WO2022186165A1

WO2022186165A1 - Travel control device and travel control method

Info

Publication number: WO2022186165A1
Application number: PCT/JP2022/008423
Authority: WO
Inventors: 健司吉岡
Original assignee: いすゞ自動車株式会社
Priority date: 2021-03-04
Filing date: 2022-02-28
Publication date: 2022-09-09
Also published as: JP2022135163A

Abstract

A travel control device 10 includes: a reception unit 122 that receives the selection of a mode from the driver if a preceding, low-speed vehicle LV traveling more slowly than a set speed of a vehicle V exists ahead in the lane in which the vehicle V is traveling, the mode being either a first mode causing the vehicle V to follow the low-speed vehicle LV or a second mode causing the vehicle V to change lanes and pass the low-speed vehicle LV; and a travel control unit 123 that controls the travel of the vehicle V such that if the reception unit 122 receives the selection of the first mode, the vehicle V is made to travel at the set speed without changing lanes and, if the low-speed vehicle LV exists ahead in the lane in which the vehicle V is traveling, to follow the low-speed vehicle LV, whereas if the reception unit 122 receives the selection of the second mode, the vehicle V is made to travel at the set speed without changing lanes and, if the low-speed vehicle LV exists ahead in the lane in which the vehicle V is traveling, to change lanes and pass the low-speed vehicle V.

Description

Travel control device and travel control method

The present invention relates to a travel control device and a travel control method.

　Conventionally, ACC (Adaptive Cruise Control) is known, which is capable of following the preceding vehicle and traveling at all vehicle speeds (see, for example, Patent Document 1).

JP 2016-000976 A

In recent years, technology has been developed that not only follows the vehicle ahead, but also controls the vehicle so that it overtakes the vehicle ahead when the vehicle ahead is traveling at a speed slower than the set vehicle speed. When the vehicle is controlled to overtake the preceding vehicle, the vehicle arrives at the destination earlier than when the vehicle follows the preceding vehicle traveling at a speed lower than the set vehicle speed.

However, when the vehicle is controlled to overtake the preceding vehicle, it may not be possible to change lanes, or the vehicle may not be able to return to the driving lane after changing lanes from the driving lane to the passing lane. Driving is unsafe and handover to the driver may be required. Therefore, when the vehicle is controlled to overtake the preceding vehicle, the burden on the driver increases compared to when the vehicle follows the preceding vehicle. Among drivers, there are drivers who want to arrive at the destination quickly even if the burden increases, and there are drivers who want to arrive at the destination with less burden. There is a demand to be able to perform vehicle control in accordance with the wishes of the driver.

Therefore, the present invention has been made in view of these points, and an object of the present invention is to perform vehicle control in accordance with the desires of the driver.

A travel control device according to a first aspect of the present invention is a travel control device for controlling travel of a vehicle, wherein a low-speed vehicle, which is a preceding vehicle whose speed is lower than a set vehicle speed of the vehicle, is located in front of a lane in which the vehicle travels. A reception for receiving a selection from the driver of one of a first mode in which the vehicle runs following the low-speed vehicle and a second mode in which the vehicle changes lanes and overtakes the low-speed vehicle, if any. When the receiving unit receives the selection of the first mode, the vehicle is caused to run at the set speed set for the vehicle without changing lanes, and the vehicle moves ahead of the lane in which the vehicle travels. When the low-speed vehicle exists, the vehicle is driven following the low-speed vehicle, and when the receiving unit receives the selection of the second mode, the vehicle is driven at the set speed without changing lanes. and a travel control unit that controls travel of the vehicle so that the vehicle changes lanes and overtakes the low-speed vehicle when the low-speed vehicle exists in front of the lane in which the vehicle travels.

The travel control device may further include a notification unit configured to notify the driver of the vehicle of information indicating the mode selected by the reception unit.
The cruise control device starts the lane change of the vehicle from the lane in which the vehicle is running in order to overtake the low-speed vehicle when the cruise control unit is performing the cruise control in the second mode. is determined, before the lane change is performed, the driver of the vehicle is notified that the lane change will be performed, and after the vehicle has changed the lane, the vehicle is returned to the lane before the lane change. It may further include a notification unit that, when determined, notifies the driver of the vehicle that the lane change will be performed before the vehicle is returned to the lane before the lane change.

