JP7776368B2 - Vehicle control device, vehicle, vehicle control method, storage medium, and program - Google Patents

Description

The present invention relates to a vehicle control device, a vehicle, a vehicle control method, a storage medium, and a program.

Patent Document 1 discloses a vehicle control technology that restricts lane changes when a vehicle is detected to be in a first area having a first distance in the longitudinal direction of the road based on the start point of a specific road structure, or a second area having a second distance in the longitudinal direction of the road based on the end point of a specific road structure.

Japanese Patent Application Laid-Open No. 2021-11254

From the perspective of traffic safety and smooth traffic flow, it is necessary to set a restricted area that restricts lane changes and a permitted area that allows lane changes based on map information and image information acquired in actual driving environments.

The present invention aims to improve traffic safety while minimizing any decline in traffic smoothness. Specifically, it aims to provide vehicle control technology that can set a restricted area that restricts automated lane changing and a permitted area that allows automated lane changing based on map information and image information.

A vehicle control device according to one aspect of the present invention is a vehicle control device for a vehicle,
a control means for controlling a speed and steering of the vehicle traveling in a driving lane to perform an automatic lane change to a branch lane branching from the driving lane;
The control means
Based on map information, a first inhibition area is set, the first inhibition area being located on the driving lane and having a length of a first distance in the longitudinal direction of the road along the driving lane, with the start point of a specific road structure that the vehicle can pass through as a reference, and a second inhibition area being located on the driving lane and having a length of a second distance in the longitudinal direction of the road, with the end point of the road structure as a reference ,
an imaging means mounted on the vehicle captures an image of a scene ahead of the vehicle;
The area setting based on the map information is changed so as to reduce the first inhibition area or the second inhibition area when the difference between the brightness value of the driving lane area in the first inhibition area or the second inhibition area and the brightness value of the branch lane area in the first inhibition area or the second inhibition area becomes less than a predetermined threshold .

A vehicle control method according to another aspect of the present invention is a vehicle control method for a vehicle control device in a vehicle, comprising:
a control step of controlling a speed and steering of the vehicle traveling in a driving lane to perform an automated lane change to a branch lane branching from the driving lane,
In the control step,
Based on map information, a first inhibition area is set, the first inhibition area being located on the driving lane and having a length of a first distance in the longitudinal direction of the road along the driving lane, with the start point of a specific road structure that the vehicle can pass through as a reference, and a second inhibition area being located on the driving lane and having a length of a second distance in the longitudinal direction of the road, with the end point of the road structure as a reference ,
an imaging means mounted on the vehicle captures an image of a scene ahead of the vehicle;
The area setting based on the map information is changed so as to reduce the first inhibition area or the second inhibition area when the difference between the brightness value of the driving lane area in the first inhibition area or the second inhibition area and the brightness value of the branch lane area in the first inhibition area or the second inhibition area becomes less than a predetermined threshold .

According to the present invention, it is possible to set a restricted area that restricts automated lane changes and a permitted area that allows automated lane changes based on map information and image information.

1 is a block diagram of a vehicle and its control device according to an embodiment; FIG. 4 is a diagram showing state transitions in a driving assistance function. 4 is a flowchart showing the procedure of a vehicle control process executed in the embodiment. 5A and 5B are diagrams illustrating a vehicle control process according to an embodiment. 5A and 5B are diagrams illustrating a vehicle control process according to an embodiment. FIG. 1 is a diagram illustrating a tunnel as a specific road structure. FIG. 10 is a diagram illustrating an example of a two-dimensional distribution of luminance values.

The following embodiments are described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the claimed invention, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be combined in any desired manner. Furthermore, the same reference numbers are used for identical or similar components, and duplicate descriptions will be omitted.

One embodiment of the present invention will be described. Figure 1 is a block diagram of a vehicle V and its control device CNT (vehicle control device) according to this embodiment. Figure 1 shows an outline of the vehicle V in plan view and side view. The vehicle V of this embodiment is, as an example, a four-wheeled sedan-type passenger vehicle, and may be, for example, a parallel hybrid vehicle. Note that the vehicle V is not limited to four-wheeled passenger vehicles, and may also be a saddle-type vehicle (motorcycle, motor tricycle), or a large vehicle such as a truck or bus.

[Configuration of vehicle control device]
The control device CNT (vehicle control device) includes a controller 1, which is an electronic circuit that controls the vehicle V, including driving assistance for the vehicle V. The controller 1 includes multiple ECUs (Electronic Control Units). An ECU is provided, for example, for each function of the control device CNT. Each ECU includes a processor, such as a CPU (Central Processing Unit), a storage device such as a semiconductor memory, an interface with an external device, etc. The storage device stores programs executed by the processor and data used by the processor for processing, etc. The interface includes an input/output interface and a communication interface. Each ECU may include multiple processors, multiple storage devices, and multiple interfaces.

