JPH11144197A - Lane change controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a vehicle that is automatically steered or a vehicle group that travels in a vertical line smoothly travel at a joining point. SOLUTION: When a vehicle 7 travels on a traffic lane 2 that has a merging point 4 ahead in a traveling direction, the existence of the point 4 is detected by a signal from a road surface device 6 such as a beacon. The vehicle 7 changes lanes from a slow lane 2 to a passing lane 3, e.g. at 400 meters on this side of the point 4. Thus, because the lane 2 that is a merging side lane before and behind the point 4 is made empty even if a vehicle that is about to merge the point 4 form an approach ramp 5 exists, it is possible for the merging vehicle to merge safely and also smoothly.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lane change control device for changing lanes when a vehicle traveling on an expressway or the like alone or forming a group of vehicles passes a junction.

[0002]

2. Description of the Related Art On an expressway, an automobile exclusive road, or the like, it has been considered that the driving of an automobile is automated, and a plurality of vehicles form a train called a platoon and a group of vehicles travels as a unit. Automated driving and formation of a group of vehicles for platooning are expected to reduce labor and ease traffic.

[0003] The prior art for forming a group of vehicles and performing platoon running is disclosed in, for example, Japanese Patent Application Laid-Open No. 8-3145.
41 and JP-A-7-334790.
In the prior art disclosed in Japanese Patent Application Laid-Open No. 8-314541, when a merging vehicle is detected while traveling in a platoon, the inter-vehicle distance is increased to control the platoon so that the platoon can be easily joined. In the prior art of Japanese Patent Application Laid-Open No. 7-334790, a following vehicle running independently monitors the behavior of the preceding vehicle,
When a merging vehicle is expected to be present at the merging point, the inter-vehicle distance is controlled to be large so that the merging vehicle can smoothly enter the preceding vehicle.

[0004]

Problems to be Solved by the Invention
In the prior art, although the merging vehicle is controlled so as to join the platoon at the merging point, the merging vehicle traveling to the merging point does not always participate in the platoon.
Vehicles that do not participate in the platoon are forced to choose to wait for a group of vehicles to pass at the junction or to run ahead of the junction before the group reaches the junction. On the vehicle group side, if the merging vehicle is near the merging point,
In order to reduce the speed of the entire vehicle group and reduce the time that the merging vehicle waits at the merging point so that the merging vehicle can enter the merging point first and run ahead, the vehicle group It is necessary to perform control such as increasing the passing speed.

[0005] In addition, even when a vehicle is running alone but not in platooning, but in autopilot, the presence of other vehicles at the merge point hinders smooth autopilot. In this way, even if an attempt is made to drive the road more efficiently by autopilot and platooning, it will prevent other vehicles from merging at the junction, and other vehicles will not be able to smoothly drive or platoon. It may hinder you. Therefore, in order to reduce traffic by autopilot and platooning, it is a major issue how to adjust the relationship with the merging vehicle at the junction to ensure safe and smooth running.

[0006] It is an object of the present invention to provide a lane change control device that changes lanes at a junction to enable safe and smooth running.

[0007]

SUMMARY OF THE INVENTION The present invention is an apparatus mounted on a vehicle having an automatic steering function and for controlling the traveling of a road having a plurality of lanes, the lane changing being performed on the road. A merging point detecting means for detecting the presence or absence of a merging point to the merging point, a merging point judging means for judging whether or not the vehicle is approaching the merging point detected by the merging point detecting means, A lane change control device, comprising: a lane change unit that changes lanes from a traveling lane to another lane when it is determined that the vehicle is approaching the junction. .

According to the present invention, when the merging point detecting means detects a merging point into the lane in which the vehicle is traveling, the merging point determining means determines whether or not the vehicle is approaching a predetermined area to the merging point. Judge. When it is determined that the vehicle is approaching a predetermined range from the merging point, the lane changing unit changes the lane from the merging lane on which the vehicle is traveling to another lane. The vehicle will be traveling in a different lane. Since the lane on the merging side is empty, the change in the merging traveling control state of the merging vehicle can be minimized, and safe and smooth traveling can be continued.

Further, the present invention provides a vehicle group formed by a plurality of vehicles, which is mounted on a vehicle which transmits control information between vehicles in the vehicle group and performs platooning, and changes lanes on a road having a plurality of lanes. An apparatus for performing travel control involving a vehicle group, wherein the vehicle group approaches a merge point detected by the merge point detection means, and a merge point detected by the vehicle group. When the own vehicle is the leading vehicle in the vehicle group when the vehicle group is determined to be approaching the merge point by the merging point determining means for determining whether or not A lane change control device that includes a lane change unit that changes lanes from the lane on the middle merge side to another lane.