The travel control unit determines whether the vehicle can overtake the low-speed vehicle when the low-speed vehicle exists in front of the lane in which the vehicle travels when the travel control is performed in the second mode. If it is determined that the vehicle cannot overtake the low-speed vehicle for a predetermined time or more, the notification unit may notify that the vehicle cannot overtake the low-speed vehicle by automatic driving.
The travel control unit may determine the predetermined time based on a difference between a set vehicle speed of the vehicle and a travel speed of the low-speed vehicle.

A travel control method according to a second aspect of the present invention is executed by a computer that controls travel of a vehicle when a low-speed vehicle, which is a preceding vehicle slower than the vehicle speed set for the vehicle, exists in front of the lane in which the vehicle travels. receiving a selection from the driver of one of a first mode in which the vehicle follows the low-speed vehicle and a second mode in which the vehicle changes lanes and overtakes the low-speed vehicle; In the receiving step, when the selection of the first mode is received, the vehicle is caused to travel at a set speed set for the vehicle without changing lanes, and the low-speed vehicle is moved ahead of the lane in which the vehicle travels. is present, the vehicle is caused to travel following the low-speed vehicle, and when the selection of the second mode is received, the vehicle is caused to travel at the set speed without changing lanes, and the vehicle travels. and controlling travel of the vehicle so that the vehicle changes lanes and overtakes the low-speed vehicle when the low-speed vehicle exists in front of the lane.

According to the present invention, it is possible to perform vehicle control in accordance with the driver's wishes.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the outline|summary of the traveling control apparatus which concerns on this embodiment. It is a figure which shows the structure of the traveling control apparatus which concerns on this embodiment. It is a flow chart which shows an example of the flow of processing in the cruise control device concerning this embodiment.

[Overview of travel control device 10]
FIG. 1 is a diagram for explaining an outline of a cruise control device 10 according to this embodiment. The travel control device 10 is a computer that performs travel control of the vehicle V, for example, when a large vehicle V such as a bus or truck is traveling in auto-cruise mode.

When the vehicle V travels on a highway or the like in the auto-cruise mode, the travel control device 10 performs travel control of the vehicle V in the first mode or in the second mode from the driver. accept the choice of

The first mode is a mode in which the vehicle V travels following the low-speed vehicle LV when there is a low-speed vehicle LV, which is a preceding vehicle whose speed is slower than the set vehicle speed of the vehicle V, in front of the lane in which the vehicle V travels. . The second mode is a mode in which, when a low-speed vehicle LV exists in front of the lane in which the vehicle V travels, the vehicle changes lanes and overtakes the low-speed vehicle LV. When traveling in the second mode, the lane in which the vehicle V is traveling may not be changed, or the vehicle V may not be able to return to the traveling lane after changing from the traveling lane to the passing lane. Safety cannot be ensured in many cases, and handover to the driver is required more frequently than in the case of running control in mode.

Upon receiving the selection of the first mode, the traveling control device 10 causes the vehicle V to travel following the low-speed vehicle LV if the low-speed vehicle LV exists, as shown in FIG. 1(a). Further, when the selection of the second mode is received, the cruise control device 10 changes lanes and overtakes the low-speed vehicle LV when the low-speed vehicle LV is present, as shown in FIG. 1(b).

By doing so, the cruise control device 10 allows the user who does not mind arriving at the destination late to desire the cruise control in the first mode, and to increase the frequency of intervention by the driver. A user who desires to arrive at the ground quickly selects cruise control in the second mode. As a result, the cruise control device 10 can perform vehicle control in accordance with the driver's wishes.
Next, the configuration of the travel control device 10 will be described.

[Configuration of vehicle V]
Before describing the travel control device 10 in detail, the internal configuration of the vehicle V will be described. FIG. 2 is a diagram schematically showing the internal configuration of the vehicle V according to this embodiment. The vehicle V has various sensors 1 , an imaging device 2 , an operation unit 3 , a sound output device 4 , a display device 5 , various ECUs 6 , and a travel control device 10 .

