WO2021111626A1

WO2021111626A1 - Vehicle and control device for same

Info

Publication number: WO2021111626A1
Application number: PCT/JP2019/047891
Authority: WO
Inventors: 拓真小林; 大智加藤; 望廣澤; 佳史中村
Original assignee: 本田技研工業株式会社
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2021-06-10

Abstract

This vehicle control device is provided with: an environment detection unit which detects the surrounding environment of the vehicle; a travel control unit which is capable of performing automatic travel control based on the surrounding environment; and an indication control unit which controls whether a hazard light of the vehicle is on or off. The automatic travel control includes: first control to perform a lane-changing action wherein the vehicle changes lanes from a first lane in which the vehicle is traveling to a second lane which is adjacent to the first lane; and second control to perform steering control within the first lane. The travel control unit switches from the first control to the second control when a first condition, including detection of an event for which the hazard light is turned on, is met during the first control.

Description

Vehicle and its control device

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

Autonomous driving technology has been put into practical use. In the technique proposed in Patent Document 1, when the operating condition of the deceleration control unit and the operating condition of the lane change control unit are satisfied at the same time, at least a part of the control by the deceleration control unit is restricted. In this way, in a situation where deceleration control and lane change control interfere with each other, the aim is to advance the vehicle toward the lane in which it should originally travel.

Japanese Unexamined Patent Publication No. 2019-0433364

It is stipulated by law that a signal must be given by a turn signal when starting a lane change, and the signal must be continued until the lane change is completed. Suppose an event occurs that turns on the hazard lights while the vehicle is automatically making vehicle changes. If the vehicle turns on the hazard lamp in response to this event, the signal to change lanes by the turn signal will end, which is a violation of the law. A part of the present invention is aimed at providing an advantageous technique for complying with laws and regulations regarding lane change.

In some embodiments, the vehicle control device includes an environment detection unit that detects the surrounding environment of the vehicle, a travel control unit that can execute automatic driving control based on the surrounding environment, and an emergency display of the vehicle. A display control unit for controlling the on / off of the light is provided, and the automatic driving control performs a lane change operation from the first lane in which the vehicle is traveling to the second lane adjacent to the first lane. The travel control unit detects an event in which the emergency indicator light is turned on while the first control is being executed, including a first control and a second control that performs steering control in the first lane. A control device for switching from the first control to the second control when the first condition including the above is satisfied is provided.

By the above means, the law regarding lane change can be complied with.

Other features and advantages of the present invention will be clarified by the following description with reference to the accompanying drawings. In the attached drawings, the same or similar configurations are designated by the same reference numbers.

The accompanying drawings are included in the specification and are used to form a part thereof, show embodiments of the present invention, and explain the principles of the present invention together with the description thereof.
The block diagram explaining the configuration example of the vehicle which concerns on embodiment. The schematic diagram explaining the scenario of the lane change operation in Embodiment. The schematic diagram explaining the scenario of the lane change operation in Embodiment. The schematic diagram explaining the scenario of the lane change operation in Embodiment. The flow diagram explaining the operation example of the control apparatus 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 attached drawings. 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. Further, the same or similar configuration will be given the same reference number, and duplicate description 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 steering of the vehicle 1 and acceleration / deceleration is automatically controlled. In the control example described later, both steering and acceleration / deceleration 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 that detect 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. Be done. 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 Ringing) (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 at each corner of the front portion of the vehicle 1, one at the center of the rear portion, and one at each side of the rear portion. 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 portion of the vehicle 1, one in each corner of the front portion, and one in each corner of the rear portion.

The ECU 22 controls one of the cameras 41 and each rider 42 and processes 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 that detect the surrounding conditions of the vehicle, the reliability of the detection results can be improved, and by equipping different types of detection units such as cameras, riders, and radar, the surrounding environment of the vehicle can be analyzed. 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, or the vehicle speed detected by the vehicle speed sensor 7c. 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 light device (head light, tail light, etc.) including a direction indicator 8 (winker). In the case of the example of FIG. 1, the direction indicator 8 is provided at the front portion, the door mirror, and the rear portion of the vehicle 1. The direction indicator 8 is also used as an emergency indicator lamp (so-called hazard lamp). The ECU 27 controls the on / off of the emergency indicator light. As an example, the ECU 27 turns on the emergency indicator light by blinking both the left and right turn signals 8. The ECU 27 turns off the emergency indicator light by turning off both the left and right turn signals 8.