The controller 1 controls the drive (acceleration) of the vehicle V by controlling the power unit (power plant) 2. The power unit 2 is a driving unit that outputs driving force to rotate the drive wheels of the vehicle V, and may include an internal combustion engine, a motor, and an automatic transmission. The motor can be used as a driving source to accelerate the vehicle V, and can also be used as a generator during deceleration, etc. (regenerative braking).

In this embodiment, the controller 1 controls the output of the internal combustion engine and motor and shifts the gears of the automatic transmission in response to the driver's driving operation and vehicle speed detected by the operation detection sensor 2a provided on the accelerator pedal AP and the operation detection sensor 2b provided on the brake pedal BP. The automatic transmission is equipped with a rotation speed sensor 2c that detects the rotation speed of the output shaft of the automatic transmission as a sensor for detecting the driving state of the vehicle V. The vehicle speed of the vehicle V can be calculated from the detection result of the rotation speed sensor 2c.

The controller 1 controls the braking (deceleration) of the vehicle V by controlling the hydraulic device 3. The driver's braking operation using the brake pedal BP is converted into hydraulic pressure in the brake master cylinder BM and transmitted to the hydraulic device 3. The hydraulic device 3 is an actuator that can control the hydraulic pressure of the hydraulic oil supplied to the brake devices 3a (e.g., disc brake devices) provided on each of the four wheels based on the hydraulic pressure transmitted from the brake master cylinder BM.

The controller 1 can control the braking of the vehicle V by controlling the drive of the solenoid valves and other components of the hydraulic device 3. The controller 1 can also configure an electric servo brake system by controlling the distribution of braking force from the brake device 3a and braking force from the regenerative braking of the motor provided in the power unit 2. The controller 1 may also turn on the brake lights 3b when braking.

The controller 1 controls the steering of the vehicle V by controlling the electric power steering device 4. The electric power steering device 4 includes a mechanism that steers the front wheels in response to the driver's driving operation (steering operation) using the steering wheel ST. The electric power steering device 4 includes a drive unit 4a including a motor that generates driving force (sometimes referred to as steering assist torque) to assist the steering operation or to automatically steer the front wheels, a steering angle sensor 4b, and a torque sensor 4c that detects the steering torque borne by the driver (called steering burden torque, to be distinguished from steering assist torque).

The controller 1 controls the electric parking brake device 3c provided on the rear wheels. The electric parking brake device 3c has a mechanism for locking the rear wheels. The controller 1 can control the electric parking brake device 3c to lock and unlock the rear wheels.

The controller 1 controls an information output device 5 that notifies the vehicle interior. The information output device 5 includes, for example, a display device 5a that notifies the driver of information using images, and/or an audio output device 5b that notifies the driver of information using audio. The display device 5a may be provided, for example, on the instrument panel or steering wheel ST. The display device 5a may also be a head-up display. The information output device 5 may notify the occupant of information using vibrations or light. The controller 1 also accepts instruction inputs from the occupant (e.g., the driver) via an input device 6. The input device 6 is positioned so that the driver can operate it, and includes, for example, a group of switches 6a through which the driver issues instructions to the vehicle V, and/or a turn signal lever 6b that activates the turn signals (blinkers).

The controller 1 recognizes and determines the current position and course (attitude) of the vehicle V. In this embodiment, the vehicle V is equipped with a gyro sensor 7a, a GNSS (Global Navigation Satellite System) sensor 7b, and a communication device 7c. The gyro sensor 7a detects the rotational motion (yaw rate) of the vehicle V. The GNSS sensor 7b detects the current position of the vehicle V. The communication device 7c wirelessly communicates with a server that provides map information and traffic information to acquire this information. In this embodiment, the controller 1 determines the course of the vehicle V based on the detection results of the gyro sensor 7a and the GNSS sensor 7b, and sequentially acquires high-precision map information related to the course from the server via the communication device 7c and stores it in the database 7d (storage device). The vehicle V may also be equipped with sensors for detecting the state of the vehicle V, such as a speed sensor that detects the speed of the vehicle V and an acceleration sensor that detects the acceleration of the vehicle V.

The controller 1 performs driving assistance for the vehicle V based on the detection results of various detection units provided in the vehicle V. The vehicle V is equipped with surrounding detection units 8a-8b, which are external sensors that detect the outside of the vehicle V (surrounding conditions (external environment recognition information)), and interior detection units 9a-9b, which are interior sensors that detect the conditions inside the vehicle (driver's state). The controller 1 is able to grasp the surrounding conditions (external environment recognition information) of the vehicle V based on the detection results of the surrounding detection units 8a-8b, and perform driving assistance in accordance with the surrounding conditions. Furthermore, the controller 1 can determine, based on the detection results of the interior detection units 9a-9b, whether the driver is performing the specified operational obligations imposed on the driver when driving assistance is performed.