Various sensors 1 are sensors that measure information about the vehicle V, and include, for example, speed sensors, acceleration sensors, accelerator sensors, brake sensors, steering sensors, and the like. The various sensors 1 also include a steering angle sensor used to detect that the driver is steering. Further, the various sensors 1 include sensors used for performing travel control of the vehicle V, including LiDAR (Light Detection and Ranging) and SRR (Short Range Radar). The various sensors 1 perform measurements, for example, at predetermined time intervals, and output measurement data indicating the results of the measurements to the travel control device 10 . The imaging device 2 is a camera that captures an image of the front of the vehicle V, and outputs the captured image to the travel control device 10 .

The operation unit 3 is, for example, a button provided on the vehicle V or a touch panel superimposed on the display device 5, and receives an operation input from the driver.
The sound output device 4 is, for example, a speaker, and outputs sound based on the audio signal output from the travel control device 10 .
The display device 5 is, for example, a display device, and displays various information under the control of the travel control device 10 .

The various ECUs 6 are, for example, ECUs provided in the vehicle V, and include an engine control ECU, a brake control ECU, a transmission control ECU, a power steering ECU, and the like. Various ECUs 6 control the engine, the brakes, the transmission, and the power steering according to the control of the cruise control device 10 when the vehicle V is running in the auto-cruise mode.

[Configuration of travel control device 10]
Next, the configuration of the travel control device 10 will be described. The travel control device 10 has a storage unit 11 and a control unit 12 as shown in FIG. Control unit 12 includes position specifying unit 121 , reception unit 122 , travel control unit 123 , and notification unit 124 .

The storage unit 11 is, for example, ROM (Read Only Memory) or RAM (Random Access Memory). The storage unit 11 stores various programs for causing the control unit 12 to function. The storage unit 11 stores a program that causes the control unit 12 to function as a position specifying unit 121 , a reception unit 122 , a travel control unit 123 and a notification unit 124 .

The control unit 12 is a computational resource including a processor such as a CPU (Central Processing Unit) (not shown). The control unit 12 functions as a position specifying unit 121 , a reception unit 122 , a traveling control unit 123 and a notification unit 124 by executing programs stored in the storage unit 11 .

The position specifying unit 121 acquires position information indicating the position of the vehicle V. For example, the position specifying unit 121 specifies the position of the vehicle V by GNSS (Global Navigation Satellite System) or GPS (Global Positioning System).

For example, when the vehicle V is traveling on a highway, the reception unit 122 receives from the driver the setting of the auto-cruise mode for automatically driving the vehicle V. Specifically, the reception unit 122 identifies and identifies the detailed position of the vehicle V based on the position of the vehicle identified by the position identification unit 121 and the high-precision map stored in the storage unit 11. Based on the position, it identifies that the vehicle V is traveling on a highway.

When the reception unit 122 identifies that the vehicle is traveling on a highway, it receives from the driver the setting of the auto-cruise mode for automatically driving the vehicle V. Upon receiving the setting of the auto-cruise mode, the receiving unit 122 receives the setting of the running speed of the vehicle V. FIG. The set travel speed is called a set vehicle speed.

When receiving the setting of the auto-cruise mode, the receiving unit 122 follows the low-speed vehicle LV when the low-speed vehicle LV, which is the preceding vehicle whose speed is lower than the set vehicle speed of the vehicle V, exists in front of the lane in which the vehicle V travels. A driver selects one of the first mode in which the vehicle V travels and the second mode in which the vehicle changes lanes and overtakes the low-speed vehicle LV. For example, the accepting unit 122 causes the display device 5 to display a screen for accepting selection of one of the modes, and accepts the selection of one of the modes from the driver via the touch panel superimposed on the display device 5 .

The travel control unit 123 controls travel of the vehicle V by controlling various ECUs 6 when the reception unit 122 receives the setting of the auto-cruise mode. Specifically, when the accepting unit 122 accepts the selection of the first mode, the traveling control unit 123 causes the vehicle V to travel at the set speed without changing lanes, and moves forward in the lane in which the vehicle V travels at a low speed. When the vehicle LV exists, the vehicle V is caused to travel following the low-speed vehicle.

For example, when accepting the selection of the first mode, the traveling control unit 123 determines whether or not a preceding vehicle is traveling in front of the vehicle V. The travel control unit 123 specifies the speed of the preceding vehicle based on the measurement data indicating the measurement result when the preceding vehicle is traveling. When the speed of the preceding vehicle is equal to or less than the set vehicle speed of the vehicle V, that is, when the preceding vehicle is a low-speed vehicle LV, the travel control unit 123 causes the vehicle V to travel following the low-speed vehicle LV. When the speed of the preceding vehicle is higher than the set vehicle speed of the vehicle V, the traveling control unit 123 causes the vehicle V to travel at the set vehicle speed without following the preceding vehicle.