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. In addition, 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 voices, displays, vibrations, and lights. 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 a voice input device may also be included.

The ECU 29 controls the braking 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 applying 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, this can be operated to maintain the stopped state of the vehicle 1.

With reference to FIGS. 2A to 2C, various scenarios of lane change 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 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. As a part of this automatic driving control, the control device 2 controls to change the lane from the lane in which the vehicle 1 is traveling to the lane adjacent to the lane (hereinafter referred to as lane change control), and the vehicle 1 It includes control that performs steering control in the lane in which the vehicle is traveling (hereinafter referred to as lane keeping control).

The lane change control may be a lane change started by the driver of the vehicle 1 or a lane change started by the control device 2. In the lane change started by the driver of the vehicle 1, the lane change is executed by the control device 2 automatically controlling the steering and acceleration / deceleration in response to the lane change instruction from the driver. In the lane change started by the control device 2, the lane change is executed by the control device 2 determining the timing of the lane change by itself and automatically controlling the steering and acceleration / deceleration.

The lane keeping control may be a control for keeping the vehicle 1 near the center of the lane (so-called lane keeping support system), or keeps the vehicle 1 in the lane when the vehicle 1 is about to deviate from the lane. It may be control (so-called off-road deviation suppression function). The control device 2 detects a lane marking that defines the lane in which the vehicle 1 is traveling based on the front image acquired by the imaging device (for example, the camera 41) of the vehicle 1, and determines the vehicle 1 based on the lane marking. You may perform lane keeping control to keep in the lane. The control device 2 may exclusively execute the lane change control and the lane keeping control. That is, the lane change control is not executed while the lane change control is being executed, and the lane change control is not executed while the lane change control is being executed.

The scenario shown in FIG. 2A will be described. Vehicle 1 is traveling in lane 201 by automatic driving. In this automatic driving, the control device 2 is executing lane keeping control. At position 211, vehicle 1 begins lane change to lane 202 adjacent to lane 201. Lane 201 may be the driving lane of the highway, and lane 202 may be the overtaking lane of the highway. The lane 201 and the lane 202 are separated by a lane marking 203 (for example, a white line). With the start of the lane change of the vehicle 1, the control device 2 ends the lane keeping control and starts the lane change control. Further, the control device 2 turns on the turn signal 8 on the lane side (right side in this scenario) of the change destination.

At position 212, the control device 2 detects an event that turns on the emergency indicator light. This event is, for example, the driver pressing a hazard switch. At position 212, vehicle 1 has not yet reached lane 203 (ie, the entire vehicle 1 remains in lane 201). Therefore, the control device 2 ends the lane change control and starts the lane keeping control. Further, the control device 2 turns on the emergency indicator light. As a result, the vehicle 1 travels in the original lane 201 with the emergency indicator light on. Since the emergency indicator light does not turn on during the lane change (that is, when the vehicle 1 straddles the lane 203), the vehicle 1 does not violate the law.

The scenario shown in FIG. 2B will be described. Vehicle 1 is traveling in lane 201 by automatic driving. In this automatic driving, the control device 2 is executing lane keeping control. At position 221 the vehicle 1 begins lane change to lane 202 adjacent to lane 201. With the start of the lane change of the vehicle 1, the control device 2 ends the lane keeping control and starts the lane change control. Further, the control device 2 turns on the turn signal 8 on the lane side (right side in this scenario) of the change destination.

At position 222, the control device 2 detects an event that turns on the emergency indicator light. At position 222, vehicle 1 straddles lane 203. Therefore, the control device 2 continues the lane change control without turning on the emergency indicator light. After that, at the position 223, when the vehicle 1 crosses the lane marking 203, the control device 2 ends the lane change control and starts the lane keeping control. Further, the control device 2 turns on the emergency indicator light after the lane change control is completed (that is, after the lane change is completed). As a result, the vehicle 1 travels in the changed lane 202 with the emergency indicator light on. Since the emergency indicator light does not turn on during the lane change (that is, when the vehicle 1 straddles the lane 203), the vehicle 1 does not violate the law.

