Computation apparatus and vehicle
An on-vehicle computation apparatus, comprising a first detection unit configured to detect a travelable route on which a self-vehicle is travelable, a second detection unit configured to detect a driving operation input to the self-vehicle, the driving operation including a steering operation, a steering assist unit configured to assist the steering operation so that the self-vehicle travels along the travelable route detected by the first detection unit, a specification unit configured to specify one of two or more travelable routes based on the driving operation, when the two or more travelable routes are detected by the first detection unit, and a control unit configured to control the steering assist unit and to, when the two or more travelable routes are detected by the first detection unit, suppress the assist by the steering assist unit until one of the two or more travelable routes is specified by the specification unit.
1 . An on-vehicle computation apparatus comprising at least one processor circuit with a memory comprising instructions that cause, when executed, the at least one processor circuit to perform at least:
a first detection of detecting a travelable route on which a self-vehicle is travelable;
a second detection of detecting a driving operation input to the self-vehicle, the driving operation including a steering operation;
a steering assist of assisting the steering operation so that the self-vehicle travels along the travelable route detected by the first detection;
a specification of specifying one of two or more travelable routes based on the driving operation, when the two or more travelable routes are detected by the first detection; and
a control of controlling the steering assist and to, when the two or more travelable routes are detected by the first detection, suppress the assist by the steering assist until one of the two or more travelable routes is specified by the specification.
2 . The computation apparatus according to claim 1 , wherein
the driving operation further includes a direction indication operation using a direction indicator of the self-vehicle, and
the specification specifies one of the two or more travelable routes based on the direction indication operation.
3 . The computation apparatus according to claim 1 , wherein
the control sets a period during which the assist by the steering assist is suppressed as a first predetermined period, and
after the first predetermined period elapses, the specification specifies one of the two or more travelable routes, and the control resumes the assist by the steering assist so that the self-vehicle travels along the specified travelable route.
4 . The computation apparatus according to claim 1 , wherein
the steering assist varies an assist amount of the steering operation, and
the control suppresses the assist by the steering assist so that the assist amount decreases with time.
5 . The computation apparatus according to claim 1 , wherein
the first detection detects the two or more travelable routes based on a road sign and/or a road marking.
6 . The computation apparatus according to claim 1 , wherein
the first detection detects the two or more travelable routes based on a lane width in which the self-vehicle travels.
7 . The computation apparatus according to claim 1 , wherein
the first detection detects the two or more travelable routes based on a traveling mode of one or more preceding vehicles traveling in front of the self-vehicle.
8 . The computation apparatus according to claim 1 , wherein
the first detection detects the two or more travelable routes by detecting two or more order gates in a drive-through.
9 . The computation apparatus according to claim 8 , wherein
the control does not suppress the assist by the steering assist based on the order gate.
10 . The computation apparatus according to claim 1 , wherein
the first detection detects the two or more travelable routes by detecting an intersection.
11 . The computation apparatus according to claim 10 , wherein
when the intersection is an annular intersection, the control resumes the assist by the steering assist after the self-vehicle passes through the annular intersection.
12 . The computation apparatus according to claim 1 , wherein
the first detection detects the two or more travelable routes by detecting a left-turn channel.
13 . The computation apparatus according to claim 12 , wherein
the control resumes the assist by the steering assist after the self-vehicle passes through the left-turn channel.
14 . A vehicle comprising:
the computation apparatus according to claim 1 ; and
a monitoring device configured to monitor a traveling environment of the self-vehicle.