Further, when the reception unit 122 receives the selection of the second mode, the traveling control unit 123 causes the vehicle V to travel at the set speed without changing lanes, and the low-speed vehicle LV is ahead of the lane in which the vehicle V travels. If it exists, the vehicle V is controlled to change lanes and overtake the low-speed vehicle LV. For example, the travel control unit 123 causes the vehicle V to change lanes when a low-speed vehicle LV exists within a predetermined distance ahead of the position of the vehicle V in the lane in which the vehicle V travels.

For example, when accepting the selection of the second mode, the traveling control unit 123 determines whether or not a preceding vehicle is traveling in front of the vehicle V. The travel control unit 123 specifies the speed of the preceding vehicle based on the measurement data indicating the measurement result when the preceding vehicle is traveling. When the speed of the preceding vehicle is the set vehicle speed of the vehicle V, the travel control unit 123 causes the vehicle V to travel following the preceding vehicle. When the speed of the preceding vehicle is higher than the set vehicle speed of the vehicle V, the traveling control unit 123 causes the vehicle V to travel at the set vehicle speed without following the preceding vehicle.

When the traveling control unit 123 receives the selection of the second mode and the speed of the preceding vehicle is lower than the set vehicle speed of the vehicle V, that is, when the low-speed vehicle LV is traveling in front of the vehicle V, It is determined whether or not the vehicle V can overtake the low speed vehicle LV. For example, the travel control unit 123 determines the road on which the vehicle V is traveling based on the measurement data acquired from the various sensors 1, the captured image acquired by the imaging device 2, and the high-precision map stored in the storage unit 11. , and the position of the lane in which the vehicle V is traveling, it is determined whether or not the vehicle V can overtake the low-speed vehicle LV. When the vehicle V determines that it is possible to overtake the low-speed vehicle LV, it changes lanes and controls the running of the vehicle V so as to overtake the low-speed vehicle LV.

When the driving control unit 123 determines that the vehicle V cannot overtake the low-speed vehicle LV for a predetermined period of time or longer, it causes the notification unit 124 to notify the information indicating that the vehicle V cannot overtake the low-speed vehicle LV due to automatic driving. When the driver sets the destination of the vehicle V and the desired time of arrival at the destination for the vehicle V, the travel control unit 123 controls the vehicle V to drive the low-speed vehicle LV for a predetermined time or longer. If it is determined that overtaking is impossible, the notification unit 124 is caused to notify the driver of the need for steering in order to arrive at the destination at the desired arrival time. When the travel control unit 123 detects that the driver has steered the vehicle based on the measurement data output from the various sensors 1, the auto-cruise is temporarily stopped.

The predetermined time may be a predetermined time, or may be determined by the travel control unit 123. When the travel control unit 123 determines the predetermined time, the travel control unit 123 may determine the predetermined time based on the difference between the desired time of arrival at the destination and the scheduled time of arrival at the destination. . Further, the travel control unit 123 may lengthen the predetermined time as the scheduled arrival time at the destination is earlier than the desired arrival time and the difference between these times is greater. By doing so, when the time to arrive at the destination is likely to be delayed, the steering of the vehicle V is switched to the steering by the driver, and the time to arrive at the destination is compared with the case where the travel is controlled by auto-cruise. delay can be suppressed.

The traveling control unit 123 calculates the traveling speeds of the vehicle V and the low-speed vehicle LV traveling in front of the vehicle V, and calculates the difference between the vehicle speed set in the auto-cruise mode of the vehicle V and the calculated traveling speed of the low-speed vehicle LV. You may determine predetermined time based on. For example, the greater the travel speed of the low-speed vehicle LV and the set vehicle speed, the shorter the predetermined time. In this way, when the traveling speed of the low-speed vehicle LV is significantly slower than the set vehicle speed, and there is a possibility that the time to arrive at the destination will be delayed, the vehicle V will drive the low-speed vehicle LV by automatic driving. The driver can be notified early that overtaking is not possible.