According to the present invention, it is determined by the merging point judging means that the leading vehicle among the vehicles forming the vehicle group is approaching a predetermined range to the merging point detected by the merging point detecting means. At this time, since the lane is changed from the lane on the merging side to another lane during traveling, the lane of the merging vehicle is secured, and safe and smooth traveling becomes possible.

Further, in the present invention, the leading vehicle of the vehicle group includes a transmission means for transmitting a lane change signal indicating that the lane change is to be performed to vehicles in a succeeding vehicle group prior to the lane change. Features.

According to the present invention, the leading vehicle in the vehicle group transmits a lane change signal indicating that the vehicle in the following vehicle group changes lanes prior to the lane change. The change will be known in advance, and a smooth lane change can be made.

Further, in the present invention, a platoon size detecting means for detecting the size of the platoon formed by the vehicle group, and judging whether or not the size of the platoon detected by the platoon size detecting means exceeds a predetermined value. And a lane changer that performs the lane change only when the rank of the platoon is determined to exceed a predetermined value by the platoon scale determiner.

According to the present invention, the platoon size detecting means detects the size of the platoon forming the vehicle group, for example, the number and length of the vehicles forming the platoon. Whether or not the platoon size detected by the platoon size detecting means exceeds a predetermined value is determined by the platoon size determining means.
The lane change is performed only when it is determined that the platoon size exceeds the predetermined value.Therefore, the lane change is performed for a large platoon that exceeds the predetermined value, and the confluence point is blocked for a long time. Can be avoided. When the size of the platoon is less than the specified value, even if the merging vehicle may wait at the merging point, the waiting time is short, so the lane is not changed and the control when passing the merging point is simplified. Can be

In the present invention, the merging point detecting means detects the merging point based on map data installed in advance.

According to the present invention, the merging point detecting means detects the merging point based on map data mounted on the vehicle in advance, so that the merging point can be detected before actually approaching the merging point. It is possible to make preparations such as changing lanes ahead of time.

In the present invention, there is provided on-road information receiving means for receiving guide information from a road apparatus which is provided along a road and transmits guide information including junction information to a vehicle traveling on the road. The point detecting means detects the merging point based on the merging point information received by the road information receiving means.

According to the present invention, it is possible to know whether or not a confluence point such as an interchange is approaching along a highway, for example, by using a beacon or the like.
Appropriate decisions can be made based on the latest information.

Further, in the present invention, the lane changing means performs a lane change and then continues traveling in the changed lane to a predetermined range.

According to the present invention, the lane is changed when approaching the junction, and the change state is maintained to a predetermined range, so that the merging vehicle can safely and reliably enter the junction. .

In the present invention, there is provided a merging / non-merging receiving means for externally receiving information indicating the presence or absence of a merging vehicle at the merging point detected by the merging point detecting means. The lane change control is performed according to a signal indicating the presence or absence of a merging vehicle to be received.

According to the present invention, information indicating the presence or absence of a merging vehicle at a merging point is received from an external road device or the like by a merging presence / absence receiving means, and lane change control is performed according to the presence or absence of a merging vehicle. When there is no merging vehicle, a smooth running state can be continued without changing lanes.

Further, in the present invention, the merging presence / absence receiving means receives position information of the merging vehicle transmitted from the merging vehicle.

According to the present invention, the position information from the merging vehicle is received, the presence or absence of the merging vehicle is determined, and it is determined whether or not to change lanes. Therefore, an appropriate determination is made according to the position of the merging vehicle. It can be performed.

In the present invention, the merging presence / absence receiving means is provided along a road, and receives information from a road device for transmitting information about the merging vehicle.

According to the present invention, the information on the merging vehicle is determined by receiving the information transmitted from the on-road device provided along the road by the merging presence / absence receiving means.
Appropriate determination can be made according to the presence or absence of a vehicle at the junction.

According to the present invention, the traffic volume detecting means for detecting the traffic volume around the vehicle and the traffic volume detected by the traffic volume detecting device are compared with a predetermined value set in advance, and the traffic volume is determined to be a predetermined value. And a change prohibition unit that prohibits the lane change by the lane change unit when the number exceeds the limit.

According to the present invention, when the traffic volume exceeds a predetermined value, the lane change by the lane changing means is prohibited.
It is possible to avoid traffic congestion when there is heavy traffic.

