JP6982051B2 - Vehicle and its control device - Google Patents

Description

The present invention relates to a vehicle and a control device thereof.

In automatic driving, a function of automatically overtaking a preceding vehicle has been put into practical use. In Patent Document 1, it is determined whether or not the preceding vehicle can be overtaken by the own vehicle based on the traveling environment and the traveling state of the own vehicle and the preceding vehicle, and when it is determined that the preceding vehicle can be overtaken, overtaking is executed. The technology to be used is described.

Japanese Unexamined Patent Publication No. 2009-248892

After overtaking the preceding vehicle and returning to the original lane, if the preceding vehicle is also at a low speed, the overtaking operation will be further performed. If the overtaking operation is continuously performed in this way, the lane is changed excessively, which is not preferable. One aspect of the present invention is to provide a technique for suppressing an excessive lane change in an overtaking motion.

According to some embodiments, the vehicle control device includes an environment detection unit that detects the surrounding environment of the vehicle, and a travel control unit that controls speed or steering based on the surrounding environment. The travel control unit determines whether or not the overtaking start condition for starting the operation of overtaking the preceding vehicle in the first lane in which the vehicle is traveling is satisfied, and when it is determined that the overtaking start condition is satisfied, the said vehicle is described. After moving from the first lane to the second lane adjacent to the first lane and the vehicle moving to the second lane, from the second lane to the first lane based on the situation of the first lane. to determine if it meets the first return condition for returning, when it is determined that the first return condition is satisfied if, moved to the first lane, was determined not to satisfy the first recovery condition In addition, while continuing to drive in the second lane and continuing to drive in the second lane while satisfying the driving continuation condition for continuing driving in the second lane based on the situation of the second lane. When it was determined that the traveling continuation condition was not satisfied, it was determined whether or not the second return condition for returning from the second lane to the first lane was satisfied, and it was determined that the second return condition was satisfied. In this case, the return speed condition is that the vehicle moves to the first lane and can travel in the first lane at a set speed before the vehicle starts overtaking the preceding vehicle. The second return condition is a condition in which the return speed condition is relaxed, and a control device is provided.

By the above means, it is possible to suppress an excessive lane change in the overtaking operation.

The block diagram explaining the configuration example of the vehicle which concerns on embodiment. The schematic diagram explaining various scenarios of the overtaking operation which concerns on embodiment. The schematic diagram explaining various scenarios of the overtaking operation which concerns on embodiment. The schematic diagram explaining various scenarios of the overtaking operation which concerns on embodiment. The flow diagram explaining the operation example of the control apparatus which concerns on embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. In addition, the same or similar configuration will be given the same reference number, and duplicated explanations will be omitted.

FIG. 1 is a block diagram of a vehicle 1 according to an embodiment of the present invention. In FIG. 1, the outline of the vehicle 1 is shown in a plan view and a side view. Vehicle 1 is, for example, a sedan-type four-wheeled passenger car. The vehicle 1 may be such a four-wheeled vehicle, a two-wheeled vehicle, or another type of vehicle.

The vehicle 1 includes a vehicle control device 2 (hereinafter, simply referred to as a control device 2) that controls the vehicle 1. The control device 2 includes a plurality of ECUs 20 to 29 that are communicably connected by an in-vehicle network. Each ECU includes a processor typified by a CPU, a memory such as a semiconductor memory, an interface with an external device, and the like. The memory stores programs executed by the processor and data used by the processor for processing. Each ECU may include a plurality of processors, memories, interfaces, and the like. For example, the ECU 20 includes a processor 20a and a memory 20b. When the processor 20a executes an instruction included in the program stored in the memory 20b, the processing by the ECU 20 is executed. Instead of this, the ECU 20 may be provided with a dedicated integrated circuit such as an ASIC for executing the process by the ECU 20. The same applies to other ECUs.

Hereinafter, the functions and the like that each ECU 20 to 29 is in charge of will be described. The number of ECUs and the functions in charge can be appropriately designed, and can be subdivided or integrated as compared with the present embodiment.