The surroundings detection unit 8a is an imaging device that captures images in front of the vehicle V (hereinafter sometimes referred to as the front camera 8a), and is attached, for example, to the inside of the passenger compartment of the windshield at the front of the roof of the vehicle V. By analyzing the images captured by the front camera 8a, the controller 1 can extract the contours of targets and lane markings (such as white lines) on the road.

The surroundings detection unit 8b is a millimeter-wave radar (hereinafter sometimes referred to as radar 8b) that uses radio waves to detect targets around the vehicle V and detect (measure) the distance to the target and the direction (azimuth) of the target relative to the vehicle V. In the example shown in Figure 1, five radars 8b are provided: one in the center of the front of the vehicle V, one at each of the left and right corners of the front, and one at each of the left and right corners of the rear.

Note that the surroundings detection unit installed in vehicle V is not limited to the above configuration; the number of cameras and radars may be changed, or a lidar (Light Detection and Ranging) may be installed to detect targets around vehicle V.

The interior detection unit 9a is an imaging device that captures images of the interior of the vehicle (hereinafter sometimes referred to as the interior camera 9a) and is attached, for example, to the interior side of the vehicle cabin at the front of the roof of the vehicle interior V. In this embodiment, the interior camera 9a is a driver monitor camera that captures images of the driver (for example, the driver's eyes and face). The controller 1 can determine the driver's line of sight and facial direction by analyzing the image (driver's facial image) captured by the interior camera 9a.

The interior detection unit 9b is a grip sensor that detects the driver's grip on the steering wheel ST (hereinafter sometimes referred to as grip sensor 9b), and is provided, for example, on at least a part of the steering wheel ST. Note that the torque sensor 4c that detects the driver's steering torque may also be used as the interior detection unit.

Driving assistance for vehicle V can include, for example, acceleration/deceleration assistance, lane keeping assistance, and lane change assistance. Acceleration/deceleration assistance is a driving assistance system (ACC: Adaptive Cruise Control) that controls the acceleration/deceleration of vehicle V within a predetermined vehicle speed while maintaining a distance from a preceding vehicle by controlling the power unit 2 and hydraulic device 3. Lane keeping assistance is a driving assistance system (LKAS: Lane Keeping Assist System) that controls the electric power steering device 4 to keep vehicle V within the lane. Lane change assistance is a driving assistance system (ALC: Auto Lane Changing, ALCA: Active Lane Change Assist) that controls the electric power steering device 4 to change the driving lane of vehicle V to an adjacent lane. Driving assistance performed by controller 1 may also include collision mitigation braking, ABS function, traction control, and/or attitude control of vehicle V, which assist in avoiding collisions with objects on the road (e.g., pedestrians, other vehicles, or obstacles) by controlling the hydraulic device 3.

Driving assistance for vehicle V (acceleration/deceleration assistance, lane keeping assistance, lane change assistance) is performed in multiple modes, including manual driving mode, normal assistance mode, and enhanced assistance mode. Figure 2 shows the driving assistance performed in each of the manual driving mode, normal assistance mode, and enhanced assistance mode in this embodiment. In manual driving mode, acceleration/deceleration assistance, lane keeping assistance, and lane change assistance are not performed, and vehicle V is manually driven by the driver.

In manual driving mode, if the driver inputs an instruction to set acceleration/deceleration assist (ACC) via the input device 6 (e.g., switch group 6a), acceleration/deceleration assist is initiated and the system transitions from manual driving mode to normal assistance mode. In normal assistance mode, lane keeping assist (LKAS) can be executed in addition to acceleration/deceleration assist. Lane keeping assist is initiated when the driver inputs an instruction to set lane keeping assist via the input device 6 (e.g., switch group 6a) while acceleration/deceleration assist is set. Acceleration/deceleration assist and lane keeping assist are terminated when the driver inputs an instruction to cancel the setting via the input device 6 (e.g., switch group 6a).

In addition, in normal assistance mode, the driver is required to perform certain actions, such as monitoring the surroundings and holding the steering wheel (steering grip). If it is determined based on the detection results of the in-vehicle detection unit 9b that the driver is not performing the certain actions, a notification is sent via the information output device 5 to urge the driver to perform the certain actions.

When driving on a specific road begins while normal assistance mode is in operation, high-precision map information is acquired by the communication device 7c. If the high-precision map information is successfully matched with the image captured by the front camera 8a, normal assistance mode automatically switches to extended assistance mode. Specific roads are roads for which high-precision map information is provided, such as expressways and motorways. In addition to standard information such as the route and location of the specific road, high-precision map information includes information about the detailed shape of the specific road, such as the presence or absence of curves on the specific road, their curvature, the number of lanes, and gradients. When switching from normal assistance mode to extended assistance mode, the information output device 5 issues a notification indicating that the mode has been switched to extended assistance mode, for example by changing the color of the light emitted by the display device 5a provided on the steering wheel ST.