The scenario shown in FIG. 2C will be described. The vehicle 1 is automatically driving in the lane 202 with the emergency indicator light on. In this automatic driving, the control device 2 is executing lane keeping control. Lane 202 is assumed to be the overtaking lane of the highway. Therefore, it is prohibited by law that the vehicle 1 travels in the lane 202 for a predetermined distance (for example, 2 km) or more. It is assumed that the vehicle 1 travels in the lane 202 for 2 km at the position 231. Therefore, the control device 2 ends the lane keeping control and starts the lane change control for changing the lane from the lane 202 to the lane 201. Along with this, the control device 2 turns off the emergency indicator light and turns on the turn signal 8 on the lane side (left side in this scenario) of the change destination. When the vehicle 1 crosses the lane marking 203, the control device 2 ends the lane change control and starts the lane keeping control. Further, the control device 2 turns on the emergency indicator light again. As a result, the vehicle 1 travels in the changed lane 201 with the emergency indicator light on. Since the emergency indicator light does not turn on during the lane change (that is, when the vehicle 1 straddles the lane 203), the vehicle 1 does not violate the law.

An example of the operation method of the control device 2 will be described with reference to FIG. The operation of FIG. 3 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 operations of FIG. 3 may be performed by dedicated circuits (eg, ASICs (application specific integrated circuits) or FPGAs (field programmable gate arrays)). The method of FIG. 3 may be started when the automatic operation is instructed in a state where the control device 2 can automatically control the steering. Further, the method of FIG. 3 may be terminated when the control device 2 is no longer in a state where steering can be automatically controlled, or when an instruction to end automatic operation is given.

In step S301, the control device 2 starts lane keeping control. At this point, it is assumed that the emergency indicator light is off and the turn signal 8 (winker) is also off. In step S302, the control device 2 determines whether or not to execute lane change control. The control device 2 transitions the process to step S303 when the lane change control should be executed (“YES” in step S302), and transitions the process to step S310 in other cases (“NO” in step S302). .. As described above, the lane change control may be started at the driver start or at the system start. At the time of system start, the control device 2 may determine that lane change control should be executed, for example, when overtaking the preceding vehicle, or execute lane change control in order to head for a branch to the destination. You may decide that it should be.

Since the control device 2 should execute the lane change in step S303, the lane keeping control is ended and the lane change control is started. Specifically, the control device 2 turns on the direction indicator 8 on the lane to be changed, and starts moving toward the lane to be changed after a certain period of time (for example, 3 seconds) has elapsed.

In step S304, the control device 2 determines whether or not the lane change is completed. The control device 2 transitions the process to step S301 when the lane change is completed (“YES” in step S304), and transitions the process to step S305 in other cases (“NO” in step S304). For example, the control device 2 determines that the lane change is completed when the vehicle 1 completely crosses the lane marking (for example, the lane marking 203), and ends the lane change control. With the end of the lane change control, the control device 2 turns off the turn signal 8. After that, in step S301, the control device 2 starts lane keeping control in the changed lane.

When "NO" in step S304, the control device 2 is executing lane change control. In this state, in Tep S305, the control device 2 determines whether or not a hazard event has been detected. When the control device 2 detects a hazard event (“YES” in step S305), the control device 2 transitions the process to step S306, and in other cases (“NO” in step S305), the control device 2 transitions the process to step S304. A hazard event is an event that turns on the emergency indicator light. For example, the hazard event may include at least one of an event instructing the driver of the vehicle 1 to turn on the emergency indicator light and an event based on the running state of the vehicle 1. For example, a hazard event may occur when the driver of the vehicle 1 presses the hazard switch. Further, a hazard event may occur when the vehicle 1 suddenly decelerates (for example, decelerates beyond a threshold value). If "NO" in step S305 (ie, no hazard event is detected), the controller 2 continues lane change control.

If "YES" (that is, a hazard event is detected) in step S305, the control device 2 determines whether to stop or continue the lane change control based on the degree of change in the lane change. Specifically, in step S306, the control device 2 determines whether or not the progress of the lane change is less than a predetermined degree. The control device 2 transitions the process to step S307 when the progress of the lane change is less than a predetermined degree (“YES” in step S306), and performs the process in other cases (“NO” in step S306). The transition to step S308. The fact that the progress of the lane change is less than a predetermined degree may include that the vehicle 1 is in the lane before the change. In other words, this condition may include that the vehicle 1 is within a detected lane marking (eg, lane marking 203) with an adjacent lane, i.e., has not reached this lane marking. Instead, the fact that the progress of the lane change is less than a predetermined degree may include that the elapsed time from the start of the lane change is less than the threshold time.