The ECU 20 executes control related to the automatic driving of the vehicle 1. In automatic driving, at least one of the steering of the vehicle 1 and the speed is automatically controlled. In the control example described later, both steering and speed are automatically controlled.

The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism for steering the front wheels in response to a driver's driving operation (steering operation) with respect to the steering wheel 31. Further, the electric power steering device 3 includes a motor that exerts a driving force for assisting the steering operation and automatically steering the front wheels, a sensor for detecting the steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20 to control the traveling direction of the vehicle 1.

The ECUs 22 and 23 control the detection units 41 to 43 for detecting the surrounding conditions of the vehicle and process the information processing of the detection results. The detection unit 41 is a camera that photographs the front of the vehicle 1 (hereinafter, may be referred to as a camera 41), and in the case of the present embodiment, it is attached to the vehicle interior side of the front window at the front of the roof of the vehicle 1. Will be. By analyzing the image taken by the camera 41, it is possible to extract the outline of the target and the lane marking line (white line or the like) on the road.

The detection unit 42 is a lidar (Light Detection and Ranging) (hereinafter, may be referred to as a lidar 42), detects a target around the vehicle 1, and measures a distance from the target. .. In the case of the present embodiment, five riders 42 are provided, one in each corner of the front part of the vehicle 1, one in the center of the rear part, and one in each side of the rear part. The detection unit 43 is a millimeter-wave radar (hereinafter, may be referred to as a radar 43), detects a target around the vehicle 1, and measures a distance from the target. In the case of the present embodiment, five radars 43 are provided, one in the center of the front part of the vehicle 1, one in each corner of the front part, and one in each corner of the rear part.

The ECU 22 controls one of the cameras 41 and each rider 42, and processes information processing of the detection result. The ECU 23 controls the other camera 41 and each radar 43, and processes information processing of the detection result. By equipping two sets of devices to detect the surrounding conditions of the vehicle, the reliability of the detection results can be improved, and by equipping with different types of detection units such as cameras, riders, and radars, analysis of the surrounding environment of the vehicle can be performed. Can be done in multiple ways.

The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and processes the detection result or the communication result. The gyro sensor 5 detects the rotational movement of the vehicle 1. The course of the vehicle 1 can be determined from the detection result of the gyro sensor 5, the wheel speed, and the like. The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c wirelessly communicates with a server that provides map information and traffic information, and acquires such information. The ECU 24 can access the map information database 24a built in the memory, and the ECU 24 searches for a route from the current location to the destination. The ECU 24, the map database 24a, and the GPS sensor 24b constitute a so-called navigation device.

The ECU 25 includes a communication device 25a for vehicle-to-vehicle communication. The communication device 25a wirelessly communicates with other vehicles in the vicinity and exchanges information between the vehicles.

The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The ECU 26 controls the engine output in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, the vehicle speed detected by the vehicle speed sensor 7c, or the like. The shift stage of the transmission is switched based on the information of. When the operating state of the vehicle 1 is automatic operation, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20 to control acceleration / deceleration of the vehicle 1.

The ECU 27 controls a lighting device (head light, tail light, etc.) including a direction indicator 8 (winker). In the case of the example of FIG. 1, the turn signal 8 is provided on the front portion, the door mirror, and the rear portion of the vehicle 1.

The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and accepts input of information from the driver. The voice output device 91 notifies the driver of information by voice. The display device 92 notifies the driver of information by displaying an image. The display device 92 is arranged on the surface of the driver's seat, for example, and constitutes an instrument panel or the like. Although voice and display are illustrated here, information may be notified by vibration or light. In addition, information may be transmitted by combining a plurality of voice, display, vibration, or light. Further, the combination may be different or the notification mode may be different depending on the level of information to be notified (for example, the degree of urgency). The input device 93 is a group of switches that are arranged at a position that can be operated by the driver and give instructions to the vehicle 1, but may also include a voice input device.