In addition, when the travel control unit 123 determines that the vehicle V cannot overtake the low-speed vehicle LV for a predetermined period of time or more, the auto-cruise is temporarily stopped, but the present invention is not limited to this. The traveling control unit 123 acquires traffic information such as VICS (Vehicle Information and Communication System) (registered trademark) via a communication unit (not shown) provided in the vehicle V, and detects traffic information near the vehicle V running. , it may be determined whether or not there is a traffic jam. Further, the travel control unit 123 may determine whether or not traffic congestion occurs in the vicinity where the vehicle V is traveling, based on the speed of the vehicle V. FIG. Then, when the travel control unit 123 determines that traffic congestion is occurring in the vicinity where the vehicle V is traveling, the travel control unit 123 may not change lanes.

Further, when the vehicle V cannot return to the lane before changing lanes for a predetermined period of time or longer after changing lanes to overtake the low-speed vehicle LV, the travel control unit 123 determines that steering by the driver is required. is notified to the notification unit 124, and the auto-cruise is temporarily stopped based on the measurement data output from the various sensors 1. For example, when the travel control unit 123 determines, based on the measurement data output from the various sensors 1, that a predetermined number or more of other vehicles are present in the lane to which the vehicle V returns, or when the vehicle V Auto-cruise is temporarily stopped when there is no space for a vehicle V to enter between a plurality of vehicles running on the lane where the vehicle V returns. Note that the travel control unit 123 may temporarily stop the auto-cruise when the vehicle V cannot return to the lane before the lane change even if the vehicle V travels a predetermined distance or more after changing the lane. good.

After temporarily stopping the auto-cruise, the traveling control unit 123 determines that the auto-cruise is possible based on the measurement data output from the various sensors 1 and the captured image captured by the imaging device 2, and then enters the second mode. to resume running control. Further, when the travel control unit 123 determines that the auto-cruise is possible, the notification unit 124 notifies the driver of the fact. Then, the travel control unit 123 resumes the travel control in the second mode in response to the acceptance unit 122 accepting an instruction to restart the auto-cruise from the driver.

The notification unit 124 notifies the driver of the vehicle V of information indicating the mode selected by the reception unit 122 . For example, the notification unit 124 causes the sound output device 4 to output a sound or voice indicating the mode selected by the reception unit 122, thereby notifying the driver of the vehicle V of the information indicating the mode selected by the reception unit 122. to notify. The notification unit 124 causes the display device 5 to display the information indicating the mode for which the selection has been accepted by the reception unit 122, thereby notifying the driver of the vehicle V of the information indicating the mode for which the selection has been accepted by the reception unit 122. good.

In addition, when the travel control unit 123 is performing travel control of the vehicle V in the second mode, the notification unit 124 instructs the vehicle V to change lanes from the lane in which the vehicle V is traveling in order to overtake the low-speed vehicle LV. When the decision to start is made, the driver of the vehicle V is notified of the lane change before the lane change takes place. In addition, when the travel control unit 123 is performing travel control of the vehicle V in the second mode, the notification unit 124 causes the vehicle V to return to the lane before the lane change after the vehicle V changes lanes. When the decision is made, the driver of the vehicle V is notified that the lane change will be performed before returning the vehicle V to the lane before the lane change.

For example, the travel control unit 123 determines to start changing lanes when the travel control of the vehicle V is being performed in the second mode. When the travel control unit 123 determines to start changing lanes, the notification unit 124 outputs a sound or voice indicating that the vehicle V will change lanes before the lane change is performed by the travel control unit 123. 4 to notify the driver of the vehicle V of the lane change.

Similarly, the travel control unit 123 returns the vehicle V to the lane before the lane change after passing the low-speed vehicle LV by changing the lane when the travel control of the vehicle V is performed in the second mode. to decide. When the travel control unit 123 determines to return the vehicle V to the lane before the lane change, the notification unit 124 causes the vehicle V to return to the lane before the lane change by the travel control unit 123. The driver of the vehicle V is notified of the lane change by causing the sound output device 4 to output a sound or voice indicating that the vehicle V will change lanes.