[0029]

FIG. 1 shows a lane change state according to a first embodiment of the present invention. A road 1 such as an expressway has a traveling lane 2 and an overtaking lane 3. A merging point 4 is provided in the middle of the traveling lane 2, and the merging flow path 5
Can be joined. Depending on the structure of the road 1, the junction 4 may be provided on the passing lane 3 side. A road device 6 such as a beacon is provided along the road 1 and transmits to the vehicle 7 traveling on the road 1 that the confluence point 4 is near by radio waves or light.

The vehicle 7 may be a vehicle having an automatic steering function and traveling automatically according to a preset route, or a vehicle forming a vehicle group and traveling in platoon. In the case of vehicles running in platoon, except for the first car in the platoon,
Since the vehicle only travels following the preceding vehicle, only the leading vehicle needs to control the traveling state in which the lane is changed.

FIG. 2 shows a schematic configuration of a lane change control device 10 mounted on the vehicle 7 for changing lanes by automatic steering.

The lane change control device 10 controls each of the vehicles 1 to 5
However, a plurality of electronic control units (hereinafter abbreviated as “ECUs”) are provided in order to control the formation of a platoon and to leave the platoon smoothly. Communication control E
The CU 11 transmits information necessary for platooning in the vehicle group while performing data communication such as control information with other vehicles forming the vehicle group. The communication control ECU 11 receives an optical signal from a light receiver 13 provided in front of the vehicle via an optical communication device 12 and a light emitter 14 provided behind the vehicle.
Transmits an optical signal. Optical communication using the light receiver 13 and the light emitter 14 is used for communication of control information between a preceding vehicle and a following vehicle in the platoon. The communication control ECU 11
Via the transmitter 15 and the receiver 16, communication with other vehicles or infrastructure equipment such as a beacon provided near the road 6 is also possible. Information transmitted from the transmitter 15 is transmitted as a radio wave from the antenna 17, and a radio signal from another vehicle or infrastructure equipment is received by the receiver 16 via the antenna 17.

Whether the lane change control device 10 continues the platoon running or separates from the platoon is determined based on, for example, a traveling route of each vehicle set in the navigation device 18 in advance.

The running speed of the vehicle detected by the vehicle speed sensor 19 is also used to determine the timing for determining whether it is necessary to leave the platoon.

A vehicle control ECU 20 is provided for controlling the actual running state of each vehicle by the lane change control device 10. The vehicle control ECU 20 includes a vehicle engine,
The traveling device 21 including the brake, the steering, and the like is controlled. In platooning, the following vehicle is automatically driven, the inter-vehicle distance to the preceding vehicle is shorter than in the case of independent driving, and congestion in road traffic is reduced.
A millimeter-wave radar 22, a CCD camera 23, and the like are provided in front of the vehicle in order to safely and reliably follow the vehicle.
The detection of the inter-vehicle distance when a preceding vehicle exists, the detection of an obstacle when the own vehicle is the leading vehicle, and the like are performed.

FIG. 3 shows a procedure for changing lanes when the vehicle 7 having the automatic steering function passes the junction 4 in the embodiment of FIG. The lane change control device 10 sequentially performs a plurality of processes while forming a loop according to a preset program, performs another process in step a0, and determines whether or not the vehicle has approached the junction in step a1. to decide. Although the approach to the junction is determined by road-to-vehicle communication with the road device 6 in the embodiment of FIG. 1, the navigation device 18 or the like can also refer to map data. When it is determined that the vehicle is not approaching the merging point, the process returns to step a0, and another process is continued. When it is determined that the vehicle has approached the junction, the position and speed of the vehicle 7 are calculated and obtained in step a2, and it is determined whether or not the lane is changed in step a3. When the position of the vehicle 7 is far from the junction 4, the lane change is not performed. The lane change is performed when the vehicle 7 approaches a predetermined range, for example, 400 m before the junction. This distance can be changed according to the speed of the vehicle 7. When the speed of the vehicle 7 is high, the distance at which the lane change is started is also increased. If it is determined in step a3 that the lane change is to be performed, the process proceeds to step a4, where the lane change is performed.
At 5, the process moves to the next other process.

As shown in FIG. 1, the vehicle 7 that has changed lanes from the traveling lane 2 which is the merging side lane to the passing lane 3 just before the merging point 4 moves the merging side lane before and after the merging point 4 into a predetermined range. In order to keep a space, the vehicle keeps traveling in the overtaking lane 3 until the vehicle reaches a predetermined position after passing the junction. As described above, the vehicle traveling on the traveling lane 2 avoids the merging vehicle, so that the safety at the merging point 4 can be improved.

