landmark 312 side while approaching, the passenger may be informed through the speaker 104 that the approaching offset driving will be performed.

When it is determined in step S12 that the landmark 312 has not been passed (step S12: NO), the process returns to step S11. When it is determined in step S12 that the vehicle has passed through the landmark 312 (step S12: YES), normal traveling is resumed along the target track 302 along the lane center line in step S2.

[Modification 1]
In the first modification, when both the obstacle 308 and the landmark 312 are recognized in the line-of-sight direction 304, the offset control unit 220 gives priority to the recognition of the obstacle 308 and runs with a distance offset from the obstacle 308. The first control by the first controller 221 is performed.

The first modification will be described with reference to the flowchart in FIG.

If it is determined in step S4 that the position of the obstacle 308 matches the line-of-sight direction 304 of the driver 310 (step S4: YES), it is further determined in step S21 whether or not the landmark 312 is present. .. When the landmark 312 exists (step S21: NO) and the line-of-sight direction 304 also matches the landmark 312 (step S22: YES), the obstacle 308 is prioritized over the landmark 312 and the obstacle 308 is given priority. When approaching 308 (step S5: YES), the separation offset control of step S6 described above is performed.

[Modification 2]
In the second modification, when the offset control unit 220 executes the first control (separation offset) and the second control (approach offset), the adjacent lane detected by the adjacent lane attribute detection unit 226 has a traveling direction of Check if it is the same alternative lane or an oncoming lane with the opposite driving direction.

When the traveling direction of the adjacent lane of the currently traveling lane is the same as that of the currently traveling lane (in the case of FIGS. 4A and 4B), the first control or the second control is performed, and the adjacent lane is executed. When the traveling direction is opposite to the currently traveling lane, the first control or the second control is suppressed (the offset amount is reduced) or stopped.

[Modification 3]
In Modification 3, the offset control unit 220 recognizes the conversation of the occupant from the voice recognition device including the microphone 105 and the voice recognition unit 203.

Even when the obstacle 308 is recognized as the target in the line-of-sight direction 304 by the line-of-sight detection unit 201, the offset control unit 220 has a conversation about the landmark 312 such as “a tower can be seen in the front right”. When the recognition is notified by the voice recognition unit 203, the second control (approach offset) is performed by giving priority to the conversation.

On the contrary, even when the landmark 312 is recognized as the target in the line-of-sight direction by the line-of-sight detection unit 201, a conversation about the obstacle 308 such as “a huge truck is running in the front right”. When the voice recognition unit 203 notifies that the recognition has been performed, the offset control unit 220 prioritizes the conversation and performs the first control (separation offset control).

[Modification 4]
In the modified example 4, the offset control unit 220 refers to the implementation history storage unit (second control implementation storage unit) 130 that stores the implementation history of the second control (approach offset to a specific landmark) together with the implementation point. However, when the traveling point of the host vehicle 12 is a point where a specific landmark starts to be seen, even when the specific landmark is not recognized as the target in the line-of-sight direction, the second control (specific The occupant is notified through the speaker 104 or the like that the approach to the landmark will be performed), and the second control (offset to the particular landmark having a history) is executed.

[Invention that can be understood from the embodiment]
Here, the inventions that can be understood from the above-described embodiments and the modified examples 1 to 4 will be described below. Note that, for convenience of understanding, the constituent elements are attached with the reference numerals used in the embodiments in parentheses, but the constituent elements are not limited to those attached with the reference numerals.

The vehicle control device (10) according to the present invention is
A target recognition unit (210) that recognizes an obstacle (308) and a landmark (312) in front of the host vehicle (12);
An offset control unit (220) that controls an offset in the vehicle width direction in the vehicle traveling direction based on the recognized obstacle (308) and the landmark (312),
A visual line detection device (110, 201) for detecting a target in the visual line direction (304) of an occupant of the vehicle (12),
The offset control unit (220) is
When the obstacle (308) is recognized as a target in the line-of-sight direction (304), the host vehicle (12) is controlled so as to be separated from the obstacle (308) in the vehicle traveling direction. When the first control is executed and the landmark (312) is recognized as the target in the line-of-sight direction (304), the own vehicle (12) is moved in the vehicle traveling direction to the landmark (312). The second control is performed to control the vehicle to approach.

According to this configuration, it is possible to perform accurate offset traveling based on the recognition result (obstacle (308) or landmark (312)) of the target recognized in the line-of-sight direction (304) of the occupant. Since the occupant's line-of-sight direction (304) is the direction expressed by the occupant's intention, offset control in the vehicle width direction that reflects the occupant's intention in the vehicle traveling direction can be performed.

In addition, the offset control unit (220),
When the obstacle (308) or the landmark (312) is recognized in one direction as the target in the line-of-sight direction (304), in the first control, the lane center line is actually in the currently running lane. In the second control, the distance may be controlled to approach the one direction side of the lane center line in the currently running lane.
According to this, since the vehicle is offset traveling in the lane, the adaptability of vehicle traveling is excellent.

Furthermore, the target recognition unit (60, 210)
It may be determined whether or not it is the landmark (312) based on the map information.
According to this, it is possible to more reliably determine whether or not the target recognized by the target recognition unit (60, 210) is the landmark (312).

Furthermore, the offset control unit (220) is
When the obstacle (308) and the landmark (312) are recognized in the line-of-sight direction (304), the obstacle (308) may be prioritized to perform the first control. ..
According to this, the risk can be reduced by giving priority to the obstacle (308).