In addition, when the travel control unit 123 is performing travel control of the vehicle V in the second mode, the notification unit 124 determines that the vehicle V cannot overtake the low-speed vehicle LV for a predetermined period of time or longer, and automatically drives the vehicle. Information is provided to the driver of the vehicle V indicating that V cannot overtake the slow vehicle LV. Further, the notification unit 124 may notify the driver of the vehicle V of the lane change by causing the display device 5 to display information indicating that the lane change will be performed. By doing so, the driver can pay attention to whether the lane change is performed safely when changing lanes during automatic driving.

[Flow of processing in travel control device 10]
Next, the flow of processing in the travel control device 10 will be described. FIG. 3 is a flowchart showing an example of the flow of processing in the cruise control device 10 according to this embodiment. This flowchart starts when the reception unit 122 receives the setting of the auto-cruise mode.

First, the accepting unit 122 accepts selection of one of the first mode and the second mode (S1).
The notification unit 124 notifies the driver of the mode selected by the reception unit 122, that is, the mode selected by the user (S2).

Next, the travel control unit 123 determines whether or not the first mode has been selected (S3). If the travel control unit 123 determines that the first mode has been selected, the process proceeds to S4, and if it determines that the first mode has not been selected, that is, the second mode has been selected, the process proceeds to S5.

In S4, the travel control unit 123 performs travel control of the vehicle V at the set vehicle speed corresponding to the first mode, and when a low-speed vehicle LV exists in front of the vehicle V, follows the low-speed vehicle LV. Run control.

In S5, the travel control unit 123 performs travel control of the vehicle V at the set vehicle speed corresponding to the second mode, and when a low-speed vehicle LV exists in front of the vehicle V, the travel control unit 123 overtakes the low-speed vehicle LV. control. Further, the notification unit 124 notifies the driver that the lane change will be performed when the traveling control unit 123 changes the lane when overtaking the low-speed vehicle LV.

In S6, the reception unit 122 determines whether or not a mode change has been received. If the accepting unit 122 determines that the mode change has been accepted, the process proceeds to S1, and if it determines that the mode change has not been accepted, the process proceeds to S7.

In S7, the travel control unit 123 determines whether or not the travel in the auto-cruise mode has ended by terminating the travel on the highway or the reception unit 122 has received a setting to end travel in the auto-cruise mode ( S7). If the travel control unit 123 determines that the travel in the auto-cruise mode has ended, it ends the processing related to this flowchart, and if it determines that the travel in the auto-cruise mode has not ended, the processing proceeds to S3.

[Modification]
In the above-described embodiment, the reception unit 122 receives the selection of one of the first mode and the second mode from the driver, but the present invention is not limited to this. For example, the driving tendency of the driver when the vehicle V is not traveling in the auto-cruise mode is determined based on at least one of the measurement data acquired by the control unit 12 from the various sensors 1 and the captured image captured by the imaging device 2. You may have a driving tendency identification unit that identifies the. In this case, the driving tendency identification unit identifies, for example, the frequency of lane changes of the vehicle V while traveling on a highway, and identifies whether or not the driver frequently changes lanes as the driving tendency. Then, the receiving unit 122 may preferentially display a mode corresponding to the driving tendency of the driver on the display device 5 and receive the selection of the mode.

Further, in the above-described embodiment, when the vehicle V travels on a highway or the like in the auto-cruise mode, the driver controls the travel of the vehicle V in the first mode or the travel control of the vehicle V in the second mode. However, it is not limited to this. For example, selection of the third mode, which switches between running control in the first mode and running control in the second mode based on a predetermined condition, may be accepted.

For example, when the third mode is selected, the travel control unit 123 first performs travel control of the vehicle V in the first mode, and then the vehicle V continues traveling at a speed lower than the set speed for a predetermined time. In some cases, or when the control continues over a predetermined distance, the travel control of the vehicle V in the first mode may be switched to the travel control of the vehicle V in the second mode. In addition, when the difference between the set speed of the vehicle V and the speed of the low-speed vehicle LV is equal to or greater than a predetermined speed, the travel control unit 123 changes the travel control of the vehicle V in the second mode from the travel control of the vehicle V in the first mode. You may make it switch to control. In addition, the travel control unit 123 may switch the travel control of the vehicle V in the second mode to the travel control of the vehicle V in the first mode when it is determined that traffic congestion is occurring.