FIG. 4 shows a second embodiment of the present invention. On a road 31 having a traveling lane 2 and an overtaking lane 3,
A plurality of road devices before and after the junction 34, for example, a road device 3 that transmits a signal indicating that the junction 34 exists.
5, a road device 36 installed at a predetermined distance ahead of the junction 34, and a road device 37 installed at a predetermined distance past the junction 34, and road-to-vehicle communication with a vehicle 38 is provided. The vehicle 38 that performs the operation detects the presence of the merging point 34 based on the information from the road device 35 and changes the lane from the traveling lane 2 to the passing lane 3 while traveling to the road device 36. The traveling in the overtaking lane 3 is maintained until information from the on-road device 37 is detected. During this time, the traveling lane 2 is opened before and after the junction 34 to avoid the merged vehicle. Junction 3
The vehicle 38 traveling on the traveling lane 2 on the road 31 up to the point before 4 avoids the merging vehicle, so that the safety at the merging point 34 can be improved.

FIG. 5 shows a processing procedure performed by the lane change control device 10 mounted on the first vehicle in the vehicle group in the embodiment shown in FIG. Other processes are performed until step b0, and it is determined in step b1 whether or not the vehicle is approaching the junction. When it is determined from the signal from the road device 35 that the vehicle is approaching the junction, the process proceeds to step b2, and the position and speed of the vehicle group are calculated. In step b3, it is determined whether or not to change lanes according to the calculation result of the position and speed of the vehicle group. The time required to reach the junction 34 is calculated from the traveling speed of the vehicle group, and the timing of the lane change is determined based on this time. When it is determined that it is not time to perform the lane change, the process returns to step b2, and when the lane change is performed, the process proceeds to step b4. In step b4, a message to the effect that the lane should be changed is transmitted to the subsequent vehicles in the platoon prior to the lane change. In step b5, a lane change is performed, and in step b6, it is determined whether the vehicle has reached the junction 34. Reaching the confluence point 34 is detected, for example, by detecting a signal from the roadside device 36.
m is 400 m
m is determined based on whether or not m has been reached.

When it is determined that the vehicle has passed the junction 34, the lane change state is maintained in step b7. In step b8, it is determined whether or not the lane change maintaining section has elapsed. The progress of the lane change maintenance section is determined by, for example,
7 to know. If the lane change maintenance section has not passed, the process returns to step b7. If it is determined that the lane change maintenance section has passed, step b
In step 9, the lane change is transmitted to the following vehicle. Overtaking lane 3
Since it is necessary to change the lane when returning to traveling lane 2 from, the fact is transmitted to the following vehicle prior to the lane change. In step b10, a lane change is performed.
At 1 the process moves to another process.

FIG. 6 shows a state of lane change control according to the third embodiment of the present invention. Traveling lane 2 and passing lane 3
At the junction 41 with the driving lane 2
4 are provided. A road device 46 including a beacon, a sensor, and a camera is provided in a merging path 45 through which vehicles entering the merging point 44 pass, and detects the presence or absence of a vehicle 47 merging. The vehicle 48 traveling on the road 41 which is the main line includes the presence of the merging point 44 and the vehicle 47 merging at the merging point 44.
Can be obtained from the on-road device 49 such as a beacon. According to the information from the on-road device 49, if there is no vehicle 47 joining at the junction 44, the vehicle 48 traveling on the main line does not need to change lanes.

The vehicle 48 traveling on the main line may be an individual vehicle traveling by automatic steering, or may be the leading vehicle in a group of vehicles traveling in platoon. Since the second and subsequent vehicles in the platoon run following the preceding vehicle, the same following travel is performed even when the lane is changed. However, since the lane change requires an operation to change the course during a relatively short distance, the leading vehicle transmits a lane change signal to the effect that the lane change is to be performed to the following vehicle before the lane change. It is preferable to leave the vehicle behind so that the following vehicle can prepare for the lane change.
In addition, the detection of the merging point and the determination of approach can also be performed based on information from a navigation device or the like. The presence or absence of a vehicle at such a junction can also be determined by receiving a signal indicating a vehicle position from another vehicle.

