Vehicle control device
Provided is a vehicle control device capable of reducing unease experienced by a driver and assisting a lane change of a vehicle. A vehicle control device 10 assists a lane change of a vehicle 1 , said device comprising: a visible range calculation unit 11 that calculates an area as a visible range by excluding the area occupied by preceding vehicles 201, 202 from the area corresponding to the field of vision whilst driving; and a lane-change control unit 12 that conducts processing related to the lane change, on the basis of the calculated visible range. The lane-change control unit 12 conducts processing related to the lane change on the basis of the visible range of the current-travel lane of the vehicle, and the visible range of the intended change-destination lane of the vehicle.
1. A vehicle control device that assists a lane change of a vehicle, comprising:
a visible range calculation unit that calculates an area as a visible range by excluding an area occupied by a preceding vehicle from an area corresponding to a field of vision during driving; and
a lane-change control unit that executes processing related to the lane change in accordance with the calculated visible range, wherein
the lane-change control unit executes processing related to the lane change in accordance with the visible range of a current-travel lane and the visible range of an intended change-destination lane; and
wherein:
the visible range calculation unit is configured to calculate the visible range of the current-travel lane, the visible range of the intended change-destination lane, the visible range after the predetermined time of the current-travel lane, and the visible range after the predetermined time of the intended change-destination lane; and
the lane-change control unit is configured to:
determine whether the lane change from the current-travel lane of the vehicle to the intended change-destination lane is possible;
present a driver with information for keeping the current-travel lane, when it is determined that the lane change is impossible, as the processing related to the lane change;
determine, when it is determined that the lane change is possible, whether it is possible to use the visible range after the predetermined time of the current-travel lane and the visible range after the predetermined time of the intended change-destination lane;
present the driver with information for changing the current-travel lane to the intended change-destination lane, as the processing related to the lane change, when it is determined that it is possible to use the visible range after the predetermined time of the current-travel lane and the visible range after the predetermined time of the intended change-destination lane, in a case where it is determined that the visible range after the predetermined time of the current-travel lane is smaller than a predetermined reference value set in advance and the visible range after the predetermined time of the intended change-destination lane is greater than the predetermined reference value; and
present the driver with the information for changing the current-travel lane to the intended change-destination lane, as the processing related to the lane change, when it is determined that it is impossible to use the visible range after the predetermined time of the current-travel lane and the visible range after the predetermined time of the intended change-destination lane, in a case where it is determined that the visible range of the current-travel lane is smaller than a predetermined reference value set in advance and the visible range of the intended change-destination lane is greater than the predetermined reference value.
2. The vehicle control device according to claim 1 , wherein
the visible range calculation unit calculates the visible range of the current-travel lane and the visible range of the intended change-destination lane, and
when it is determined that the visible range of the current-travel lane is smaller than a predetermined reference value set in advance and the visible range of the intended change-destination lane is larger than the predetermined reference value, the lane-change control unit presents a driver with information for changing the current-travel lane to the intended change-destination lane as the processing related to the lane change.
3. The vehicle control device according to claim 2 , wherein the information for changing the current-travel lane to the intended change-destination lane includes information for presenting the driver with a target trajectory for changing the current-travel lane to the intended change-destination lane.
4. The vehicle control device according to claim 3 , wherein when an approval from the driver for the target trajectory is not obtained, the lane-change control unit corrects the predetermined reference value.
5. The vehicle control device according to claim 3 , wherein
when information indicating approval of the target trajectory by the driver is generated, the lane-change control unit performs automatic lane change from the current-travel lane to the intended change-destination lane.
6. The vehicle control device according to claim 5 , wherein when the automatic lane change from the current-travel lane to the intended change-destination lane is canceled by the driver, the lane-change control unit corrects the predetermined reference value.
7. The vehicle control device according to claim 5 , wherein
the visible range calculation unit interrupts the calculation of the visible range and retains a previous value while the automatic lane change is being executed.
8. The vehicle control device according to claim 2 , wherein
the predetermined reference value is corrected in accordance with at least one of an own vehicle speed of the vehicle, a relative speed between the own vehicle speed and the speed of the preceding vehicle, a surrounding traffic density, and an area occupied by the preceding vehicle in an area corresponding to the field of vision during driving.
9. The vehicle control device according to claim 1 , wherein
the visible range calculation unit calculates a visible range after a predetermined time of the current-travel lane and a visible range after the predetermined time of the intended change-destination lane, and
when it is determined that the visible range after the predetermined time of the current-travel lane is smaller than a predetermined reference value set in advance and the visible range after the predetermined time of the intended change-destination lane is larger than the predetermined reference value, the lane-change control unit presents a driver with information for changing the current-travel lane to the intended change-destination lane as the processing related to the lane change.
10. The vehicle control device according to claim 1 , further comprising a target trajectory calculation unit, wherein the target trajectory unit is configured to calculate a target trajectory of the vehicle.
11. The vehicle control device according to claim 1 , wherein the predetermined reference value is a psychological limit value.
12. The vehicle control device according to claim 11 , wherein the psychological limit value is corrected based on at least one of a traffic situation or a driver situation.