[Effect of this embodiment]
As described above, the cruise control device 10 according to the present embodiment accepts a selection from the driver of either the first mode or the second mode, and upon accepting the selection of the first mode, The vehicle V is caused to travel at a set speed without changing lanes, and if a low-speed vehicle LV exists in front of the lane in which the vehicle V travels, the vehicle V is caused to travel following the low-speed vehicle LV, thereby switching to the second mode. When the selection is accepted, the vehicle V travels at the set speed, and when a low-speed vehicle LV exists in front of the lane in which the vehicle V travels, the vehicle V changes lanes and the vehicle V travels so as to overtake the low-speed vehicle LV. to control. By doing so, the cruise control device 10 can perform vehicle control in accordance with the desire of the driver.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist thereof. be. For example, all or part of the device can be functionally or physically distributed and integrated in arbitrary units. In addition, new embodiments resulting from arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment caused by the combination has the effect of the original embodiment.

10 Driving control device 11 Storage unit 12 Control unit 121 Position specifying unit 122 Receiving unit 123 Driving control unit 124 Notification unit 1 Various sensors 2 Imaging device 3 Operation unit 4 Sound output device 5 Display device 6 Various ECUs
V vehicle LV low speed vehicle

Claims

A travel control device for controlling travel of a vehicle,
A first mode in which the vehicle travels following the low-speed vehicle when a low-speed vehicle, which is a preceding vehicle slower than the set vehicle speed of the vehicle, exists in front of the lane in which the vehicle travels; a reception unit that receives from the driver a selection of one of a second mode for overtaking a low-speed vehicle;
When the reception unit receives the selection of the first mode, the vehicle is caused to travel at a set speed set for the vehicle without changing lanes, and the low-speed vehicle is positioned ahead of the lane in which the vehicle travels. is present, the vehicle is driven following the low-speed vehicle, and when the receiving unit receives the selection of the second mode, the vehicle is driven at the set speed without changing lanes, and the a travel control unit that controls travel of the vehicle so that the vehicle changes lanes and overtakes the low-speed vehicle when the low-speed vehicle exists in front of the lane in which the vehicle travels;
A travel control device having a
further comprising a notification unit that notifies the driver of the vehicle of information indicating the mode selected by the reception unit;
The traveling control device according to claim 1.
If it is determined to start changing the lane of the vehicle from the lane in which the vehicle is traveling in order to overtake the low-speed vehicle when the driving control unit is performing the driving control in the second mode, the lane is changed. before performing the lane change, the driver of the vehicle is notified that the lane change will be performed, and after the vehicle lane change is determined to return the vehicle to the lane before the lane change is performed, the lane change is performed. A notification unit that notifies the driver of the vehicle that the vehicle will change lanes before returning the vehicle to the previous lane,
The traveling control device according to claim 1 or 2.
The travel control unit determines whether the vehicle can overtake the low-speed vehicle when the low-speed vehicle exists in front of the lane in which the vehicle travels when the travel control is performed in the second mode. If it is determined that the vehicle cannot overtake the low-speed vehicle for a predetermined time or longer, the notification unit is notified that the vehicle cannot overtake the low-speed vehicle by automatic driving.
The traveling control device according to claim 3.
The travel control unit determines the predetermined time based on a difference between a set vehicle speed of the vehicle and a travel speed of the low-speed vehicle.
The traveling control device according to claim 4.
executed by a computer that controls the running of the vehicle,
A first mode in which the vehicle follows the low-speed vehicle when a low-speed vehicle, which is a preceding vehicle whose speed is slower than the vehicle speed set for the vehicle, exists in front of the lane in which the vehicle travels, and a first mode in which the vehicle travels in a lane change to the low-speed vehicle. a step of receiving a selection from the driver of one of the second modes for overtaking the vehicle;
In the receiving step, when the selection of the first mode is received, the vehicle is caused to travel at a set speed set for the vehicle without changing lanes, and the vehicle moves forward in the lane in which the vehicle travels at the low speed. When the vehicle is present, the vehicle is caused to travel following the low-speed vehicle, and when the selection of the second mode is accepted, the vehicle is caused to travel at the set speed without changing lanes, and the vehicle travels. a step of controlling the running of the vehicle so that the vehicle changes lanes and overtakes the low-speed vehicle when the low-speed vehicle exists in front of the lane to which the vehicle is moving;
A running control method comprising: