JP2021124747A - Vehicle control device, vehicle control method, and program - Google Patents

Abstract

To achieve an appropriate lane change.SOLUTION: A vehicle control device includes: a first recognition section for recognizing a position and a speed of another vehicle traveling on a lane of a movement destination when an own vehicle makes a plan to perform a lane change; a second recognition section for recognizing a state of a road in front of the own vehicle based on image processing or sensor detection results when the own vehicle makes a plan to perform a lane change; a setting section for setting a first target zone on a front side from a reference position of a target zone which enables a lane change to a lane of the movement destination set based on a state of a road which is recognized by the second recognition section when the own vehicle is defined as reference and a second target zone on a depth side from the reference position when the own vehicle is defined as reference; and a control section for allowing the own vehicle to perform a lane change to the lane of the movement destination in either one of the first target zone and the second target zone set by the setting section.SELECTED DRAWING: Figure 1

Description

The present invention relates to vehicle control devices, vehicle control methods, and programs.

Conventionally, based on information on the position and speed of a vehicle on the main lane, the merging lane is divided into a plurality of merging possible areas, a speed threshold value is set for each of the plurality of merging possible areas, and the speed of the own vehicle and the speed threshold value are set. A device for determining whether or not merging is possible is disclosed (see, for example, Patent Document 1).

Japanese Patent No. 5434336

However, the above device performs processing using the length of the merging lane obtained from the map information, processing when the map information does not exist, and the length of the merging lane of the map information and the actual length of the merging lane. It does not consider the processing when there is a difference between.

The present invention has been made in consideration of such circumstances, and one of the objects of the present invention is to provide a vehicle control device, a vehicle control method, and a program capable of realizing a more suitable lane change.

The vehicle control device, the vehicle control method, and the program according to the present invention have adopted the following configurations.
(1): The vehicle control device according to one aspect of the present invention includes a first recognition unit that recognizes the position and speed of another vehicle traveling in the destination lane when the own vehicle makes a plan to change lanes. When the own vehicle makes a plan to change lanes, the second recognition unit recognizes the condition of the road in front of the own vehicle based on the image processing or the detection result of the sensor, and the second recognition unit recognizes the situation. The first target section on the front side when the own vehicle is used as a reference from the reference position of the target section that can change lanes to the destination lane set based on the condition of the road, and the reference position. The own vehicle in either the setting unit that sets the second target section on the back side when the own vehicle is used as a reference and the first target section or the second target section set by the setting unit. It is a vehicle control device provided with a control unit for changing lanes to the destination lane.

(2): In the aspect of (1) above, the reference position is substantially in the middle of the target section.

(3): In the embodiment (1) or (2), the control unit preferentially causes the own vehicle to change the lane in the first target section.

(4): In any of the above aspects (1) to (3), the second recognition unit recognizes the first guide zone and the second guide zone marked on the road, and sets the above. The unit sets the target section based on the first guide zone and the second guide zone, and the first guide zone is the lane in which the own vehicle travels and the lane to which the vehicle moves. The second guide zone is marked near the starting point where the lane in which the own vehicle travels and the lane to which the vehicle is moving are separated from the connected state. NS.

(5): In the aspect of (4) above, the second recognition unit recognizes an object existing on the road, and the setting unit recognizes the second guide zone by the second recognition unit. Instead, when it is recognized that an object exists near the starting point where the lane in which the own vehicle travels and the lane to which the vehicle is moving are separated from each other, the first headrace zone and the said The target section is set based on an object existing near the start point.

(6): In the embodiment (4) or (5), the setting unit recognizes the second headrace zone by the second recognition unit at the first time, and the first recognition unit. When the second recognition zone is not recognized by the second recognition unit due to the presence of a vehicle between the own vehicle and the second guide zone at a second time after the time. Based on the second guide zone recognized by the second recognition unit at the first time, the position of the second guide zone at the second time is estimated, and the position of the second guide zone is estimated at the second time. The target section is set based on the first guide zone recognized in the above and the estimated second guide zone.

(7): In the aspect of (1) above, the setting unit passes through the second target section when the own vehicle does not change lanes to the destination lane in the first target section and the second target section. A third target section is previously set on the inner side of the second target section with reference to the own vehicle, and the control unit causes the own vehicle to change lanes to the destination lane in the third target section.

(8): In the aspect of (7) above, the second recognition unit recognizes the first lane and the second lane marked on the road, and the first lane is. It is marked near the starting point where the lane in which the own vehicle travels and the lane in which the moving destination is connected, and the second guide zone is connected to the lane in which the own vehicle travels and the lane in which the moving destination is moved. Marked near the starting point where the state is separated from the state, the setting unit is based on the first lane and the set distance when the second lane is not recognized by the second recognizing unit. If the first target section and the second target section are set and the own vehicle does not change lanes to the destination lane in the first target section and the second target section, the vehicle passes through the second target section. A third target section is set on the inner side of the second target section with reference to the own vehicle.

(9): In the aspect of (8) above, the control unit has a position of the own vehicle and a position of another vehicle existing in the lane of the movement destination and within a predetermined distance from the own vehicle. In the first target section or the second target section, the own vehicle is changed lanes in front of the other vehicle based on the positional relationship and the speed relationship between the speed of the own vehicle and the speed of the other vehicle. It is determined whether to change the lane of the own vehicle behind the other vehicle.

(10): In the vehicle control method according to one aspect of the present invention, when the own vehicle makes a plan to change lanes, the computer recognizes the position and speed of another vehicle traveling in the destination lane, and described above. When the own vehicle makes a plan to change lanes, the condition of the road in front of the own vehicle is recognized based on the image processing or the detection result of the sensor, and the destination set based on the recognized condition of the road. The first target section on the front side when the own vehicle is used as a reference from the reference position of the target section which can change lanes to the lane, and the second on the back side when the own vehicle is used as a reference than the reference position. This is a vehicle control method in which two target sections are set and the own vehicle is changed to a lane to move to in either the set first target section or the second target section.