FIG. 7 shows a fourth embodiment of the present invention, which is a processing procedure for judging whether or not to change lanes in consideration of surrounding traffic in addition to the control as shown in FIG. Is shown. In steps c0 to c2, for example, the same processing as in steps b0 to b2 in FIG. 5 is performed. In step c3, the presence or absence of the vehicle 47 joining the junction 44 is determined based on information from the road device or direct position information. When it is determined that there is a merging vehicle,
In step c4, the surrounding traffic volume is determined. The surrounding traffic volume is determined by receiving position information from a vehicle traveling around the vehicle 44 by inter-vehicle communication, calculating the density of the vehicle, and the like.

If it is determined that the vehicle density is not greater than the predetermined value, it is determined whether or not the length of the vehicle group of the vehicle group is equal to or more than the predetermined number when the vehicles 48 form a vehicle group in step c5. Judge. When it is determined that the number of vehicles is equal to or greater than the predetermined number, a lane change signal to change lanes is transmitted to the following vehicle in step c6. After transmitting the lane change signal, the actual lane change is performed in step c7. In step c8, it is determined whether the vehicle has reached the junction. After passing the merging point 44, in step c9, the state in which the lane has been changed is maintained, for example, the state in which the vehicle travels in the passing lane 3 is continued. In step c10, it is determined whether the vehicle has passed the lane change maintenance section. When it is determined that the time has not passed, the process returns to step c9. If it is determined that the vehicle has passed the lane change maintaining section, a message to change lanes is transmitted to the following vehicle in step c11, and the overtaking lane 3 is transmitted in step c12.
Is changed to traveling lane 2 and the process proceeds to another process in step c13.

When it is determined in step c3 that there is no merging vehicle, it is determined in step c14 that the lane is not to be changed, and the process proceeds to step c15. If it is determined in step c4 that the traffic volume is large, the same applies to step c4.
The process proceeds to 14 and the lane change is not performed, and the process proceeds to another process in step c15. When the traffic volume is large, it is difficult to change lanes, and the effect of changing lanes on the overall traffic condition is greater than making the merging vehicles 47 merge smoothly at the merging point 44. Because. When it is determined in step c5 that the number of vehicles in the platoon is smaller than the predetermined number, the process proceeds to step c15 without changing the lane in step c14. When the platoon is small, even if the merging vehicle 47 is made to wait at the merging point 44,
Because the waiting time is short, the traffic smoothness is hardly impaired even without changing lanes. When the lane change is performed, not only the traveling lane 2 but also the traffic state on the passing lane 3 side is affected. Therefore, when the number of platoons is small, it is preferable not to perform the lane change. The same effect can be obtained by making a judgment not only based on the number of platoons but also according to the size of the platoon, such as the length of the platoon.

[0046]

As described above, according to the present invention, when a vehicle having an automatic steering function passes through a merging point, the lane is changed from the traveling lane to another lane. Even if there is a vehicle that joins at a point, traveling by automatic steering as a whole can be continued.

Further, according to the present invention, when a leading vehicle forming a vehicle group and traveling in platoon passes through a merging point, the lane is changed in advance from the traveling lane on the merging side to another lane. Therefore, it is possible to minimize the influence of blocking the confluence point with the platoon as a group of vehicles and preventing the merging of other vehicles, or the hindrance of the platoon running state due to the merging of other vehicles.

Further, according to the present invention, the leading vehicle traveling in the platoon transmits a lane change signal to the following vehicle when the lane change is performed, so that the lane change is transmitted to other vehicles prior to the lane change. Is performed, and a smooth lane change as a platoon can be performed.

According to the present invention, it is determined whether or not to change lanes in accordance with the size of the platoon. When the platoon size is smaller than a predetermined value, the lane is not changed. The influence on the merged vehicle is small, and the overall road traffic can be smoothed.

Further, according to the present invention, the merging point is detected based on map data mounted on the vehicle by, for example, a navigation device, so that the merging point can be detected considerably earlier in time. Preparations for a lane change can be made.

Further, according to the present invention, a junction is detected by receiving information from a roadside device that transmits guidance information including junction information to a traveling vehicle, so that the junction is reliably established when approaching the junction. A point can be detected.

Further, according to the present invention, after the lane change is performed, the traveling of the changed lane is continued to a predetermined range, so that another vehicle can enter the junction at this time.

According to the present invention, the lane change when passing the junction is controlled in accordance with the presence or absence of a merging vehicle at the junction. The traveling at the point can be facilitated.

According to the present invention, the position information transmitted from the merging vehicle is received at the merging point, and the presence or absence of a vehicle at the merging point is determined. Therefore, an appropriate determination is made according to the position of the merged vehicle. be able to.