In the enhanced assistance mode, acceleration/deceleration assistance (and lane keeping assistance) is performed in conjunction with highly accurate map information. For example, based on the highly accurate map information, the controller 1 can perform more advanced acceleration/deceleration assistance than in the normal assistance mode, such as slowing down the vehicle V before a curve or before a point where the lane width narrows, or adjusting the speed of the vehicle V according to the curvature of the curve. As in the normal assistance mode, in the enhanced assistance mode, the driver is required to perform certain actions, such as monitoring the surroundings and holding the steering wheel. If it is determined based on the detection results of the in-vehicle detection unit 9b that the driver is not performing the specified action, a notification is sent via the information output device 5 to urge the driver to perform the specified action.

In addition, in the extended assistance mode, lane change assistance can also be performed. In this embodiment, lane change assistance includes system-led lane change assistance (ALC: Auto Lane Changing), which automatically changes lanes based on the judgment of the controller 1, and driver-led lane change assistance (ALCA: Active Lane Change Assist), which automatically changes lanes in response to instructions input by the driver. In both system-led lane change assistance (ALC) and driver-led lane change assistance (ALCA), the driver is required to perform certain actions, such as monitoring the surroundings and holding the steering wheel, when lane change assistance is performed.

System-driven lane change assistance (ALC) is initiated when the driver inputs an instruction to set ALC in enhanced assistance mode via the input device 6 (e.g., switch group 6a). While ALC is set, the controller 1 sequentially determines whether a lane change is necessary to reach a destination set in advance by the driver, based on high-precision map information (information on lane increases/decreases, branching, etc.), and automatically performs a lane change if it determines that a lane change is necessary. While ALC is set, one or more lane changes can be performed depending on the determination of the controller 1. ALC ends when the destination is reached or when a specific road ends. ALC may also end when the driver inputs an instruction to cancel the setting via the input device 6 (e.g., switch group 6a).

Driver-initiated lane change (ALCA) is a single lane change performed in response to a driver's instruction input. It is executed when the driver inputs an instruction to execute ALCA via the input device 6 (e.g., the turn signal lever 6b) in the enhanced assistance mode. With ALCA, the driver can input an instruction for the direction of the lane change via the input device 6 (the turn signal lever 6b), and the controller 1 automatically changes the lane to an adjacent lane in the direction instructed by the driver. ALCA can also be executed while system-initiated lane change assistance (ALC) is set. The controller 1 provides a system-initiated automatic lane change function when an approval instruction is input by the driver via the input device 6 and map information matches image information captured by the imaging device. The controller 1 provides a driver-initiated lane change function when an approval instruction is not input or when map information does not match image information.

In addition, as support for ALCA, the status of the lanes on the left and right of vehicle V may be constantly monitored, and the driver may be notified of lanes into which a lane change is possible. The driver may refer to this notification and, if necessary, operate the turn signal lever 6b or the like to indicate a lane change, and then execute the lane change based on the instruction. The notification may be made by displaying a predetermined icon on the display device 5a so that the driver can see whether the lane into which a lane change is possible is the left lane, the right lane, or both.

[Vehicle control processing]
3 is a flowchart showing the procedure of the vehicle control process executed in the embodiment, and FIGS. 4 and 5 are diagrams explaining the vehicle control process of the embodiment. The vehicle control process is applicable when traveling in the extended assistance mode on a specific road inside or under a specific road structure. Here, the specific road structure includes, for example, a tunnel, an overpass, a bridge, etc.

Figure 6 is a diagram illustrating a tunnel as a specific road structure, showing a vehicle V traveling in the direction of the arrow on a lane (travel lane LN1) of a specific road 600. TL1 indicates the entrance to tunnel TL, TL2 indicates the exit of tunnel TL, and the total length of tunnel TL is L3. LN2 to LN5 are branch lanes that branch off from travel lane LN1 to the left of the vehicle V's direction of travel.

LN2 is a branch lane that branches off from driving lane LN1 just before the entrance TL1 of tunnel TL. LN3 is a branch lane that branches off from driving lane LN1 just after the entrance TL1 of tunnel TL. LN4 is a branch lane that branches off from driving lane LN1 near the center of the interior of tunnel TL. And LN5 is a branch lane that branches off from driving lane LN1 just after the exit TL2 of tunnel TL.

As described in Figures 1 and 2, the controller 1 is capable of providing driving assistance for the vehicle V in multiple modes, including manual driving mode, normal assistance mode, and enhanced assistance mode. The controller 1 compares (matches) high-precision map information with images (image information) captured by the front camera 8a, and if matching is successful, the controller 1 automatically transitions the driving assistance mode from normal assistance mode to enhanced assistance mode. In enhanced assistance mode, acceleration/deceleration assistance, lane keeping assistance, and lane change assistance can be performed in conjunction with high-precision map information.