The ECU 29 controls the brake device 10 and the parking brake (not shown). The brake device 10 is, for example, a disc brake device, which is provided on each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by adding resistance to the rotation of the wheels. The ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the brake device 10 in response to an instruction from the ECU 20 to control deceleration and stop of the vehicle 1. The braking device 10 and the parking brake can also be operated to maintain the stopped state of the vehicle 1. Further, when the transmission of the power plant 6 is provided with a parking lock mechanism, it can be operated to maintain the stopped state of the vehicle 1.

With reference to FIGS. 2 to 4, various scenarios of overtaking operation according to some embodiments will be described. The following scenario may be performed by the control device 2 controlling the behavior of the vehicle 1. The overtaking operation is a series of operations in which the vehicle 1 moves to an adjacent lane in order to overtake the preceding target vehicle, overtakes the target vehicle, and then returns to the original lane. When the target vehicle accelerates after moving to the adjacent lane or moves from the original lane, the vehicle 1 may return to the original lane without overtaking the target vehicle. The control device 2 can detect the surrounding environment of the vehicle 1 based on the outputs from the detection units 41 to 43, and can execute the automatic driving control based on the surrounding environment. The control device 2 executes an overtaking operation as a part of this automatic traveling control. For example, the control device 2 may start the overtaking operation when the set speed of the vehicle 1 cannot be maintained due to the decrease in the speed of the preceding vehicle while the vehicle 1 is following the preceding vehicle. The function of following the preceding vehicle can also be called ACC (adaptive cruise control).

In the scenario shown in FIG. 2A, the vehicle 1 travels on the route shown by the broken line 204. The specific operation of the vehicle 1 along this route will be described. Vehicle 1 is traveling in lane 201 at a speed of 100 km / h. Lane 201 is, for example, a traveling lane on a highway. Vehicle 203 is traveling in lane 201 at a speed of 80 km / h in front of vehicle 1. Since the preceding vehicle 203 is slower than the vehicle 1, the vehicle 1 starts an overtaking operation with respect to the vehicle 203. Specifically, the vehicle 1 moves to the lane 202 adjacent to the lane 201 and increases the speed to 120 km / h. The lane 202 may be an overtaking lane of a highway or a traveling lane. After overtaking the vehicle 203, the vehicle 1 returns to the original lane 201 and continues to travel at a speed of 100 km / h.

In the scenario shown in FIG. 2B, the vehicle 1 travels on the route indicated by the broken line 207. The specific operation of the vehicle 1 along this route will be described. After moving to the adjacent lane 202, the scenario is the same as in FIG. 2A until the vehicle 203 is overtaken. In the scenario of FIG. 2B, the vehicle 205 is traveling in the lane 201 at a speed of 85 km / h in front of the vehicle 203. As shown by the broken line 206, it is assumed that the vehicle 1 returns to the lane 201 so as to be behind the vehicle 205. In this case, since the vehicle 205 is slower than the vehicle 1, the vehicle 1 starts the overtaking operation of the vehicle 205. It is not preferable that the overtaking operation is continuous in this way. Therefore, after overtaking the vehicle 203, the vehicle 1 continues to travel in the lane 202 without returning to the lane 201.

In the scenario shown in FIG. 3A, the vehicle 1 travels on the route indicated by the broken line 301. The specific operation of the vehicle 1 along this route will be described. Similar to the scenario of FIG. 2B, vehicle 1 overtakes vehicle 205 and continues to travel in lane 202. If lane 202 is the overtaking lane, it is prohibited by law to continue driving in lane 202. For example, a vehicle traveling in the overtaking lane must return to the driving lane with a guideline of 2 km. Therefore, after moving to the lane 202, the vehicle 1 returns to the original lane 201 when traveling 2 km, and continues traveling at a speed of 100 km / h.

In the scenario shown in FIG. 3B, the vehicle 1 travels on the route indicated by the broken line 303. The specific operation of the vehicle 1 along this route will be described. Similar to the scenario of FIG. 2B, vehicle 1 overtakes vehicle 205 and continues to travel in lane 202. In front of the vehicle 1 traveling in the lane 202, the vehicle 302 is traveling in the lane 202 at a speed of 100 km / h. Since the vehicle 302 is slower than the vehicle 1, the vehicle 1 returns to the original lane 201 and continues to travel at a speed of 100 km / h.

In the scenario shown in FIG. 3C, the vehicle 1 travels on the route indicated by the broken line 305. The specific operation of the vehicle 1 along this route will be described. Similar to the scenario of FIG. 2B, vehicle 1 overtakes vehicle 205 and continues to travel in lane 202. Behind the vehicle 1 traveling in the lane 202, the vehicle 304 is traveling in the lane 202 at a speed of 135 km / h. Since the vehicle 304 is faster than the vehicle 1, the vehicle 1 returns to the original lane 201 in order to give way to the vehicle 304 and continues to travel at a speed of 100 km / h.

In the scenario shown in FIG. 4A, the vehicle 1 travels on the route indicated by the broken line 402. The specific operation of the vehicle 1 along this route will be described. Similar to the scenario of FIG. 3A, the vehicle 1 is traveling in the lane 202 for about 2 km. At this point, the vehicle 401 is traveling in the lane 201 at a speed of 85 km / h in front of the vehicle 1. Therefore, even if the vehicle 1 returns to the lane 201, the vehicle 1 will perform an overtaking operation with respect to the vehicle 401. However, since the vehicle 1 cannot continue traveling in the lane 202, it returns to the original lane 201 and starts traveling at the same speed of 85 km / h as the preceding vehicle 401. After that, the vehicle 1 may perform an overtaking operation with respect to the vehicle 401.

In the scenario shown in FIG. 4B, the vehicle 1 travels on the route shown by the broken line 405. The specific operation of the vehicle 1 along this route will be described. Similar to the scenario of FIG. 2B, vehicle 1 overtakes vehicle 205 and continues to travel in lane 202. In front of the vehicle 1 traveling in the lane 202, the vehicle 404 is traveling in the lane 202 at a speed of 90 km / h. Further, the vehicle 403 is traveling in parallel with the vehicle 404 and is traveling in the lane 201 at a speed of 90 km / h. Therefore, even if the vehicle 1 returns to the lane 201, the vehicle 1 cannot travel at the speed of 100 km / h before moving to the lane 202. However, since the vehicle 1 cannot continue traveling in the lane 202, it returns to the original lane 201 and starts traveling at the same speed of 90 km / h as the preceding vehicle 401.

In the scenario shown in FIG. 4 (c), the vehicle 1 travels on the route shown by the broken line 409. The specific operation of the vehicle 1 along this route will be described. Similar to the scenario of FIG. 2B, vehicle 1 overtakes vehicle 205 and continues to travel in lane 202. Behind the vehicle 1 traveling in the lane 202, the vehicle 406 is traveling in the lane 202 at a speed of 135 km / h. Since the vehicle 304 is faster than the vehicle 1, the vehicle 1 tries to return to the original lane 201 in order to give way to the vehicle 304. However, since the vehicle 407 and the vehicle 408 are traveling in the lane 201 adjacent to each other in front of the vehicle 1, the vehicle 1 cannot return to the lane 201 by automatic driving. Therefore, the vehicle 1 requests the driver to change driving.

An example of the operation method of the control device 2 when overtaking the preceding vehicle will be described with reference to FIG. The operation of FIG. 5 may be processed by the processor of the control device 2 (for example, the processor 20a) executing a program stored in the memory (for example, the memory 20b). Alternatively, some or all of the operation of FIG. 5 may be performed by a dedicated circuit (eg, an ASIC (application specific integrated circuit) or FPGA (field programmable gate array)).

In step S501, the control device 2 determines whether or not the overtaking start condition is satisfied. The control device 2 transitions the process to step S502 when the overtaking start condition is satisfied (“YES” in step S501), and repeats step S501 in other cases (“NO” in step S501). The overtaking start condition is a condition satisfied in order for the vehicle 1 to start an operation of overtaking the preceding vehicle (for example, the vehicle 203 in FIG. 2) in the lane in which the vehicle 1 is traveling (for example, the lane 201 in FIG. 2). This preceding vehicle will be referred to as the target vehicle below. For example, the overtaking start condition is that the speed of the target vehicle is 20 km / h or more slower than the speed of the vehicle 1, or the vehicle 1 is expected to catch up with the target vehicle within a predetermined time (for example, within 10 seconds). May include. The overtaking start condition is that the vehicle traveling in the adjacent lane does not exist around the vehicle 1 or the speed of the vehicle traveling in the adjacent lane in front of the vehicle 1 is 5 km / h or more faster than the speed of the vehicle 1. May include. Further, the overtaking start condition may include not reaching the planned route change point (for example, a highway exit or a branch) within a predetermined distance (for example, 3 km) or time (for example, 1 minute).

When the overtaking start condition is not satisfied, the control device 2 repeats step S501 and continues traveling in the current lane until the overtaking start condition is satisfied. When the overtaking start condition is satisfied, the control device 2 moves to an adjacent lane (for example, lane 202 in FIG. 2) and accelerates as necessary.

In step S503, the control device 2 determines whether or not the return condition is satisfied. The control device 2 transitions the process to step S506 when the return condition is satisfied (“YES” in step S503), and transitions the process to step S504 in other cases (“NO” in step S503). The return condition is a condition for the vehicle 1 to return to the original lane, and is based on the condition of the original lane. For example, the return condition may include that the vehicle 1 can travel in the original lane at a set speed (for example, 100 km / h) before starting overtaking of the target vehicle for a predetermined distance or time. Further, the return condition may include that the distance between the two vehicles on which the vehicle 1 is about to enter is equal to or greater than the threshold value. Thus, the return conditions are all based on the original lane conditions. In this way, if the vehicle 1 can overtake the target vehicle and return to the original lane, the control device 2 returns to the original lane without continuing traveling in the adjacent vehicle. The control device 2 may set the set speed during automatic traveling according to the traveling environment of the vehicle 1 (for example, the speed of the preceding vehicle, the speed sign, etc.). Further, this set speed may be changed by the driver of the vehicle 1. The range of set speeds that can be set by the driver may be fixed (for example, 60 to 135 km / h). When the return condition is satisfied, in step S506, the control device 2 moves the vehicle 1 to the original lane. When it is determined in step S503 that the return condition is satisfied and the vehicle moves to the original lane, the control device 2 may travel in the original lane at the set speed before the start of overtaking.

In step S504, the control device 2 determines whether or not the running continuation condition is satisfied. The control device 2 repeats step S504 when the running continuation condition is satisfied (“YES” in step S504), and transitions the process to step S505 in other cases (“NO” in step S504). The traveling continuation condition is a condition for the vehicle 1 to continue traveling in the adjacent lane (the lane adjacent to the original lane), and is based on the situation of the adjacent lane. For example, the traveling continuation condition may include a condition relating to the distance or time that the vehicle 1 has traveled in the adjacent lane, as described in the scenario of FIG. 3A. Specifically, the traveling continuation condition may include that the traveling distance of the adjacent lane is within a predetermined distance (for example, 2 km), or the traveling time of the adjacent lane is within a predetermined time (for example, 1 minute). It may include that there is. Further, the traveling continuation condition may include a condition relating to the preceding vehicle of the vehicle 1 in the adjacent vehicle. Specifically, the running continuation condition is that the speed of the preceding vehicle (for example, the vehicle 302 in FIG. 3) is 10 km / h or more slower than the speed of the vehicle 1, or the vehicle 1 is within a predetermined time (for example, within 20 seconds). ) May include what is expected to catch up with the preceding vehicle. Further, the running continuation condition may include a condition relating to a vehicle following the vehicle 1 in the adjacent vehicle. Specifically, the running continuation condition is that the speed of the following vehicle (for example, the vehicle 304 in FIG. 3) is 10 km / h or more faster than the speed of the vehicle 1, or the vehicle 1 is within a predetermined time (for example, within 20 seconds). ) May include the fact that it is expected to catch up with the following vehicle. In this way, the driving continuation conditions are all based on the conditions of the adjacent lanes. The control device 2 repeats step S504 when the running continuation condition is satisfied. That is, the control device 2 continues to travel in the adjacent lane while satisfying the traveling continuation condition. This prevents excessive lane changes.