Furthermore, the offset control unit (220) is
Execution of the first control and the second control may be canceled when the vehicle passes through the landmark (312) and the obstacle (308).
As a result, when the vehicle passes through the landmark (312) and the obstacle (308), the execution of the first control and the second control is canceled to smoothly return to the normal control (control for traveling on the lane center line). You can

Furthermore, the offset control unit (220) is
When executing the first control and the second control, the first control or the second control is performed when the traveling direction of the lane adjacent to the currently traveling lane is the same as the currently traveling lane. The first control or the second control may be suppressed or stopped when the traveling direction of the adjacent lane is opposite to the traveling lane.
According to this, the adaptability of the offset traveling is excellent.

Furthermore, a voice recognition device (105, 203) for recognizing the conversation of the passenger is provided,
The offset control unit (220) is
When the obstacle (308) is recognized as the target of the line-of-sight direction (304), when the conversation related to the landmark (312) is recognized, the conversation is prioritized and the second control is performed. Then
When the landmark (312) is recognized as the target in the line-of-sight direction (304), when the conversation related to the obstacle (308) is recognized, the conversation is prioritized and the first control is performed. You may do so.
According to this, it is possible to carry out the conversation of the occupants, that is, the offset traveling according to the intention.

Further, a second control execution storage unit (130) for storing the execution history of the second control together with the execution point is provided,
The offset control unit (220) is
Even when the landmark (312) is not recognized as the target in the line-of-sight direction (304), the second control is performed when passing near the execution point near the execution history of the second control. The occupant may be notified to perform the second control.
According to this, the ability to provide the occupant with entertainment of the vehicle (12) can be improved.

Further, the offset control unit (220) is
When the landmark (312) is recognized as the target in the line-of-sight direction 304, the landmark (312) is further moved toward the landmark (312) at the scheduled execution point (302B) of the second control. It is also possible to determine whether or not there is a shield that blocks the line of sight to (1) and execute the second control when there is no shield.
According to this, during the second control, the landmark (312) can be surely seen in the line-of-sight direction.

The present invention is not limited to the above-described embodiment, and it goes without saying that various configurations can be adopted based on the contents of this specification.

10... Vehicle control device 12... Vehicle (own vehicle)
70... Map database (map) 105... Microphone 110... Driver camera 130... Implementation history storage unit 200... External environment recognition unit 201... Line-of-sight detection unit 210... Target recognition unit 212... Lane recognition unit 220... Offset control unit 221... First Control unit 222... Second control unit 224... Target judgment unit 226... Adjacent lane attribute detection unit 301... Traveling lanes 302, 302A, 302B... Target trajectory 304... Line of sight 306... Alternative lane 308... Obstacle 310... Driver 312 …Landmark

Claims (9)

A target recognition unit that recognizes obstacles and landmarks in front of the host vehicle,
An offset control unit that controls an offset in the vehicle width direction in the vehicle traveling direction based on the recognized obstacle and the landmark,
A line-of-sight detection device that detects a target in the line-of-sight direction of the occupant of the vehicle,
The offset control unit,
When the obstacle is recognized as the target in the line-of-sight direction, the first control is performed to control the own vehicle so as to separate from the obstacle in the vehicle traveling direction, A vehicle control device that, when the landmark is recognized as a mark, executes a second control that controls the host vehicle so as to approach the landmark in the vehicle traveling direction. The vehicle control device according to claim 1,
The offset control unit,
When the obstacle or the landmark is recognized as the target in the line-of-sight direction in one direction, in the first control, the lane center line is separated to the other direction side in the currently running lane. In the second control, the vehicle is controlled so as to approach the one direction side of the lane center line in the currently running lane.
Vehicle control device. The vehicle control device according to claim 1 or 2,
The target recognition unit,
A vehicle control device that determines whether or not it is the landmark based on map information. The vehicle control device according to any one of claims 1 to 3,
The offset control unit,
A vehicle control device that, when the obstacle and the landmark are recognized in the line-of-sight direction, prioritizes the obstacle to perform the first control. The vehicle control device according to any one of claims 1 to 4,
The offset control unit,
A vehicle control device that cancels execution of the first control and the second control when the vehicle passes through the landmark and the obstacle. The vehicle control device according to any one of claims 1 to 5,
The offset control unit,
When executing the first control and the second control, the first control or the second control is performed when the traveling direction of the lane adjacent to the currently traveling lane is the same as the currently traveling lane. A vehicle control device that suppresses or cancels the first control or the second control when the traveling direction of the adjacent lane is opposite to that of the currently traveling lane. The vehicle control device according to claim 1,
Furthermore, a voice recognition device for recognizing the conversation of the passenger is provided,
The offset control unit,
When the obstacle is recognized as the target in the line-of-sight direction, when the conversation related to the landmark is recognized, the conversation is prioritized to perform the second control,
When the landmark is recognized as the target in the line-of-sight direction, when a conversation related to the obstacle is recognized, the vehicle control device prioritizes the conversation and performs the first control. The vehicle control device according to claim 1,
Further, a second control execution storage unit for storing the execution history of the second control together with the execution point is provided,
The offset control unit,
Even when the landmark is not recognized as the target in the line-of-sight direction, the occupant is informed that the second control will be performed when passing near the implementation point having the implementation history of the second control. A vehicle control device that notifies and implements the second control. The vehicle control device according to claim 1,
The offset control unit,
In the case where the landmark is recognized as the target in the line-of-sight direction, whether or not there is a shield that blocks the line-of-sight to the landmark in the landmark direction at the planned execution point of the second control. A vehicle control device that determines and executes the second control when there is no shield.

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