(11): The program according to one aspect of the present invention includes a process of causing a computer to recognize the position and speed of another vehicle traveling in the destination lane when the own vehicle makes a plan to change lanes. When the own vehicle makes a plan to change lanes, the process of recognizing the condition of the road in front of the own vehicle based on the image processing or the detection result of the sensor, and the above-mentioned set based on the recognized road condition. The first target section on the front side when the own vehicle is used as a reference from the reference position of the target section where the lane can be changed to the destination lane, and the back side when the own vehicle is used as a reference than the reference position. The process of setting the second target section of the above and the process of changing the lane of the own vehicle to the destination lane in either the set first target section or the second target section are executed. It is a program.

According to (1) to (11), the vehicle control device causes the vehicle to change lanes to the destination lane in either the first target section or the second target section set by the setting unit. Thereby, a more suitable lane change can be realized.

According to (3), the vehicle control device preferentially causes the own vehicle to change the lane in the first target section, so that the lane can be changed more quickly.

According to (5) or (6), the vehicle control device can realize a more suitable lane change even when the second headrace zone is not recognized.

According to (7) or (8), the vehicle control device can change lanes in the third target section even if the vehicle control device cannot change lanes in the first target section and the second target section. Therefore, the lane can be changed more reliably and smoothly. Further, the vehicle control device can reduce the processing load by setting the third target section when the lane cannot be changed in the first target section and the second target section.

According to (9), the vehicle control device changes the lane of the own vehicle in front of the other vehicle or changes the lane of the own vehicle behind the other vehicle based on the positional relationship and the speed relationship between the own vehicle and the other vehicle. By deciding whether to allow the vehicle to change lanes, the lane of the own vehicle can be changed more smoothly.

It is a block diagram of the vehicle system 1 using the vehicle control device which concerns on embodiment. It is a functional block diagram of the 1st control unit 120 and the 2nd control unit 160. It is a figure (the 1) for demonstrating an example of the process which sets a target section. It is a figure (the 2) for demonstrating an example of the process which sets a target section. It is a figure (the 3) for demonstrating an example of the process which sets a target section. It is a figure (the 4-1) for demonstrating an example of the process which sets a target section. It is a figure (No. 4-2) for demonstrating an example of the process of setting a target section. It is a figure (4-3) for demonstrating an example of the process which sets a target section. It is a flowchart (the 1) which shows an example of the flow of the process executed by the automatic operation control device 100. It is a figure for demonstrating the 1st relation and the 2nd relation. It is a figure for demonstrating the 3rd relation and the 4th relation. It is a flowchart (the 2) which shows an example of the flow of the process executed by the automatic operation control device 100. It is a figure which shows an example of the hardware composition of the automatic operation control device 100 of an embodiment.

Hereinafter, embodiments of the vehicle control device, vehicle control method, and program of the present invention will be described with reference to the drawings.

[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1 using the vehicle control device according to the embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle, and the 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 by using the electric power generated by the generator connected to the internal combustion engine or the electric power generated by the secondary battery or the fuel cell.

The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, and a vehicle sensor 40. , A navigation device 50, an MPU (Map Positioning Unit) 60, a driving operator 80, an automatic driving control device 100, a traveling driving force output device 200, a braking device 210, and a steering device 220. These devices and devices are connected to each other by multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, and the like. The configuration shown 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, for example, 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 position of the vehicle on which the vehicle system 1 is mounted (hereinafter, the own vehicle M). When photographing the front, the camera 10 is attached to the upper part of the front windshield, the back surface of the rearview mirror, and the like. The camera 10 periodically and repeatedly images the periphery of the own vehicle M, for example. The camera 10 may be a stereo camera.

The radar device 12 radiates radio waves such as millimeter waves around the own vehicle M, and detects radio waves (reflected waves) reflected by the object to detect at least the position (distance and orientation) of the object. The radar device 12 is attached to an arbitrary position of the own vehicle M. The radar device 12 may detect the position and velocity of the object by the FM-CW (Frequency Modulated Continuous Wave) method.

The LIDAR 14 irradiates the periphery of the own vehicle M with light (or an electromagnetic wave having a wavelength close to that of light) and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time from light emission to light reception. The emitted light is, for example, a pulsed laser beam. The LIDAR 14 is attached to an arbitrary position on the own vehicle M.

The object recognition device 16 performs sensor fusion processing on the detection results of a part or all of the camera 10, the radar device 12, and the LIDAR 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 operation control device 100. The object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the LIDAR 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 another vehicle existing in the vicinity of the own vehicle M by using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or wirelessly. Communicates with various server devices via the base station.

The HMI 30 presents various information to the occupants of the own vehicle M and accepts input operations by the occupants. 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 own vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, an orientation sensor that detects the direction of the own 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 routing 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 identifies the position of the own vehicle M based on the signal received from the GNSS satellite. The position of the own vehicle M may be specified or complemented 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 partially or wholly shared with the above-mentioned HMI 30. The route determination unit 53, for example, has a route from the position of the own vehicle M (or an arbitrary position input) specified by the GNSS receiver 51 to the destination input by the occupant using the navigation HMI 52 (hereinafter,). The route on the map) is determined with reference to the first map information 54. The first map information 54 is, for example, information in which a road shape is expressed by a link indicating a road and a node connected by the link. The first map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The route on the map is output to MPU60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be realized by, for example, the function of a terminal device such as a smartphone or a tablet terminal owned 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 acquire a route equivalent to the route on the map from the navigation server.

