Drive assist device
A drive assist device includes: a surrounding situation recognition unit that recognizes a surrounding situation including a traveling state of another vehicle around the target vehicle; a traveling route acquisition unit that acquires a traveling route on which the target vehicle travels based on the traveling state of the target vehicle and the surrounding situation; and a lane change proposing unit. The lane change proposing unit proposes, to an occupant, a lane change to the lane for the low-speed vehicle as compared with the lane on which the target vehicle is traveling, when the lane mismatch condition indicating that the selection of the lane on which the target vehicle is traveling is a mismatch in light of the surrounding situation is satisfied, based on the relative speed of the other vehicle with respect to the target vehicle.
1 . A drive assist device comprising:
a processor; and
a memory storing executable instructions that cause the processor to:
acquire host vehicle speed information indicating a host-vehicle speed detected by a host vehicle speed sensor provided on the host vehicle;
acquire a host-vehicle traveling state information indicating a traveling state of a host vehicle from an internal sensor provided on the host vehicle, the host-vehicle traveling state information including the host vehicle speed information;
acquire surrounding situation information from an external sensor mounted on the host vehicle, the surrounding situation information including other-vehicle traveling state information indicating the traveling state of another vehicle around the host vehicle, the other-vehicle traveling state information including a relative speed of the other vehicle with respect to the host vehicle speed;
acquire a traveling route on which the host vehicle travels based on the host-vehicle traveling state information and the surrounding situation information;
determine whether a lane mismatch condition is satisfied based a comparison of the relative speed of the other vehicle and the host vehicle speed, the lane mismatch condition indicating there is a mismatch between a selected travel lane in which the host vehicle is traveling in light of the surrounding situation information;
output a visual or an audio notification to an occupant of the host vehicle to suggest changing the selected travel lane of the host vehicle to a slower traffic lane for traffic traveling slower than in the selected travel lane; and
control the host vehicle to change to the slow traffic lane in response to the occupant approving the visual or audio notification suggesting the changing from the selected travel lane to the slower traffic lane, wherein
the lane mismatch condition is satisfied in a case where
the other vehicle is initially traveling behind the host vehicle in the selected travel lane of the host vehicle and changes to the slower traffic travel lane before passing the host vehicle; or
a predetermined number of other vehicles initially traveling behind the host vehicle in the slower traffic travel lane pass the host vehicle.
2 . The drive assist device according to claim 1 , wherein the executable instructions further cause the processor to
not output the visual or the audio notification to suggest changing to the slower traffic lane when the lane mismatch condition is satisfied and the surrounding situation corresponds to a predetermined lane-change notification cancellation situation.