Vehicle control device and vehicle control method
A technique for a vehicle configured to execute automated driving without monitoring obligation is described. A traveling environment of the vehicle is specified. Parallel-traveling avoiding control is executed based on the traveling environment specified by the traveling environment specifying unit during the automated driving without monitoring obligation. The parallel-traveling avoiding control is travel control of the vehicle to avoid a parallel traveling state in which the vehicle and an adjacent vehicle traveling in an adjacent lane adjacent to a traveling lane of the vehicle travel in parallel.
1 . A vehicle control device configured to be used in a subject vehicle configured to execute automated driving without monitoring obligation, the automated driving without monitoring obligation being automated driving in which there is no obligation of surrounding monitoring, the vehicle control device comprising:
at least one processor; and
at least one memory storing a program configured to, when executed by the at least one processor, cause the at least one processor to:
specify a traveling environment of the subject vehicle; and
execute parallel-traveling avoiding control based on the traveling environment specified by the at least one processor during the automated driving without monitoring obligation, the parallel-traveling avoiding control being travel control of the subject vehicle to avoid a parallel traveling state in which the subject vehicle and an adjacent vehicle travel in parallel, the adjacent vehicle traveling in an adjacent lane adjacent to a traveling lane of the subject vehicle, wherein
the at least one processor is configured to execute at least one of longitudinal controls as the parallel-traveling avoiding control, the longitudinal controls including control for decreasing an inter-vehicle distance between the subject vehicle and a preceding vehicle traveling ahead of the vehicle, control for increasing the inter-vehicle distance between the subject vehicle and the preceding vehicle, control for accelerating the subject vehicle, and control for decelerating the subject vehicle,
the automated driving without monitoring obligation includes congestion-only automated driving in which the automated driving without monitoring obligation is permitted only during traffic congestion,
the longitudinal controls include forward controls and backward controls,
the forward controls include the control for decreasing the inter-vehicle distance between the subject vehicle and the preceding vehicle, and the control for accelerating the subject vehicle,
the backward controls include the control for increasing the inter-vehicle distance between the subject vehicle and the preceding vehicle, and the control for decelerating the subject vehicle, and
the at least one processor is configured to execute at least one of the forward controls during the congestion-only automated driving in priority over the backward controls.
2 . The vehicle control device according to claim 1 , wherein
the subject vehicle is configured to switch between the automated driving without monitoring obligation and automated driving with monitoring obligation that is automated driving in which there is obligation of surroundings monitoring, and
the at least one processor is configured not to execute the parallel-traveling avoiding control during the automated driving with monitoring obligation.
3 . The vehicle control device according to claim 1 , wherein
the at least one processor is configured to execute the parallel-traveling avoiding control when there is another vehicle in the adjacent lane on a lateral side of the subject vehicle facing in a confirmation direction, the confirmation direction being a lateral direction of the subject vehicle from a driver's seat of the subject vehicle toward a display provided in a center console of the subject vehicle, and
the at least one processor is configured not to execute the parallel-traveling avoiding control when there is no vehicle in the adjacent lane on the lateral side of the subject vehicle facing in the confirmation direction.
4 . The vehicle control device according to claim 1 , wherein
the at least one processor is configured to be allowed to execute the parallel-traveling avoiding control in a straight road having a degree of curve lower than a predetermined value,
the at least one processor is configured to complete the parallel-traveling avoiding control before the subject vehicle enters a curved road having a degree of curve higher than or equal to the predetermined value when the parallel-traveling avoiding control is estimated to be completed before the subject vehicle enters the curved road based on the traveling environment specified by the at least one processor, and
the at least one processor is configured to activate the parallel-traveling avoiding control by a possible distance before the subject vehicle enters the curved road and then stops the parallel-traveling avoiding control when the parallel-traveling avoiding control is estimated to be uncompleted before the subject vehicle enters the curved road based on the traveling environment specified by the at least one processor.
5 . The vehicle control device according to claim 1 , wherein
the automated driving without monitoring obligation further includes area-limited automated driving in which the automated driving without monitoring obligation is permitted in a limited area,
the subject vehicle is configured to switch between the area-limited automated driving and the congestion-only automated driving,
the at least one processor is configured to
execute at least one of the backward controls during the area-limited automated driving in priority over the forward controls.