According to the present invention, the presence or absence of a vehicle at the junction is determined by receiving information from a road device that is provided along the road and transmits information about the junction vehicle.
The presence or absence of a vehicle at the junction can be reliably determined.

Further, according to the present invention, when the traffic volume around the vehicle exceeds a predetermined value, the lane change at the merging point is prohibited. This can prevent traffic conditions from being confused.

[Brief description of the drawings]

FIG. 1 is a simplified plan view showing a first lane change state according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a schematic electrical configuration of a lane change control device 10 mounted on a vehicle in each embodiment of the present invention.

FIG. 3 is a flowchart showing a processing procedure of a lane change control device 10 in the embodiment of FIG.

FIG. 4 is a simplified plan view showing a state of changing lanes according to a second embodiment of the present invention.

FIG. 5 is a flowchart showing a processing procedure of the lane change control device 10 in the embodiment of FIG.

FIG. 6 is a simplified plan view showing a state of changing lanes according to a third embodiment of the present invention.

FIG. 7 is a flowchart illustrating a processing procedure according to a fourth embodiment of the present invention.

[Explanation of symbols]

 1,31,41 Road 2 Running lane 3 Overtaking lane 4,34,44 Confluence point 5,45 Approach road 6,35,36,37,46 Road device 7,38,47,48 Vehicle 10 Lane change control device

Claims (11)

[Claims] 1. A vehicle equipped with an automatic steering function,
An apparatus for performing traveling control involving lane change on a road having a plurality of lanes, comprising: a merging point detecting unit that detects presence or absence of a merging point with a lane in which a vehicle is traveling; A merging point judging means for judging whether or not the vehicle is approaching the merging point; and a lane on the merging side during traveling when the merging point judging means judges that the vehicle is approaching the merging point. A lane change control device, comprising: a lane change unit that changes a lane from another to another lane. 2. A vehicle that forms a vehicle group with a plurality of vehicles, transmits control information between vehicles in the vehicle group, and is mounted on a vehicle that performs platooning, and travels along a lane change on a road having a plurality of lanes. A control device, comprising: a merging point detecting means for detecting the presence or absence of a merging point in the lane in which the vehicle group is traveling; and whether or not the vehicle group is approaching the merging point detected by the merging point detecting means. A merging point judging means for judging whether or not the vehicle group is approaching the merging point, and if the own vehicle is the leading vehicle in the vehicle group, A lane changer for changing lanes from the side lane to another lane. 3. The head vehicle of the vehicle group includes a transmission unit that transmits a lane change signal indicating that a lane change is to be performed to a vehicle in a subsequent vehicle group prior to the lane change. The lane change control device according to claim 2. 4. A platoon size detecting means for detecting the size of the platoon formed by the vehicle group, and a platoon for judging whether or not the size of the platoon detected by the platoon size detecting means exceeds a predetermined value. And a lane changer that performs the lane change only when it is determined that the rank of the row exceeds a predetermined value by the row rank determiner. 3. The lane change control device according to 3. 5. The lane change control device according to claim 1, wherein the merging point detecting means detects the merging point based on map data installed in advance. 6. A road junction receiving means for receiving guidance information from a road device which is provided along a road and transmits junction information including junction information to a vehicle traveling on the road, comprising: The lane change control device according to any one of claims 1 to 5, wherein the means detects the merging point based on the merging point information received by the road information receiving means. 7. The lane change control according to claim 1, wherein the lane changing means continues running the changed lane to a predetermined range after performing the lane change. apparatus. 8. A merging presence receiving means for receiving, from the outside, information indicating the presence or absence of a merging vehicle at the merging point detected by the merging point detecting means. The lane change control device according to any one of claims 1 to 7, wherein the lane change control is performed in accordance with information indicating presence / absence of a merging vehicle. 9. The lane change control device according to claim 8, wherein the merging presence / absence receiving means receives position information of the merging vehicle transmitted from the merging vehicle. 10. The lane change control according to claim 8, wherein the merging presence / absence receiving means is provided along a road, and receives information from a road device that transmits information about the merging vehicle. apparatus. 11. A traffic volume detecting means for detecting traffic volume around a vehicle, and comparing a traffic volume detected by the traffic volume detecting device with a predetermined value set in advance, wherein the traffic volume exceeds a predetermined value. And a change prohibiting means for prohibiting a lane change by the lane changing means.
The lane change control device according to any one of the above.