The MPU 60 includes, for example, a recommended lane determination unit 61, and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determination unit 61 divides the route on the map provided by the navigation device 50 into a plurality of blocks (for example, divides the route 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 determination unit 61 determines which lane to drive from the left. When a branch point exists on the route on the map, the recommended lane determination unit 61 determines the recommended lane so that the own vehicle M can travel on a reasonable route to proceed to the branch destination.

The second map information 62 is more accurate map information than the first map information 54. The second map information 62 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like. Further, the second map information 62 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. The second map information 62 may be updated at any time by the communication device 20 communicating with another device.

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

The automatic operation control device 100 includes, for example, a first control unit 120 and a second control unit 160. The first control unit 120 and the second control unit 160 are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized by the part; including circuitry), or it may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD or a flash memory of the automatic operation control device 100, or a DVD, a CD-ROM, or the like can be attached and detached. It is stored in a storage medium, and may be installed in the HDD or flash memory of the automatic operation control device 100 by mounting the storage medium (non-transient storage medium) in the drive device. The automatic driving control device 100 is an example of a “vehicle control device”.

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, for example, realizes a function by AI (Artificial Intelligence) and a function by a model given in advance in parallel. For example, the function of "recognizing an intersection" is executed in parallel with the recognition of an intersection by deep learning or the like and the recognition based on a predetermined condition (there is a signal capable of pattern matching, a road sign, etc.), and both are executed. It may be realized by scoring and comprehensively evaluating. This ensures the reliability of autonomous driving.

The recognition unit 130 recognizes the position, speed, acceleration, and other states of objects around the own vehicle M based on the information input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16. do. The position of the object is recognized as, for example, a position on absolute coordinates with the representative point (center of gravity, center of drive axis, etc.) of the own 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 a corner of the object, or may be represented by a represented area. The "state" of an object may include the object's acceleration or jerk, or "behavioral state" (eg, whether it is changing lanes or is about to change lanes).

Further, the recognition unit 130 recognizes, for example, the lane (traveling lane) in which the own vehicle M is traveling. For example, the recognition unit 130 has a road lane marking pattern (for example, an arrangement of a solid line and a broken line) obtained from the second map information 62 and a road lane marking around the own vehicle M recognized from the image captured by the camera 10. By comparing with the pattern of, the driving lane is recognized. The recognition unit 130 may recognize the traveling lane by recognizing not only the road marking line but also the running road boundary (road boundary) including the road marking line, the shoulder, the curb, the median strip, the guardrail, and the like. .. In this recognition, the position of the own vehicle M acquired from the navigation device 50 and the processing result by the INS may be added. The recognition unit 130 also recognizes stop lines, obstacles, red lights, tollhouses, and other road events.

When recognizing the traveling lane, the recognition unit 130 recognizes the position and posture of the own vehicle M with respect to the traveling lane. The recognition unit 130 determines, for example, the deviation of the reference point of the own vehicle M from the center of the lane and the angle formed by the center of the lane in the traveling direction of the own vehicle M with respect to the relative position of the own vehicle M with respect to the traveling lane. And may be recognized as a posture. Instead, the recognition unit 130 recognizes the position of the reference point of the own vehicle M with respect to any side end portion (road division line or road boundary) of the traveling lane as the relative position of the own vehicle M with respect to the traveling lane. You may.

The recognition unit 130 includes, for example, a first recognition unit 132 and a second recognition unit 134. The first recognition unit 132 recognizes the position and speed of another vehicle traveling in the destination lane when the own vehicle M makes a plan to change lanes. The second recognition unit 134 is based on image processing (image processing captured by the camera 10) or sensor detection result (detection result of the radar device 12 or LIDAR 14) when the own vehicle M makes a plan to change lanes. Recognize the road conditions in front of the own vehicle M. In other words, the second recognition unit 134 recognizes the target section based on the information provided by the object recognition device 16.

In principle, the action plan generation unit 140 travels in the recommended lane determined by the recommended lane determination unit 61, and the own vehicle M automatically (driver) so as to be able to respond to the surrounding conditions of the own vehicle M. Generate a target track to run in the future (regardless 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) to be reached by the own vehicle M. The track point is a point to be reached by the own vehicle M for each predetermined mileage (for example, about several [m]) along the road, and separately, for a predetermined sampling time (for example, about 0 comma number [sec]). ) Target velocity and target acceleration are generated as part of the target trajectory. Further, the track point may be a position to be reached by the own vehicle M at the sampling time for each predetermined sampling time. In this case, the information of the target velocity and the target acceleration is expressed by the interval of the orbital points.

The action plan generation unit 140 may set an event for automatic driving when generating a target trajectory. Autonomous driving events include constant speed driving events, low speed following driving events, lane change events, branching events, merging events, takeover events, and the like. The action plan generation unit 140 generates a target trajectory according to the activated event.

The action plan generation unit 140 includes, for example, a setting unit 142. The setting unit 142 sets a lane-changeable target section in the destination lane based on the road condition recognized by the second recognition unit 134. The setting unit 142 has a first target section on the front side when the own vehicle M is used as a reference from the reference position of the target section, and a second target section on the back side when the own vehicle M is used as a reference rather than the reference position. And set. The details of this process will be described later.

The second control unit 160 sets the traveling driving force output device 200, the brake device 210, and the steering device 220 so that the own vehicle M passes the target trajectory generated by the action plan generation unit 140 at the scheduled time. Control.

Returning to FIG. 2, 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 the information of 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 traveling driving force output device 200 or the braking device 210 based on the speed element associated with the target trajectory 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 feedforward control according to the curvature of the road in front of the own vehicle M and feedback control based on the deviation from the target trajectory.

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

The brake device 210 includes, for example, a brake caliper, a cylinder that transmits flood pressure to the brake caliper, an electric motor that generates flood pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to the information input from the second control unit 160 or the information input from the operation controller 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 for transmitting the oil pressure generated by the operation of the brake pedal included in the operation operator 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 an actuator according to information input from the second control unit 160 to transmit the oil pressure of the master cylinder to the cylinder. May be good.

The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to the rack and pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the operation controller 80, and changes the direction of the steering wheel.

[Processing for setting the target section (1)]
FIG. 3 is a diagram (No. 1) for explaining an example of the process in which the target section is set. In the following description, the traveling direction of the vehicle may be referred to as the X direction, and the width direction of the vehicle may be referred to as the Y direction.

FIG. 3 shows a road including lanes L1-L6. The area between the lane L3 and the lane L4 is an area (target area TA) in which the lane of the vehicle can be changed. The vehicle can change lanes from lane L3 to lane L4 or from lane L4 to lane L3 in the area where lane change is possible. A zebra zone S1 (an example of a first headrace zone), a branch zone OB1, and a branch zone OB2 are provided on the minus X direction side of the target region TA. The branch zone OB2 is higher in height than the branch zone OB1. A zebra zone S2 (an example of a second headrace zone), a branch zone OB3, and a branch zone OB4 are provided on the plus X direction side of the target section TA. The branch zone OB4 is higher in height than the branch zone OB3. The target section TA is a section between the end portion of the zebra zone S1 on the plus X direction side (first position P1) and the end portion of the zebra zone S2 on the minus X direction side (second position P2).

The setting unit 142 sets the first position P1 and the second position P2, and further sets the third position P3 (reference position) between the first position P1 and the second position P2. The third position is a position substantially in the middle of the target section. The section between the first position P1 and the third position P3 in the plus X direction is called the first target section TA1, and the section between the third position P3 and the second position P2 in the plus X direction is called the second target section. It may be called TA2.

The first position may be set at an arbitrary position in the first guide zone, and the second position may be set at an arbitrary position in the second guide zone. Further, the third position may be set to an arbitrary position between the first position and the second position. Further, in the present embodiment, the target section is set based on the headrace zone, but instead (or in addition), the lane in which the own vehicle M travels and the lane in which the own vehicle M travels are connected. The target section is set based on the marking or object near the starting point to be separated from the state in which the lane in which the own vehicle M is traveling and the lane to be moved are separated from each other. You may.

The action plan generation unit 140 causes the own vehicle M to change lanes to the destination lane in either the first target section TA1 or the second target section TA2 set by the setting unit 142. For example, the action plan generation unit 140 causes the own vehicle M to preferentially change lanes in the first target section TA1. For example, the action plan generation unit 140 attempts to change lanes from lane L3 to lane L4 in the first target section TA1, and if there is a possibility that the own vehicle M interferes with another vehicle due to this lane change, the first Stop changing lanes in the 1 target section TA1 and change lanes in the 2nd target section TA2. When changing lanes, even in the second target section TA2, if there is a possibility that the own vehicle M may interfere with other vehicles, the own vehicle M decelerates or stops and waits until the other vehicle passes ahead, and then changes lanes. I do.

As described above, the setting unit 142 sets the target section based on the first position P1-third position P3. Since the action plan generation unit 140 changes the lane of the own vehicle M in the target section set by the setting unit 142, a more suitable lane change can be realized.

For example, the own vehicle in the comparative example may change lanes by setting one target section TA as a section for changing lanes. In this case, in the target section TA, if the own vehicle of the comparative example cannot change lanes, the own vehicle of the comparative example may decelerate or stop by a predetermined degree or more.

On the other hand, the action plan generation unit 140 of the present embodiment sets the section for changing lanes in more detail. Then, for example, the action plan generation unit 140 tries to change lanes in the target section TA1, and when the lane cannot be changed in the target section TA1, tries to change lanes in the next target section TA2. As described above, in the present embodiment, since the lane change is tried a plurality of times, the possibility that the own vehicle M cannot change lanes and therefore decelerates or stops by a predetermined degree or more is reduced. As described above, the own vehicle M of the present embodiment can realize a more suitable lane change.

[Processing for setting the target section (Part 2)]
FIG. 4 is a diagram (No. 2) for explaining an example of the process in which the target section is set. In the setting unit 142, the zebra zone S2 is not recognized by the second recognition unit 134, and an object exists near the start point in which the lane in which the own vehicle M is traveling and the lane in which the vehicle M is moved are separated from the connected state. When it is recognized, the target section is set based on the zebra zone S1 and the object existing near the start point.

Specifically, when the second recognition unit 134 cannot recognize the end portion of the zebra zone S2 on the minus X direction side due to the obstacle OBx or the like, the setting unit 142 is located at the end portion of the obstacle OBx on the minus X direction side. Set the 2-position P #. The setting unit 142 sets the target section TA based on the first position P1 and the second position P2 #. The setting unit 142 sets the third position P3 # between the first position P1 and the second position P2 #, and sets the first target section TA1 based on the first position P1 and the third position P3 #. , The second target section TA2 is set based on the third position P3 # and the second position P2 #. The third position P3 # is, for example, a position substantially intermediate between the first position P1 and the second position P2 #.

The action plan generation unit 140 causes the own vehicle M to change lanes to the destination lane in either the first target section TA1 or the second target section TA2 set by the setting unit 142. For example, the action plan generation unit 140 preferentially changes the own vehicle M to the destination lane in the first target section TA1.

In this way, even if the end portion of the zebra zone S2 on the minus X direction side is not recognized due to an obstacle or the like, the setting unit 142 sets the second position P2 # to form the first target section TA1 and The second target section TA2 can be set more accurately. As a result, the own vehicle M can realize a more suitable lane change.