If "YES" in step S306 (that is, the progress of lane change is less than the threshold value), the control device 2 switches from lane change control to lane keeping control in step S307. This is the scenario described in FIG. 2A above. In this way, the control device 2 changes from the lane change control to the lane keeping control when the condition including the detection of the hazard event (hereinafter referred to as the lane change canceling condition) is satisfied during the lane change control. Switch to. Further, in the example of FIG. 3, the lane change canceling condition includes, as a logical product, that the progress of the lane change is less than a predetermined degree.

If "NO" in step S306 (that is, the progress of the lane change is equal to or higher than the threshold value), the control device 2 continues the lane change control. Then, in step S308, the control device 2 determines whether or not the lane change is completed. The control device 2 transitions the process to step S309 when the lane change is completed (“YES” in step S308), and repeats step S308 in other cases (“NO” in step S308). As described above, the control device 2 continues the lane change control until the lane change is completed when the progress of the lane change is larger than the predetermined degree while the lane change control is being executed. When the lane change is completed, the control device 2 ends the lane change control. Along with this, the control device 2 turns off the turn signal 8. This is the scenario described in FIG. 2B above.

When the lane change is completed, in step S309, the control device 2 starts lane keeping control. Further, since the hazard event was detected in step S305, the control device 2 turns on the emergency indicator light in step S311. The control device 2 may decelerate the vehicle 1 when the emergency indicator light is turned on. As described above, since the emergency indicator light is turned on in step S311 after the hazard event is detected in step S305, a time lag occurs. Therefore, when the hazard event is detected, the control device 2 may notify the driver that the emergency indicator light is turned on after the lane change is completed.

After the end of step S311, the control device 2 is executing the lane keeping control with the emergency indicator light on. Therefore, in step S312, the control device 2 suppresses the execution of the lane change control. Specifically, the control device 2 does not execute the lane change control even if the condition that the lane change should be started in step S302 is satisfied. In this way, the control device 2 suppresses the execution of the lane change control when the condition including the detection of the hazard event (hereinafter referred to as the lane change suppression condition) is satisfied during the execution of the lane keeping control. To do. Further, the control device 2 continues the lane keeping control when the lane change suppressing condition is satisfied during the lane keeping control.

In step S313, the control device 2 determines whether or not the hazard event has been resolved. The control device 2 transitions the process to step S314 when the hazard event is resolved (“YES” in step S313), and repeats step S313 in other cases (“NO” in step S313).

When the hazard event is resolved, the control device 2 turns off the emergency indicator light in step S314, and releases the suppression of the lane change control in step S315. Since this enables lane change control, the control device 2 determines in step S302 whether or not to start the lane change.

If "NO" is set in step S302 described above, that is, if the lane change should not be started (continuing to drive in the current lane) while lane keeping control is being executed, step S310 is executed. In step S310, the control device 2 determines whether or not a hazard event has been detected. When the control device 2 detects a hazard event (“YES” in step S310), the control device 2 transitions the process to step S311, and in other cases (“NO” in step S310), the control device 2 transitions the process to step S302. If no hazard event is detected, the control device 2 continues running with the emergency indicator light turned off. When the hazard event is detected, since the lane change is not being executed, the control device 2 immediately executes step S311 and turns on the emergency indicator light.

As described above, the control device 2 does not turn on the emergency indicator light while executing the lane change control. Therefore, the control device 2 can turn on the direction indicator 8 while executing the lane change control, and the vehicle 1 can comply with the law.

In the method of FIG. 3, while the emergency indicator light is on, the execution of the lane change control is suppressed because the lane change is not performed without giving a signal by the direction indicator 8. However, as described in the scenario of FIG. 2C, another decree may require a lane change. Therefore, even while the emergency indicator light is on, if a predetermined condition such as compliance with other laws and regulations is satisfied, the control device 2 temporarily turns off the emergency indicator light and executes a lane change. .. The specific method will be described with reference to FIG. The method of FIG. 4 is executed while waiting for the resolution of the hazard event in step S313 of FIG. Therefore, at the start of the method of FIG. 4, the emergency indicator light is on and lane keeping control is being executed.