(Lane change assistance)
For lane change assistance, the controller 1 sets areas in which automated lane changes are suppressed and areas in which automated lane changes are permitted (areas in which automated lane changes are not suppressed) based on highly accurate map information and image information captured by an imaging device in an actual driving environment.

The controller 1 controls the speed and steering of the vehicle V traveling in the driving lane to perform an automated lane change to a branch lane branching off from the driving lane. The lane change assistance (automated lane change) in this embodiment includes system-driven lane change assistance (ALC), in which the lane change is performed automatically based on the judgment of the controller 1, and driver-driven lane change assistance (ALCA), in which the lane change is performed automatically in response to instructions input by the driver. In system-driven lane change assistance (ALC), the controller 1 determines whether a lane change to a branch lane is necessary to arrive at a destination set based on highly accurate map information, and if it determines that a lane change is necessary, determines the branch lane to use for the lane change.

(Area setting based on map information)
The controller 1 sets, based on map information, a restricted area in which a specific road structure existing on the driving lane restricts lane changing, and a permitted area in which lane changing is permitted.

In step S310, the controller 1 sets a suppression area that suppresses automated lane changes and a permitted area that enables automated lane changes based on the map information as an area setting based on the map information. Based on previously acquired map information, the controller 1 sets the area immediately after the entrance (e.g., R1 in Figure 4) and the area immediately after the exit (e.g., R2 in Figure 4) of a specific road structure (e.g., tunnel TL in Figure 6) located ahead on the specific road on which the vehicle is traveling as an area (suppression area) that suppresses automated lane changes (ALC, ALCA).

As shown in Figure 4, the controller 1 sets a first region R1 having a length of a first distance L1 in the longitudinal direction of the road, based on the start point (entrance TL1) of a specific road structure. The controller 1 also sets a second region R2 having a length of a second distance L2 in the longitudinal direction of the road, based on the end point (exit TL2) of the specific road structure.

In the first region R1 immediately after the entrance to a specific road structure and the second region immediately after the exit, the difference in brightness between the inside (dark) and outside (light) of the road structure can affect the external recognition characteristics of the front camera 8a (imaging device). Due to the road structure, areas where external recognition characteristics may be affected are set as areas (restriction areas) where automated lane changing (ALC, ALCA) is restricted.

In Figure 4, by setting the first region R1 as an area where automated lane changes are suppressed, automated lane changes to branch lane LN3 immediately after entrance TL1 are suppressed. Furthermore, by setting the second region R2 as an area where automated lane changes are suppressed, automated lane changes to branch lane LN5 immediately after exit TL2 are suppressed. In Figure 4, lane change suppression is indicated by an "X".

In addition, based on the map information, the controller 1 sets the internal area R3 within the road structure as a possible area where automated lane changes are possible. Because the internal area R3 of the specific structure is in a (dark) state, there is no difference in brightness between the inside of the road structure (dark) and the outside of the road structure (light). Therefore, lane changes are possible within the internal area R3 of the specific structure up until just before the end point (exit TL2).

Even in the branch lane LN4, if the driving environment is in a (dark) state, there is no difference in brightness between the internal region R3 of the specific structure and the branch lane LN4, such as the difference between the inside of the road structure (dark) and the outside of the road structure (light). Therefore, it is set as possible to change lanes automatically from the driving lane LN1 to the branch lane LN4 within the internal region R3 of the specific structure. In Figure 4, the possibility of lane changes is indicated by a "○".

Furthermore, in the branch lane LN2, if the driving environment is in a (light) state, there is no difference in brightness between the outside of the road structure (light) and the branch lane LN2, as there is between the inside of the road structure (dark) and the outside of the road structure (light). For this reason, based on the map information, the controller 1 sets the area R4 before the start point of the road structure as an area where automated lane changes are possible (possible area). In the area R4 (distance L4 before the start point) before the start point (entrance TL1) of the specific structure, it is set as possible to make an automated lane change from the driving lane LN1 to the branch lane LN2. In Figure 4, a "○" indicates that a lane change is possible.

(Area setting based on image information)
In step S320, the front camera 8a (image capturing device) captures an image of the area in front of the vehicle V and inputs the captured image to the controller 1.

In step S330, the processor of controller 1 performs predetermined image processing on the input captured image, extracts the image area of driving lane LN1 and the image area of the branching lane branching off from LN1, and obtains the distribution of image information within the extracted image area. Here, image information includes, for example, parameters such as pixel brightness (or pixel value) and lightness.