[Processing for setting the target section (3)]
FIG. 5 is a diagram (No. 3) for explaining an example of the process in which the target section is set. The setting unit 142 recognizes the zebra zone S2 (or the second position P2) by the second recognition unit 134 at the first time, and at the second time after the first time, the own vehicle M When the zebra zone S2 is not recognized by the second recognition unit 134 due to the presence of another vehicle m1 between the zebra zone S2 and the zebra zone S2, the zebra zone S2 recognized by the second recognition unit 134 at the first time is used as the basis for the zebra zone S2. , The position of the zebra zone S2 at the second time is estimated, and the target section is set based on the zebra zone S1 recognized at the second time and the estimated zebra zone S2.

It is assumed that the second recognition unit 134 cannot recognize the end portion of the zebra zone S2 on the minus X direction side by the other vehicle m1 at the time t (second time). The other vehicle m1 is a vehicle existing between the own vehicle M and the second position P2. The setting unit 142 of the second position P2 is based on the end portion of the zebra zone S2 on the minus X direction side recognized by the second recognition unit 134 at the time t-1 (first time) before the time t. Estimate the position. For example, the setting unit 142 converts the position of the zebra zone S2 with respect to the position of the own vehicle M at the time t-1 to the position of the zebra zone S2 with respect to the position of the own vehicle M at the time t, and the zebra zone S2 at the time t. Estimate the position of. Hereinafter, the estimated second position P2 may be referred to as a second position P2 ##.

The setting unit 142 sets the target section TA based on the first position P1 and the second position P2 ##. The setting unit 142 sets the third position P3 # between the first position P1 and the second position P2 ##, and sets the first target section TA1 based on the first position P1 and the third position P3. , The second target section TA2 is set based on the third position P3 and the second position P2 ##. The third position P3 is, for example, a position substantially intermediate between the first position P1 and the second position P2 ##.

In this way, even if the other vehicle m1 does not recognize the end portion of the zebra zone S2 on the minus X direction side, the setting unit 142 sets the second position P2 ## to set the first target section TA1. And the second target section TA2 can be set more accurately. As a result, the own vehicle M can realize a more suitable lane change.

The above-mentioned [process for setting the target section (No. 2)] or [process for setting the target section (No. 2)] may be applied even when the first position is set.

[Processing for setting the target section (4)]
FIG. 6-8 is a diagram (No. 4) for explaining an example of the process in which the target section is set. The setting unit 142 determines that the own vehicle M does not change lanes in the first target section and the second target section (the action plan generation unit 140 does not change lanes in the first target section and the second target section). (If this is the case), before passing through the second target section (before passing through the second position P2), a new target section (third) is placed on the back side (X direction side) of the second target section based on the own vehicle M. Target section) is set.

More specifically, when the zebra zone S2 is not recognized by the second recognition unit 134, the setting unit 142 sets the first target section and the second target section based on the zebra zone S1 and the set distance, and sets the second target section. If the own vehicle M does not change lanes to the destination lane in the 1st target section and the 2nd target section, the 3rd target section is located behind the 2nd target section based on the own vehicle M before passing through the 2nd target section. To set.

The set distance is, for example, a preset distance or a sign existing on the road such as a zebra zone or an object on the road based on the information provided by the object recognition device 16 by the second recognition unit 134. ) Is a recognizable distance (for example, 200 m). The set distance is, for example, a distance that can be recognized by the second recognition unit 134 based on the image of the camera 10, the detection result of the radar device 12, the detection result of the LIDAR 14, and the like. The target sections TA, TA #, or TA ##, which will be described later, are examples of set distances.

As shown in FIG. 6, the setting unit 142 is the distance between the end portion of the zebra zone S1 on the plus X direction side and the end portion of the zebra zone S2 on the minus X direction side based on the recognition result of the second recognition unit 134. However, when it is determined that the set distance is exceeded, the first position P1 is set at the end of the zebra zone S1 on the plus X direction side, and the second position P2 is set at a position at a predetermined distance from the first position P1. The setting unit 142 sets the target section TA based on the first position P1 and the second position P2, and further sets the target section TA1 and the target section TA2 based on the third position P3. The third position P3 is, for example, a position substantially intermediate between the first position P1 and the second position P2. For example, the own vehicle M cannot change the lane of the own vehicle M to the destination lane even in either the first target section TA1 or the second target section TA2 set by the setting unit 142. In this case, the setting unit 142 sets the target section TA # on the plus X direction side of the second target section TA2 as shown in FIG.

For example, the setting unit 142 sets the target section TA # between the second position P2 and the fourth position P4. The fourth position P4 is a position at a predetermined distance from the second position P2. The setting unit 142 sets the fifth position P5 and sets the target section TA3 and the target section TA4 based on the second position P2 and the fourth position P4. The fifth position P5 is, for example, a position substantially intermediate between the second position P2 and the fourth position P4.

For example, even in either the first target section TA3 or the second target section TA4 set by the setting unit 142 shown in FIG. 7, the own vehicle M keeps the own vehicle M in the lane to move to. If it cannot be changed, the setting unit 142 sets the target section TA ## on the plus X direction side of the second target section TA4 as shown in FIG.

For example, the setting unit 142 sets the target section TA ## between the fourth position P4 and the sixth position P6. The sixth position P6 is the position of the end portion of the zebra zone S2 on the minus X direction side. In the example of FIG. 8, the distance from the fourth position P4 to the sixth position P6 is assumed to be a predetermined distance. The setting unit 142 sets the seventh position P7 based on the fourth position P4 and the sixth position P6, and sets the target section T5 and the target section TA6. The seventh position P7 is, for example, a position substantially intermediate between the fourth position P4 and the sixth position P6.

For example, when the distance from the 4th position P4 to the 6th position P6 is less than the predetermined distance, the section from the 4th position P4 to the 6th position P6, which is less than the predetermined distance, may be set as the target section TA5.