In step S401, the control device 2 determines whether or not to execute lane change control. The control device 2 transitions the process to step S402 when the lane change control should be executed (“YES” in step S401), and repeats step S401 in other cases (“NO” in step S401). The condition for determining that the lane change control should be executed in step S401 may be stricter than the condition for determining that the lane change control should be executed in step S302. For example, the condition for determining that the lane change control should be executed in step S401 may be a condition related only to legal compliance. For example, this condition may include traveling in the overtaking lane for a predetermined distance or a predetermined time.

In step S402, the control device 2 turns off the emergency indicator light. In step S403, the control device 2 ends the lane keeping control and starts the lane change control. Along with this, the control device 2 turns on the direction indicator 8 on the lane side of the change destination.

In step S404, the control device 2 determines whether or not the lane change is completed. The control device 2 transitions the process to step S405 when the lane change is completed (“YES” in step S404), and repeats step S404 in other cases (“NO” in step S404). When the lane change is completed, in step S405, the control device 2 turns on the emergency indicator light. In step S406, the control device 2 resumes lane keeping control.

In this way, even during a hazard event, the control device 2 executes a lane change in order to comply with laws and regulations regarding overtaking lane driving. Further, since the emergency indicator light is turned off during the lane change, the vehicle 1 can comply with the law concerning the lane change.

<Summary of Embodiment>
<Item 1>
The control device (2) of the vehicle (1)
An environment detection unit (20) that detects the surrounding environment of the vehicle, and
A driving control unit (20) capable of executing automatic driving control based on the surrounding environment, and
A display control unit (27) that controls the on / off of the emergency indicator light (8) of the vehicle, and
With
The automatic driving control is
The first control for changing lanes from the first lane (201) in which the vehicle is traveling to the second lane adjacent to the first lane (202).
Including a second control that performs steering control in the first lane,
The travel control unit performs the first control to the second control when the first condition including the detection of the event of turning on the emergency indicator light is satisfied during the execution of the first control. Control device to switch to.
According to this item, it is possible to prevent the emergency indicator light from being turned on during the lane change and violating the law regarding the lane change signal.
<Item 2>
The control device according to item 1, wherein the first condition further includes that the progress of the lane change operation is less than a predetermined degree.
According to this item, the lane change can be appropriately stopped according to the progress of the lane change.
<Item 3>
The environment detection unit detects the lane marking that defines the first lane based on the front image acquired by the image pickup device of the vehicle.
The progress of the lane change operation is less than the predetermined degree, including that the vehicle is in the first lane or in the detected lane marking.
When the progress of the lane change operation is greater than the predetermined degree during the execution of the first control, the travel control unit continues the first control until the lane change operation is completed. 2. The control device according to 2.
According to this item, the lane change can be stopped when the vehicle is in the lane before the change. Also, even if the emergency indicator light should be turned on, lane change can be prioritized.
<Item 4>
The control device according to item 3, wherein the display control unit turns on the emergency indicator light after the first control is completed.
According to this item, the emergency indicator light is turned on when it does not violate the law regarding lane change signals.
<Item 5>
The control device (2) of the vehicle (1)
An environment detection unit (20) that detects the surrounding environment of the vehicle, and
A driving control unit (20) capable of executing automatic driving control based on the surrounding environment, and
A display control unit (27) that controls the on / off of the emergency indicator light (8) of the vehicle, and
With
The automatic driving control is
The first control for changing lanes from the first lane (201) in which the vehicle is traveling to the second lane adjacent to the first lane (202).
Including a second control that performs steering control in the first lane,
The travel control unit suppresses the execution of the first control when the second condition including the detection of the event of turning on the emergency indicator light is satisfied during the execution of the second control. , A control device that continues the second control.
According to this item, it is possible to prevent the lane change from being executed while the emergency indicator light is on. In addition, lane keeping control can be executed while turning on the emergency indicator light.
<Item 6>
The environment detection unit detects the lane marking (203) defining the first lane based on the front image acquired by the image pickup device of the vehicle.
The control device according to any one of items 1 to 5, wherein the second control includes a lane keeping control for maintaining the vehicle in the first lane based on the lane marking.
According to this item, lane keeping is performed based on the lane markings.
<Item 7>
The control device according to any one of items 1 to 6, wherein the display control unit does not turn on the emergency indicator light while the travel control unit is executing the first control.
According to this item, since the emergency indicator light is off while changing lanes, the turn signal can be turned on according to the law.
<Item 8>
The item 1 to 7, wherein the lane change operation in the first control includes a lane change operation started by the driver of the vehicle and a lane change operation started by the travel control unit. The control device described in.
According to this item, it is possible to comply with the laws and regulations regarding lane change signals against various lane change start factors.
<Item 9>
The event for turning on the emergency indicator light includes at least one of an event instructing the driver of the vehicle to turn on the emergency indicator light and an event based on the running state of the vehicle. , The control device according to any one of items 1 to 8.
According to this item, it is possible to comply with laws and regulations regarding lane change signals for various events.
<Item 10>
When the vehicle is traveling in the overtaking lane for a predetermined distance or a predetermined time while the execution of the first control is suppressed and the second control is being executed, the display control unit displays the emergency display. The control device according to any one of items 1 to 9, wherein the light is turned off and the traveling control unit executes the first control.
According to this item, the law regarding overtaking lanes can be further complied with.
<Item 11>
The control device according to any one of items 1 to 10, wherein the traveling control unit decelerates the vehicle when the emergency indicator light is turned on.
This item makes it easier for the driver to respond to hazard events.
<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 item can be realized as 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 item can be realized as 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.