The controller 1 uses image processing to acquire the brightness values (pixel values) of each pixel in the captured image as a two-dimensional distribution of a predetermined gradation (e.g., 0 to 255). Note that the predetermined gradation is an example and may vary depending on the bit rate of the image captured by the front camera 8a (image capture device). Figure 7 is a diagram illustrating a two-dimensional distribution of brightness values (pixel values). In the two-dimensional distribution, image area 701 shows the distribution of brightness values (pixel values) corresponding to the image area of the driving lane LN1 ahead of vehicle V. Furthermore, image area 702 shows the distribution of brightness values (pixel values) corresponding to the image area of the branching lane branching off to the left in the driving direction (e.g., areas R5 and R6 in Figure 4).

In step S340, the controller 1 acquires the difference in image information. Based on the image information (brightness values (pixel values)) acquired in the previous step S330, the controller 1 acquires the average value of the brightness values (pixel values) for each image region. The controller 1 acquires the average value of the brightness values (pixel values) of each pixel in the image region 701 (first region brightness average value) and the average value of the brightness values (pixel values) of each pixel in the image region 702 (second region brightness average value), and acquires the difference (absolute value) between the first region brightness average value and the second region brightness average value.

In step S350, the controller 1 determines whether the difference is less than or equal to the threshold value, and if the difference is less than or equal to the threshold value (S350-YES), the process proceeds to step S360.

Then, in step S360, the controller 1 sets the area for which image information was acquired as an area where an automated lane change to the branch lane is possible. For example, if the difference in the average brightness values (pixel values) between area R4 (bright) and area R6 (bright) in Figure 4 is less than or equal to a threshold, the controller 1 sets the area for which image information was acquired as an area where an automated lane change to the branch lane LN2 is possible. In this case, the lane change possible "○" setting set based on the map information is maintained.

Furthermore, if the difference in the average brightness values (pixel values) between region R3 (dark) and region R5 (dark) in Figure 4 is equal to or less than a threshold, controller 1 sets the region from which image information was acquired as a region where an automated lane change to branch lane LN4 is possible. In this case, the lane change possible "○" setting set based on the map information is maintained.

On the other hand, if the difference exceeds the threshold value as determined in step S350 (S350-NO), the controller 1 proceeds to step S370.

Then, in step S370, the controller 1 changes the setting of the area based on the map information if the image information captured by the front camera 8a (imaging device) exceeds a predetermined threshold. For example, the controller 1 changes the setting of the possible area to a prohibited area if the image information exceeds a predetermined threshold. As a specific example, the controller 1 changes the setting of the possible area to a prohibited area if, in the possible area where automated lane changing is possible, the difference between the average pixel values corresponding to the image area of the driving lane, obtained from the image information captured by the front camera 8a (imaging device), and the average pixel values corresponding to the image area of the diverging lane, exceeds a threshold. The controller 1 sets the area for which image information has been acquired as an area where automated lane changing to the diverging lane is prohibited.

For example, based on the image information, if the difference between the average pixel values corresponding to the image area of the driving lane and the average pixel values corresponding to the image area of the branching lane in the area R4 before the starting point or the internal area R3 of the specific structure exceeds a threshold, the controller 1 changes the setting of the possible area to the suppressed area.

If the difference in average brightness values (pixel values) between region R4 (bright) and region R6 (dark) in Figure 5 exceeds a threshold, controller 1 sets the region from which image information was acquired as a region in which an automated lane change to branch lane LN2 is prohibited. In this case, the lane change permitted "○" setting (Figure 4) set based on the map information is changed to a lane change prohibited "×" setting.

Furthermore, as shown in Figure 5, if the difference in the average brightness values (pixel values) between region R3 (dark) and region R5 (light) exceeds a threshold, controller 1 sets the region from which image information was acquired as a region in which an automated lane change to branch lane LN4 is prohibited. In this case, the lane change permitted "○" setting (Figure 4) set based on the map information is changed to a lane change prohibited "×" setting.

When the lane change possibility (possible area) setting based on map information is changed to a lane change restriction (restricted area) setting based on image information, the controller 1 provides an advance warning at a position a predetermined distance before the start of the branching of the branching lane where the automated lane change was planned (decided), terminates the driving assistance providing the automated lane change (e.g., enhanced assistance mode), and transitions to manual driving mode. For example, in FIG. 5, if an automated lane change to branching lane LN4 is planned to arrive at the destination, the controller 1 provides an advance warning at a position a predetermined distance before the start of the branching of branching lane LN4 (e.g., position L5), and terminates the driving assistance providing the automated lane change.

Furthermore, when the difference in the average brightness values (pixel values) in the suppression region, obtained based on the image information, is equal to or less than a threshold value, the controller 1 shortens the first distance L1 and the second distance L2 shown in FIGS. 4 and 5. The controller 1 shortens the first distance and the second distance according to the ratio α of the difference with respect to the threshold value. For example, when the ratio α of the difference in the average brightness values (pixel values) with respect to the reference threshold value is 0.7, the controller 1 multiplies the first distance L1 and the second distance L2 by the ratio α to shorten them to the first distance L1·α and the second distance L2·α.