The own vehicle M tries to change lanes in the set target section and the section on the minus X direction side as much as possible. If the lane cannot be changed in the set target section, the own vehicle M decelerates or stops by a predetermined degree or more in the vicinity of the zebra zone S2.

In this way, the setting unit 142 sets the target section a plurality of times even when the distance between the zebra zone S1 and the zebra zone S2 is long (when the predetermined distance is exceeded). The own vehicle M can change lanes more reliably in the set target section. As a result, the own vehicle M can realize a more suitable lane change.

In the above [Process for setting the target section (No. 4)], the distance between the zebra zone S1 and the zebra zone S2 is performed even when the second recognition unit 134 can recognize the zebra zone S2. May be done when is greater than or equal to a preset distance.

[flowchart]
FIG. 9 is a flowchart (No. 1) showing an example of the flow of processing executed by the automatic operation control device 100. This process is a process executed when a plan for the own vehicle M to change lanes is generated.

First, the setting unit 142 determines whether or not the zebra zone S2 on the minus X direction side and the zebra zone S1 on the plus X direction side can be recognized based on the recognition result of the second recognition unit 134 (step S100). When the zebra zone S2 on the minus X direction side and the zebra zone S1 on the plus X direction side can be recognized, the setting unit 142 sets the first position P1 and the second position P2 (step S102), and the first target section. The TA1 and the second target section TA2 are set (step S104).

Next, the setting unit 142 determines whether or not the lane can be changed in the target section set in step S104 (step S106). For example, the automatic driving control device 100 changes lanes when the own vehicle M does not interfere with surrounding vehicles (for example, other vehicles traveling in the lane to which the lane is changed) even when the lane is changed in the set target section. Judge that it is possible. If the lane can be changed in the target section set in step S104, the process of this flowchart ends. In this case, the own vehicle M changes lanes in this target section.

When the lane change is not possible in the target section set in step S104, the setting unit 142 determines whether or not the target section can be set on the plus X direction side of the target section (step S108).

When it is determined in step S108 that the target section can be set, the setting unit 142 sets the fourth position P4 (step S110), and based on the second position P2 and the fourth position P4, the plus X direction of the target section. A target section is set on the side (step S112). As a result, the target section is set as shown in FIG. 7 described above. After that, the process proceeds to step S106, and when the own vehicle M can change lanes in the set target section, the own vehicle M changes lanes. If the own vehicle M cannot change lanes in the set target section, the process proceeds to steps 108, S110, and S112, and the target section is set as shown in FIG. 8 described above.

If it is determined in step S108 that the target section cannot be set, the automatic operation control device 100 executes a predetermined control (step S114). The predetermined control is a control in which the own vehicle M decelerates or stops in the vicinity of the zebra zone S2 by a predetermined degree or more. This completes the processing of this flowchart.

When it is determined in step S100 that the zebra zone S2 on the minus X direction side or the zebra zone S1 on the plus X direction side cannot be recognized (for example, when it is determined that the zebra zone S1 on the plus X direction side cannot be recognized), the setting unit 142 determines whether or not the zebra zone has been recognized in the past (step S116). If the zebra zone has been recognized in the past, the setting unit 142 estimates the second position P2 based on the position of the end portion of the zebra zone S1 that has been recognized in the past (step S118).

The situation in which the zebra zone could be recognized in the past is, for example, a second situation because an object (for example, another vehicle) temporarily exists between the own vehicle M and the end of the zebra zone S1 on the minus X direction side. The recognition unit 134 cannot recognize the end portion of the zebra zone S1 on the minus X direction side. Next, the setting unit 142 sets the target section based on the first position P1 and the estimated second position P2 (step S120), and proceeds to the process of step S106.

If the zebra zone could not be recognized in the past, the setting unit 142 executes the process of step S122. The situation in which the zebra zone could not be recognized in the past is, for example, a situation in which an object exists on a road or the like so that the end portion of the zebra zone S2 is hidden. The setting unit 142 sets the first position P1 at the end portion of the zebra zone S1 on the plus X direction side, and the end portion of the object existing between the own vehicle M and the end portion of the zebra zone S2 on the minus X direction side. The second position P2 (for example, the second position P2 # shown in FIG. 4) is set in (step S122). Next, the setting unit 142 sets the target section based on the first position P1 and the second position P2 set in step S122 (step S124), and proceeds to the process of step S106. As a result, the processing of the processing of this flowchart is completed.

By the above-mentioned process, the setting unit 142 can appropriately set the target section according to the road condition.

[Example of lane change considering other vehicles]
The automatic driving control device 100 controls the behavior of the own vehicle based on the relative relationship between the own vehicle and another vehicle. The relative relationship includes the positional relationship between the own vehicle and the other vehicle, and the speed relationship between the own vehicle and the other vehicle. The action plan generation unit 140 determines the positional relationship between the position of the own vehicle M and the position of another vehicle existing in the destination lane and within a predetermined distance from the own vehicle M, and the speed of the own vehicle M. Whether to change the lane of the own vehicle M in front of the other vehicle or to change the lane of the own vehicle M behind the other vehicle in the first target section or the second target section based on the speed relationship with the speed of the other vehicle. To determine.

The relative relationship is the first relationship-fourth relationship described below. The first relationship-fourth relationship will be described with reference to FIGS. 10 and 11. The first-fourth relationship is a correlation between the own vehicle M and another vehicle when the own vehicle M exists in front of the first position P1 by a predetermined distance. The predetermined distance is, for example, several tens of mails to several hundred meters.

FIG. 10 is a diagram for explaining the first relationship and the second relationship. 10 and 11, which will be described later, are views focusing on lane L3 and lane L4. The first relationship is that the other vehicle exists in front of the own vehicle (plus X direction) and the speed of the other vehicle is faster than the speed of the own vehicle. In this case, the automatic driving control device 100 causes the own vehicle to maintain the state of traveling behind the other vehicle, and causes the own vehicle M to change lanes to the lane L4 in the first target section TA1.