Claims

It ’s a vehicle control device.
An environment detection unit that detects the surrounding environment of the vehicle and
A driving control unit that can execute automatic driving control based on the surrounding environment,
A display control unit that controls the on / off of the emergency indicator light of the vehicle,
With
The automatic driving control is
The first control that performs a lane change operation from the first lane in which the vehicle is traveling to the second lane adjacent to the first lane.
Including a second control that performs steering control in the first lane,
The travel control unit performs the first control to the second control when the first condition including the detection of the event of turning on the emergency indicator light is satisfied during the execution of the first control. Control device to switch to.
The control device according to claim 1, wherein the first condition further includes that the progress of the lane change operation is less than a predetermined degree.
The environment detection unit detects the lane marking that defines the first lane based on the front image acquired by the image pickup device of the vehicle.
The progress of the lane change operation is less than the predetermined degree, including that the vehicle is in the first lane or in the detected lane marking.
A claim that the traveling control unit continues the first control until the lane change operation is completed when the progress of the lane change operation is greater than the predetermined degree during the execution of the first control. Item 2. The control device according to item 2.
The control device according to claim 3, wherein the display control unit turns on the emergency indicator light after the first control is completed.
It ’s a vehicle control device.
An environment detection unit that detects the surrounding environment of the vehicle and
A driving control unit that can execute automatic driving control based on the surrounding environment,
A display control unit that controls the on / off of the emergency indicator light of the vehicle,
With
The automatic driving control is
The first control that performs a lane change operation from the first lane in which the vehicle is traveling to the second lane adjacent to the first lane.
Including a second control that performs steering control in the first lane,
The travel control unit suppresses the execution of the first control when the second condition including the detection of the event of turning on the emergency indicator light is satisfied during the execution of the second control. , A control device that continues the second control.
The environment detection unit detects the lane marking that defines the first lane based on the front image acquired by the image pickup device of the vehicle.
The control device according to any one of claims 1 to 5, wherein the second control includes a lane keeping control for maintaining the vehicle in the first lane based on the lane marking.
The control device according to any one of claims 1 to 6, wherein the display control unit does not turn on the emergency indicator light while the travel control unit is executing the first control.
The lane change operation in the first control includes any one of claims 1 to 7, including a lane change operation started by the driver of the vehicle and a lane change operation started by the travel control unit. The control device according to the section.
The event for turning on the emergency indicator light includes at least one of an event instructing the driver of the vehicle to turn on the emergency indicator light and an event based on the running state of the vehicle. , The control device according to any one of claims 1 to 8.
When the vehicle is traveling in the overtaking lane for a predetermined distance or a predetermined time while the execution of the first control is suppressed and the second control is being executed, the display control unit displays the emergency display. The control device according to any one of claims 1 to 9, wherein the light is turned off and the traveling control unit executes the first control.
The control device according to any one of claims 1 to 10, wherein the traveling control unit decelerates the vehicle when the emergency indicator light is turned on.
A vehicle having the control device according to any one of claims 1 to 11.
A program for operating a computer as a control device according to any one of claims 1 to 11.