Even when an area where lane changes are restricted is set based on map information, the difference between light and dark may be reduced (the difference may be below a threshold) depending on the time of day, such as at night or in the evening. In such cases, by restricting lane changes while reducing the restriction distance and expanding the permitted area, it is possible to improve traffic safety and prevent a decrease in traffic smoothness.

(Summary of the embodiment)
The above-described embodiments disclose at least the following vehicle control device, a vehicle having the vehicle control device, and a vehicle control method.

Configuration 1. The vehicle control device of the above embodiment is a vehicle control device in a vehicle,
A control means (1) is provided for controlling the speed and steering of the vehicle traveling in a driving lane to perform an automatic lane change to a branch lane branching from the driving lane,
The control means (1)
Based on map information, a suppression area (e.g., R1, R2) that suppresses the lane change due to a specific road structure (e.g., TL) present on the driving lane, and a possible area (e.g., R3, R4 in Figure 4) that enables the lane change are set, and if the image information captured by the imaging means exceeds a predetermined threshold, the setting of the area based on the map information is changed.

Configuration 2. The control means (1) changes the setting of the possible area to the suppression area when the difference between the average pixel values corresponding to the image area of the driving lane, obtained from image information captured by the imaging means, and the average pixel values corresponding to the image area of the diverging lane, in the possible area exceeds a threshold.

The vehicle control devices of configurations 1 and 2 make it possible to set a restricted area that restricts automated lane changing and a permitted area that allows automated lane changing based on map information and image information.

Configuration 3. The control means (1) determines whether or not a lane change to a branching lane is necessary to arrive at a destination set based on map information, and if it determines that a lane change is necessary, determines the branching lane to which the automated lane change will be made.

The vehicle control device of configuration 3 determines the branch lane based on map information, enabling smooth automated lane changes from the driving lane to the branch lane.

Configuration 4. When the possible area set based on the map information is changed to the restricted area based on the image information, the control means (1)
An advance warning is given at a position (e.g., L5) a predetermined distance before the position where the branch of the determined branch lane (e.g., LN4 in Figure 5) begins, and the driving assistance providing the automated lane change is terminated.

The vehicle control device of configuration 4 provides advance warning, thereby reducing the discomfort felt by vehicle occupants regarding the termination of driving assistance, and enabling a smooth transition to manual driving mode following the termination of driving assistance.

Configuration 5. The control means (1)
Based on the map information, the inhibition area is set to a first area having a length of a first distance in the longitudinal direction of the driving lane, based on the starting point of the road structure, and a second area having a length of a second distance in the longitudinal direction, based on the end point of the specific road structure.

The vehicle control device of configuration 5 can pre-set a suppression area that suppresses lane changes due to specific road structures that exist on the driving lane and can be identified based on map information.

Configuration 6. The control means (1) shortens the first distance or the second distance in the suppression region when the difference acquired based on the image information is equal to or less than a threshold value.

According to the vehicle control device of configuration 6, even when an area where automated lane changing is prohibited is set based on map information, the difference in brightness may be reduced (the difference may be below a threshold) depending on the time of day the vehicle is traveling. In such cases, by restricting automated lane changing while reducing the prohibited distance and expanding the permitted area, it is possible to improve traffic safety and prevent a decrease in traffic smoothness.

Configuration 7. The control means (1) sets the area before the start point of the road structure and the interior area within the road structure as the possible area based on the map information.

The vehicle control device of configuration 7 can pre-set a feasible area in which automated lane changes are possible due to specific road structures that exist on the driving lane and can be identified based on map information.

Configuration 8. The control means (1)
Based on the image information, in the area before the start point or the internal area,
If the difference between the average pixel values corresponding to the image area of the driving lane and the average pixel values corresponding to the image area of the branching lane exceeds a threshold, the setting of the possible area is changed to the suppression area.

With the vehicle control device of configuration 8, even if an area is set that allows automated lane changes based on map information, there may be cases in which the difference exceeds the threshold in the actual driving environment. In such cases, by reflecting the actual driving environment in the control of automated lane changes, it is possible to improve traffic safety while suppressing any decline in traffic smoothness.

Configuration 9. The specific road structure includes at least one of a tunnel, an overpass, and a bridge.

The vehicle control device of configuration 9 can set a restricted area that restricts automated lane changes and a permitted area that allows automated lane changes in a driving environment where map information can be acquired.

Configuration 10. The control means (1) has, as the functions for performing the automated lane change, a function for performing automatic lane changes initiated by the system (e.g., ALC), a function for performing driver-initiated lane changes that automatically change lanes in response to driver input (e.g., ALCA), and a function for the vehicle's system to monitor the status of lanes on the left and right of the vehicle, notify the driver of lanes into which a lane change is possible, and perform the lane change based on the driver's operation.