In step S505, the control device 2 determines whether or not the return condition is satisfied. The control device 2 transitions the process to step S506 when the return condition is satisfied (“YES” in step S505), and transitions the process to step S507 in other cases (“NO” in step S505). The return condition is a condition for the vehicle 1 to return to the original lane as described in step S503.

When the return condition is satisfied, in step S506, the control device 2 moves the vehicle 1 to the original lane. On the other hand, if the return condition is not satisfied, the vehicle 1 cannot return to the original lane even though the traveling in the adjacent lane should not be continued. Therefore, the control device 2 may request the driver to change driving in step S507. Instead of this, the control device 2 may continue traveling in the adjacent lane.

The return condition of step S505 may be a relaxation of the return condition of step S503. This makes it easier for the vehicle 1 to return to the original lane after the traveling continuation condition is no longer satisfied. Relaxing the return condition may include, for example, relaxing that the vehicle 1 can travel in the original lane at a set speed before starting overtaking of the target vehicle for a predetermined distance or time. .. For example, as described in the scenario of FIG. 4A, the control device 2 satisfies the return condition even if the vehicle travels in the lane 201 at a speed of 85 km / h after the traveling continuation condition is no longer satisfied. The vehicle 1 is moved to the lane 201.

<Summary of embodiments>
<Item 1>
The control device (2) of the vehicle (1),
An environment detection unit (41 to 43) that detects the surrounding environment of the vehicle, and
A traveling control unit (20) that controls speed or steering based on the surrounding environment, and
Equipped with
The traveling control unit is
It is determined whether or not the first condition for starting the operation of overtaking the preceding vehicle (203) in the first lane in which the vehicle is traveling is satisfied (S501).
When it is determined that the first condition is satisfied, the vehicle moves from the first lane to the second lane adjacent to the first lane (S502).
After the vehicle has moved to the second lane, it is determined whether or not the second condition based on the situation of the first lane is satisfied (S503).
When it is determined that the second condition is satisfied, the vehicle moves to the first lane (S506).
When it is determined that the second condition is not satisfied, the control device continues to travel in the second lane (S504).
According to this item, it is possible to suppress an excessive lane change in the overtaking operation.
<Item 2>
When the vehicle moves to the second lane and determines that the second condition is not satisfied, the travel control unit keeps the second lane while satisfying the third condition based on the situation of the second lane. The control device according to item 1, which keeps traveling.
According to this item, the vehicle can continue to drive in the adjacent lane while satisfying a predetermined condition.
<Item 3>
The control device according to item 2, wherein the traveling control unit moves to the first lane when it is determined that the third condition is not satisfied and the second condition is satisfied.
According to this item, it is possible to prevent the vehicle from traveling in an adjacent lane more than necessary.
<Item 4>
The control device according to item 2 or 3, wherein the traveling control unit requests the driver to change driving when it is determined that the third condition is not satisfied and the second condition is not satisfied (S507).
According to this item, it is possible to prevent the driver from traveling in the adjacent lane more than necessary by operating the driver.
<Item 5>
Item 2. The item 2 to 4, wherein the traveling control unit relaxes the second condition when it is determined that the second condition is not satisfied and then the third condition is not satisfied. Control device.
According to this item, it becomes easier to move to the original lane when the vehicle cannot drive in the adjacent lane.
<Item 6>
The third condition includes items 2 to 5 that the distance traveled by the vehicle in the second lane is within the threshold distance or the time traveled by the vehicle in the second lane is within the threshold time. The control device according to any one of the above items.
According to this item, you can drive in the adjacent lane so as to comply with the regulations.
<Item 7>
The control device according to any one of items 2 to 6, wherein the third condition includes a condition relating to a preceding vehicle (302) of the vehicle in the second lane.
According to this item, if the vehicle catches up with the preceding vehicle, it can move to the original lane.
<Item 8>
The control device according to any one of items 2 to 7, wherein the third condition includes a condition relating to a vehicle following the vehicle (304) in the second lane.
According to this item, if the following vehicle catches up, the vehicle can move to the original lane.
<Item 9>
The control device according to any one of items 1 to 8, wherein the second condition includes being able to travel in the first lane at a set speed before starting overtaking of the preceding vehicle.
According to this item, the set speed can be maintained before and after the overtaking operation.
<Item 10>
Item 9. The control device according to item 9, wherein the set speed is set according to the traveling environment of the vehicle.
According to this item, the set speed is set appropriately.
<Item 11>
The control device according to item 9 or 10, wherein the set speed can be changed by the driver.
According to this item, the set speed can be changed at the driver's will.
<Item 12>
A vehicle (1) having the control device (2) according to any one of items 1 to 11.
According to this item, the above items are provided in the form of a vehicle.
<Item 13>
A program for operating a computer as a control device according to any one of items 1 to 11.
According to this item, the above items are provided in the form of a program.