The second relationship is that the other vehicle exists in front of the own vehicle (plus X direction) and the speed of the own vehicle is faster than the speed of the other vehicle. In this case, when it is estimated that the own vehicle can accelerate or maintain the current speed and the own vehicle can reach a predetermined distance ahead of the other vehicle in the vicinity of the first position P1 by the automatic driving control device 100. The own vehicle is accelerated or the speed of the own vehicle is maintained, and the own vehicle M is changed to the lane L4 in the first target section TA1.

In the second relationship, in the automatic driving control device 100, the own vehicle cannot reach the predetermined distance ahead of the other vehicle in the vicinity of the first position P1 because the own vehicle accelerates or maintains the current speed, but the third When it is estimated that the own vehicle can reach a predetermined distance ahead of another vehicle near the position P3, the own vehicle M is accelerated in the second target section TA2 by accelerating the own vehicle or maintaining the speed of the own vehicle. You may change lanes to lane L4.

FIG. 11 is a diagram for explaining the third relationship and the fourth relationship. The third relationship is that the own vehicle exists in front of the other vehicle (plus X direction), and the speed of the own vehicle is faster than the speed of the other vehicle. In this case, the automatic driving control device 100 causes the own vehicle to maintain the state of traveling in front of the other vehicle, and causes the own vehicle M to change lanes to the lane L4 in the first target section TA1.

The fourth relationship is that the own vehicle exists in front of the other vehicle (plus X direction), and the speed of the other vehicle is faster than the speed of the own vehicle. In this case, it is presumed that the automatic driving control device 100 is in a state in which the own vehicle accelerates or maintains the current speed and the own vehicle exists in front of the other vehicle by a predetermined distance in the vicinity of the first position P1. In this case, the own vehicle is accelerated or the speed of the own vehicle is maintained, and the own vehicle M is changed to the lane L4 in the first target section TA1.

In the fourth relationship, the automatic driving control device 100 estimates that the own vehicle is accelerating or maintaining the current speed, and the own vehicle does not exist in front of the other vehicle by a predetermined distance near the first position P1. In this case, if it is estimated that the own vehicle M continues to accelerate and the own vehicle is in the vicinity of the third position P3 and is in front of the other vehicle by a predetermined distance, the own vehicle is accelerated. , The own vehicle M may be changed to the lane L4 in the second target section TA2.

In the fourth relationship, when it is estimated that the own vehicle cannot change lanes in front of the other vehicle, the automatic driving control device 100 maintains the state in which the own vehicle M exists behind the other vehicle and the first target section. In TA1 or the second target section TA2, the own vehicle M is changed to the lane L4.

[flowchart]
FIG. 12 is a flowchart (No. 2) showing an example of the flow of processing executed by the automatic operation control device 100. The action plan generation unit 140 identifies the relationship between the own vehicle and another vehicle (step S200). Next, the action plan generation unit 140 pays attention to the target section on the front side of the target sections set by the setting unit 142 (step 202).

Next, the action plan generation unit 140 determines whether or not the lane can be changed in front of the other vehicle in the target section of interest (step 204). When it is determined that the lane can be changed in front of the other vehicle in the target section of interest, the action plan generation unit 140 causes the own vehicle to change lanes in front of the other vehicle (step 206).

When it is determined that the lane cannot be changed in front of another vehicle in the focused target section, the action plan generation unit 140 determines whether or not the target section exists on the back side (traveling direction side) of the focused target section. (Step 208). When the target section exists on the back side of the focused target section, the action plan generation unit 140 pays attention to the target section on the back side of the focused target section (step S210). Then, the action plan generation unit 140 causes the own vehicle to change lanes in front of the other vehicle when the lane can be changed in front of the other vehicle in the target section on the back side of the target section of interest (steps S204, S206). ), If it is not possible to change lanes in front of another vehicle in the target section on the back side of the target section of interest, the process proceeds to step S208.

When the target section does not exist behind the target section of interest, the action plan generation unit 140 causes the own vehicle to change lanes behind the other vehicle in the target section of interest in step S204 (step S212). For example, the action plan generation unit 140 decelerates the own vehicle M to change lanes behind the other vehicle. This completes the processing of this flowchart.

By the above-described processing, the automatic driving control device 100 changes the lane of the own vehicle in front of the other vehicle based on the positional relationship and the speed relationship between the own vehicle M and the other vehicle, or changes the lane of the own vehicle in the rear of the other vehicle. By deciding whether to change the lane, the lane of the own vehicle can be changed more smoothly. The automatic driving control device 100 preferentially changes the lane in front of the other vehicle based on the positional relationship and the speed relationship between the own vehicle M and the other vehicle, so that the own vehicle can change lanes more quickly. Can be done.

According to the implementation state described above, the automatic driving control device 100 puts its own vehicle M in the lane to move to in either the first target section or the second target section set by the setting unit 142. To realize a more suitable lane change by changing the lane.

[Hardware configuration]
FIG. 13 is a diagram showing an example of the hardware configuration of the automatic operation control device 100 of the embodiment. As shown in the figure, the 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, a ROM (Read Only Memory) for storing a boot program, and the like. The configuration is such that 100-4, a storage device 100-5 such as a flash memory or an HDD (Hard Disk Drive), a drive device 100-6, and the like are connected to each other by an internal bus or a dedicated communication line. The communication controller 100-1 communicates with a component 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 into RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like, and is executed by CPU 100-2. As a result, a part or all of the first control unit 120, the second control unit 160, and the functional units included in these are realized.