Configuration 11. The control means determines whether or not the automated lane change can be performed based on the presence or absence of the map information.

Configuration 12. A vehicle (e.g., V) is equipped with the vehicle control device (e.g., CNT) described in Configuration 1.

The vehicle of configuration 12 can provide a vehicle equipped with a vehicle control device that can set a restricted area that restricts automated lane changing and a permitted area that enables automated lane changing based on map information and image information.

Configuration 13. The vehicle control method of the above embodiment is a vehicle control method for a vehicle control device in a vehicle,
a control step (S310-S370) of controlling the speed and steering of the vehicle traveling in the driving lane to perform an automated lane change to a branch lane branching from the driving lane;
In the control step,
Based on map information, a restricted area in which the vehicle is restricted from changing lanes due to specific road structures existing on the driving lane and a permitted area in which the vehicle is permitted to change lanes are set (S310);
If the image information captured by the imaging means exceeds a predetermined threshold, the area setting based on the map information is changed (S370).

The vehicle control method of configuration 13 makes it possible to set a restricted area that restricts automated lane changing and a permitted area that allows automated lane changing based on map information and image information.

Configuration 14. The storage medium stores a program that causes a computer to execute the vehicle control method described in Configuration 13.

Configuration 15. The program causes a computer to execute the vehicle control method described in Configuration 13.

The storage medium of configuration 14 can provide a storage medium that stores a program that causes a computer to execute the vehicle control method described in configuration 13, and the program of configuration 15 can provide a program that causes a computer to execute the vehicle control method described in configuration 13.

(Other embodiments)
The present invention also makes it possible to supply a program that realizes the functions of the above-described embodiments to a system or a vehicle control device that constitutes the system via a network or a storage medium, and have one or more processors in the computer of the vehicle control device read the program and execute the processing of the vehicle control device.

The invention is not limited to the above-described embodiments, and various modifications and variations are possible within the scope of the invention.

1: Controller, 8a-8b: Surroundings detection unit (8a: Front camera (imaging device), 8b: Radar)

Claims (8)

A vehicle control device in a vehicle,
a control means for controlling a speed and steering of the vehicle traveling in a driving lane to perform an automatic lane change to a branch lane branching from the driving lane;
The control means
Based on map information, a first inhibition area is set, the first inhibition area being located on the driving lane and having a length of a first distance in the longitudinal direction of the road along the driving lane, with the start point of a specific road structure that the vehicle can pass through as a reference, and a second inhibition area being located on the driving lane and having a length of a second distance in the longitudinal direction of the road, with the end point of the road structure as a reference ,
an imaging means mounted on the vehicle captures an image of a scene ahead of the vehicle;
A vehicle control device characterized by changing the area setting based on the map information so as to reduce the first inhibition area or the second inhibition area when the difference between the brightness value of the driving lane area in the first inhibition area or the second inhibition area and the brightness value of the branch lane area in the first inhibition area or the second inhibition area is below a predetermined threshold. 2. The vehicle control device according to claim 1, wherein the control means determines whether or not it is necessary to perform a lane change to a branch lane in order to arrive at a destination set based on map information, and if it determines that it is necessary to perform a lane change, determines a branch lane to which the automated lane change will be performed. 3. The vehicle control device according to claim 1, wherein the specific road structure includes at least one of a tunnel, an overpass, and a bridge. The control means includes the following functions for performing the automated lane change:
The system has the ability to automatically change lanes,
A driver-initiated lane change function that automatically changes lanes according to driver input , and
2. The vehicle control device according to claim 1, further comprising: A vehicle equipped with the vehicle control device described in claim 1. A vehicle control method for a vehicle control device in a vehicle, comprising:
a control step of controlling a speed and steering of the vehicle traveling in a driving lane to perform an automated lane change to a branch lane branching from the driving lane,
In the control step,
Based on map information, a first inhibition area is set, the first inhibition area being located on the driving lane and having a length of a first distance in the longitudinal direction of the road along the driving lane, with the start point of a specific road structure that the vehicle can pass through as a reference, and a second inhibition area being located on the driving lane and having a length of a second distance in the longitudinal direction of the road, with the end point of the road structure as a reference ,
an imaging means mounted on the vehicle captures an image of a scene ahead of the vehicle;
A vehicle control method characterized by changing the area setting based on the map information so as to reduce the first inhibition area or the second inhibition area when the difference between the brightness value of the driving lane area in the first inhibition area or the second inhibition area and the brightness value of the branch lane area in the first inhibition area or the second inhibition area is below a predetermined threshold. A storage medium storing a program for causing a computer to execute the vehicle control method according to claim 6 . A program that causes a computer to execute the vehicle control method according to claim 6 .