6 . The vehicle control device according to claim 1 , wherein
control among the longitudinal controls other than the control for decelerating the subject vehicle is defined as control other than the control for decelerating the subject vehicle, and
the at least one processor is configured to execute the control for decelerating the subject vehicle in priority over the control other than the control for decelerating the subject vehicle when the adjacent vehicle is determined to be located in a passing lane based on the traveling environment specified by the at least one processor.
7 . The vehicle control device according to claim 1 , wherein
the at least one processor is configured to execute following travel control of the subject vehicle such that the subject vehicle follows the preceding vehicle at a target inter-vehicle distance, the target inter-vehicle distance depending on a set value received via an input device from a driver of the subject vehicle and having a constant allowable range for each set value, and
the at least one processor is configured to cause a display to display the set value received from the driver of the subject vehicle via the input device,
the at least one processor is configured to execute at least one of the longitudinal controls as the parallel-traveling avoiding control within the constant allowable range, and
the at least one processor is configured to display the set value received from the driver via the input device even during the parallel-traveling avoiding control.
8 . The vehicle control device according to claim 1 , wherein
the at least one processor is configured to execute following travel control of the subject vehicle such that the subject vehicle follows the preceding vehicle at a target inter-vehicle distance,
the at least one processor is configured to cause an information presentation device to present information toward a vehicle cabin of the subject vehicle, wherein
the at least one processor is configured to present information indicating that the target inter-vehicle distance is changed and information related to execution of the parallel-traveling avoiding control when the subject vehicle deviates from the target inter-vehicle distance due to the parallel-traveling avoiding control.
9 . The vehicle control device according to claim 1 , wherein
the at least one processor is configured not to execute the parallel-traveling avoiding control when it is determined based on the traveling environment specified by the at least one processor that the subject vehicle is in the parallel traveling state with the adjacent vehicle traveling on a passing lane on a lateral side of the subject vehicle, and
the at least one processor is configured to execute the parallel-traveling avoiding control when it is determined based on the traveling environment specified by the at least one processor that the subject vehicle is in the parallel traveling state with the adjacent vehicle traveling on a lane on another lateral side of the subject vehicle opposite from the passing lane.
10 . The vehicle control device according to claim 1 , wherein
the at least one processor is configured to execute the parallel-traveling avoiding control such that the subject vehicle continues to travel in a positional relationship in which the subject vehicle does not pass the adjacent vehicle when it is determined based on the traveling environment specified by the at least one processor that the subject vehicle and the adjacent vehicle are about to become in the parallel traveling state.
11 . The vehicle control device according to claim 1 , wherein
the at least one processor is configured to execute the parallel-traveling avoiding control by executing lane change when execution of the at least one of the longitudinal controls has continued for a predetermined time or more and it is determined based on the traveling environment specified by the at least one processor that lane change is possible.
12 . The vehicle control device according to claim 11 , wherein
the at least one processor is configured to execute the lane change behind another vehicle located in a traveling lane that is a destination of the lane change, and
the at least one processor is configured not to execute the lane change in a predetermined range in front of the other vehicle.
13 . The vehicle control device according to claim 1 , wherein
the at least one processor is configured to execute offset control for offsetting a traveling position of the subject vehicle in a vehicle width direction such that a distance from the subject vehicle to a vehicle located on a lateral side of the subject vehicle is automatically increased, wherein
the at least one processor is configured to execute the parallel-traveling avoiding control in parallel with the offset control in a situation where the offset control by the at least one processor is required.
14 . The vehicle control device according to claim 1 , wherein
the at least one processor is configured to specify a stop of the subject vehicle in traffic congestion, wherein
the at least one processor is configured not to execute the parallel-traveling avoiding control when the at least one processor has specified the stop of the subject vehicle in traffic congestion.