The embodiment described above can be expressed as follows.
A storage device that stores programs and
With a hardware processor,
When the hardware processor executes a program stored in the storage device,
When the own vehicle makes a plan to change lanes, it recognizes the position and speed of other vehicles traveling in the destination lane, and recognizes the position and speed of the other vehicle.
When the own vehicle makes a plan to change lanes, the condition of the road in front of the own vehicle is recognized based on the image processing or the detection result of the sensor.
The first target section on the front side when the own vehicle is used as a reference from the reference position of the target section that can change lanes to the destination lane set based on the recognized road condition, and the reference position. Set the second target section on the back side when the own vehicle is used as a reference.
A vehicle control device configured to change the lane of the own vehicle to the destination lane in any of the set first target section and the second target section.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added.

1 vehicle system, 100 automatic driving control device, 120 1st control unit, 130 recognition unit, 132 1st recognition unit, 134 2nd recognition unit, 140 action plan generation unit, 142 setting unit, 160 ‥ Second control unit

Claims (11)

When the own vehicle makes a plan to change lanes, the first recognition unit that recognizes the position and speed of other vehicles traveling in the destination lane,
When the own vehicle makes a plan to change lanes, a second recognition unit that recognizes the condition of the road in front of the own vehicle based on the image processing or the detection result of the sensor.
The first target section on the front side when the own vehicle is used as a reference rather than the reference position of the target section that can change lanes to the destination lane set based on the road condition recognized by the second recognition unit. And a setting unit that sets a second target section on the back side when the own vehicle is used as a reference from the reference position.
In either the first target section or the second target section set by the setting unit, the control unit that changes the lane of the own vehicle to the lane of the movement destination and the control unit.
Vehicle control device. The reference position is approximately in the middle of the target section.
The vehicle control device according to claim 1. The control unit preferentially causes the own vehicle to change the lane in the first target section.
The vehicle control device according to claim 1 or 2. The second recognition unit recognizes the first guide zone and the second guide zone marked on the road, and recognizes the first guide zone and the second guide zone.
The setting unit sets the target section based on the first guide zone and the second guide zone.
The first headrace zone is marked near the starting point where the lane in which the own vehicle travels and the lane to which the vehicle travels are connected.
The second headrace zone is marked near the starting point where the lane in which the own vehicle travels and the lane to which the vehicle is moved are separated from the connected state.
The vehicle control device according to any one of claims 1 to 3. The second recognition unit recognizes an object existing on the road and recognizes the object.
In the setting unit, the second recognition unit does not recognize the second headrace zone, and the setting unit is near the start point where the lane in which the own vehicle travels and the lane to which the vehicle is moved are separated from each other. When it is recognized that an object exists in, the target section is set based on the object existing in the first lane and the vicinity of the start point.
The vehicle control device according to claim 4. The setting unit recognizes the second headrace zone by the second recognition unit at the first time, and at a second time after the first time, the own vehicle and the said When the second guide zone is not recognized by the second recognition unit due to the presence of the vehicle between the second guide zone and the second guide zone, the second recognition unit recognizes the second guide zone at the first time. Based on the second guide zone, the position of the second guide zone at the second time is estimated, and the first guide zone recognized at the second time and the estimated first guide zone. The target section is set based on the second headrace zone.
The vehicle control device according to claim 4 or 5. When the own vehicle does not change lanes to the destination lane in the first target section and the second target section, the setting unit uses the own vehicle as a reference before passing through the second target section. Set the third target section on the back side of the section,
The vehicle control device according to claim 1, wherein the control unit changes the lane of the own vehicle to the destination lane in the third target section. The second recognition unit recognizes the first guide zone and the second guide zone marked on the road, and recognizes the first guide zone and the second guide zone.
The first headrace zone is marked near the starting point where the lane in which the own vehicle travels and the lane to which the vehicle travels are connected.
The second headrace zone is marked near the starting point where the lane in which the own vehicle travels and the lane to which the vehicle is moved are separated from each other.
When the second guide zone is not recognized by the second recognition unit, the setting unit sets the first target section and the second target section based on the first guide zone and the set distance. If the own vehicle does not change lanes to the destination lane in the first target section and the second target section, the second target section is set based on the own vehicle before passing through the second target section. Set the third target section on the back side of
The vehicle control device according to claim 7. The control unit has a positional relationship between the position of the own vehicle and the position of another vehicle existing in the destination lane and within a predetermined distance from the own vehicle, the speed of the own vehicle, and the said. In the first target section or the second target section, the own vehicle is changed to the lane in front of the other vehicle, or the own vehicle is changed to the lane behind the other vehicle based on the speed relationship with the speed of the other vehicle. Decide if you want to
The vehicle control device according to claim 8. The computer
When the own vehicle makes a plan to change lanes, it recognizes the position and speed of other vehicles traveling in the destination lane, and recognizes the position and speed of the other vehicle.
When the own vehicle makes a plan to change lanes, the condition of the road in front of the own vehicle is recognized based on the image processing or the detection result of the sensor.
The first target section on the front side when the own vehicle is used as a reference from the reference position of the target section that can change lanes to the destination lane set based on the recognized road condition, and the reference position. Set the second target section on the back side when the own vehicle is used as a reference.
In either the set first target section or the second target section, the own vehicle is changed to the lane of the movement destination.
Vehicle control method. On the computer
When the own vehicle makes a plan to change lanes, the process of recognizing the position and speed of other vehicles traveling in the destination lane, and
When the own vehicle makes a plan to change lanes, the process of recognizing the condition of the road in front of the own vehicle based on the image processing or the detection result of the sensor.
The first target section on the front side when the own vehicle is used as a reference from the reference position of the target section that can change lanes to the destination lane set based on the recognized road condition, and the reference position. The process of setting the second target section on the far side when the own vehicle is used as a reference.
In the section of either the set first target section or the second target section, the process of changing the lane of the own vehicle to the lane of the movement destination, and the process of changing the lane to the destination lane.
A program that executes.

Images