The invention is not limited to the above embodiment, and various modifications and changes can be made within the scope of the gist of the invention.

1 vehicle, 2 controls, 201 lanes, 202 lanes

Claims (10)

It ’s a vehicle control device.
An environment detection unit that detects the surrounding environment of the vehicle, and
A traveling control unit that controls speed or steering based on the surrounding environment,
Equipped with
The traveling control unit is
It is determined whether or not the overtaking start condition for starting the operation of overtaking the preceding vehicle in the first lane in which the vehicle is traveling is satisfied.
When it is determined that the overtaking start condition is satisfied, the vehicle moves from the first lane to the second lane adjacent to the first lane.
After the vehicle has moved to the second lane, to determine whether the basis of the status of the first lane, satisfies the first return condition for returning to the first lane from the second lane,
If it is determined that the first return condition is satisfied, the vehicle moves to the first lane and moves to the first lane.
When it is determined that the first return condition is not satisfied, the vehicle continues to drive in the second lane while the driving continuation condition for continuing the driving in the second lane is satisfied based on the situation of the second lane. ,
When it is determined that the driving continuation condition is not satisfied while driving in the second lane, the driving continuation condition is not satisfied.
It is determined whether or not the second return condition for returning from the second lane to the first lane is satisfied.
If it is determined that the second return condition is satisfied, the vehicle moves to the first lane and moves to the first lane.
The first return condition is a return speed condition that the vehicle can travel in the first lane at a set speed before the vehicle starts overtaking the preceding vehicle.
The second return condition is a condition in which the return speed condition is relaxed , that is, a control device. The control device according to claim 1 , wherein the traveling control unit requests the driver to change driving when it is determined that the traveling continuation condition is not satisfied and the second return condition is not satisfied. The traveling continuation condition includes claim 1 or that the distance traveled by the vehicle in the second lane is within the threshold distance or the time traveled by the vehicle in the second lane is within the threshold time. 2. The control device according to 2. The control device according to any one of claims 1 to 3 , wherein the traveling continuation condition includes a condition relating to a preceding vehicle traveling in front of the own vehicle in the second lane. The control device according to any one of claims 1 to 4 , wherein the traveling continuation condition includes a condition relating to a following vehicle traveling behind the own vehicle in the second lane. The overtaking start condition is
The speed of the preceding vehicle traveling in front of the own vehicle in the first lane is slower than the speed of the own vehicle by a predetermined speed or more.
It is expected that the own vehicle will catch up with the preceding vehicle within a predetermined time, and
There are no vehicles running in the second lane around the vehicle, and
The speed of the vehicle traveling in the second lane in front of the own vehicle is faster than the speed of the own vehicle by a predetermined speed or more.
Do not reach the planned route change point within the specified distance or time,
The control device according to any one of claims 1 to 5 , which comprises at least one of. The control device according to any one of claims 1 to 6, wherein the set speed is set according to the traveling environment of the vehicle. The control device according to any one of claims 1 to 7, wherein the set speed can be changed by the driver. A vehicle having the control device according to any one of claims 1 to 8. A program for operating a computer as the control device according to any one of claims 1 to 8.

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