15 . A vehicle control device configured to be used in a subject vehicle configured to execute automated driving without monitoring obligation, the automated driving without monitoring obligation being automated driving in which there is no obligation of surrounding monitoring, the vehicle control device comprising:
at least one processor; and
at least one memory storing a program configured to, when executed by the at least one processor, cause the at least one processor to:
specify a traveling environment of the subject vehicle; and
execute parallel-traveling avoiding control based on the traveling environment specified by the at least one processor during the automated driving without monitoring obligation, the parallel-traveling avoiding control being travel control of the subject vehicle to avoid a parallel traveling state in which the subject vehicle and an adjacent vehicle travel in parallel, the adjacent vehicle traveling in an adjacent lane adjacent to a traveling lane of the subject vehicle, wherein
the subject vehicle includes a blind mechanism configured to obstruct view from an occupant of the adjacent vehicle in the parallel traveling state to an inside of the vehicle cabin, wherein
the at least one processor is configured to specify a parallel-traveling avoiding difficult situation in which the parallel-traveling avoiding control is difficult to cause the adjacent vehicle and the subject vehicle from becoming out of the parallel traveling state, and
the at least one processor is configured to execute blind control to operate the blind mechanism when the at least one processor specifies the parallel-traveling avoiding difficult situation during the automated driving without monitoring obligation.
16 . The vehicle control device according to claim 15 , wherein
the at least one processor is configured to determine that at least one of situations where the subject vehicle is stopped and where it is difficult to move a position of the subject vehicle relative to preceding and following vehicles back and forth is the parallel-traveling avoiding difficult situation.
17 . The vehicle control device according to claim 15 , wherein
the automated driving without monitoring obligation includes sleeping-allowed automated driving in which a driver of the subject vehicle is permitted to sleep, and sleeping-disallowed automated driving in which the drive is not permitted to sleep,
the subject vehicle is configured to switch between the sleeping-allowed automated driving and the sleeping-disallowed automated driving,
the at least one processor is configured to be prohibited to execute the blind control during the sleeping-disallowed automated driving, and
the at least one processor is configured to be permitted to execute the blind control during the sleeping-allowed automated driving.
18 . A vehicle control method executed by at least one processor in a subject vehicle configured to execute automated driving without monitoring obligation, the automated driving without monitoring obligation being automated driving in which there is no obligation of surrounding monitoring, the method comprising:
specifying a traveling environment of the subject vehicle; and
executing parallel-traveling avoiding control based on the traveling environment specified in the specifying during the automated driving without monitoring obligation, the parallel-traveling avoiding control being travel control of the subject vehicle to avoid a parallel traveling state in which the subject vehicle and an adjacent vehicle travel in parallel, the adjacent vehicle traveling in an adjacent lane adjacent to a traveling lane of the subject vehicle, wherein
the executing of the parallel-traveling avoiding control includes executing at least one of longitudinal controls as the parallel-traveling avoiding control, the longitudinal controls including control for decreasing an inter-vehicle distance between the subject vehicle and a preceding vehicle traveling ahead of the vehicle, control for increasing the inter-vehicle distance between the subject vehicle and the preceding vehicle, control for accelerating the subject vehicle, and control for decelerating the subject vehicle,
the automated driving without monitoring obligation includes congestion-only automated driving in which the automated driving without monitoring obligation is permitted only during traffic congestion,
the longitudinal controls include forward controls and backward controls,
the forward controls include the control for decreasing the inter-vehicle distance between the subject vehicle and the preceding vehicle, and the control for accelerating the subject vehicle,
the backward controls include the control for increasing the inter-vehicle distance between the subject vehicle and the preceding vehicle, and the control for decelerating the subject vehicle, and
the executing of the parallel-traveling avoiding control includes executing at least one of the forward controls during the congestion-only automated driving in priority over the backward controls.
19 . A vehicle control method executed by at least one processor in a subject vehicle configured to execute automated driving without monitoring obligation, the automated driving without monitoring obligation being automated driving in which there is no obligation of surrounding monitoring, the method comprising:
specifying a traveling environment of the subject vehicle;
executing parallel-traveling avoiding control based on the traveling environment specified in the specifying during the automated driving without monitoring obligation, the parallel-traveling avoiding control being travel control of the subject vehicle to avoid a parallel traveling state in which the subject vehicle and an adjacent vehicle travel in parallel, the adjacent vehicle traveling in an adjacent lane adjacent to a traveling lane of the subject vehicle;
specifying a parallel-traveling avoiding difficult situation in which the parallel-traveling avoiding control is difficult to cause the adjacent vehicle and the subject vehicle from becoming out of the parallel traveling state; and
executing blind control to operate a blind mechanism when the parallel-traveling avoiding difficult situation is specified during the automated driving without monitoring obligation, wherein
the subject vehicle includes the blind mechanism configured to obstruct view from an occupant of the adjacent vehicle in the parallel traveling state to an inside of the vehicle cabin.