Vehicle control unit, vehicle, and vehicle control method
A vehicle control unit includes: a lane change control unit that performs lane change control in which a host vehicle changes lanes on the basis of a surrounding situation of the host vehicle; and a lane change control suppression unit that allows the lane change control in a case where there is no operation history indicating that an operation of a notification unit for notifying a direction to which a traveling direction of the host vehicle is changed is not normal, and suppresses the lane change control in a case where the operation history indicating that the operation of the notification unit is not normal is present.
1. A vehicle control unit comprising:
one or more processors that:
acquire sensor data indicative of a surrounding situation of a host vehicle;
perform lane change control in which the host vehicle changes lanes on a basis of the surrounding situation;
store in a memory at a time in which a direction indicator is operated by an operation of a user of the host vehicle, as an operation history, one of normal operation and not normal operation of a direction indicator in providing notification of a first direction or a second direction, as a direction to which a traveling direction of the host vehicle will be changed, the second direction being opposite to the first direction; and
suppress the lane change control to the first direction and allow the lane change control to the second direction in a case where the operation history indicative of not normal operation in providing the notification of the first direction and normal operation in providing the notification of the second direction is stored, and
suppress the lane change control to the first direction and the second direction in a case where the operation history indicative of not normal operation in providing the notification of the first direction and the second direction is stored.
2. A vehicle control method comprising:
a surrounding situation monitoring step of monitoring a surrounding situation of a host vehicle;
an operation history storing step of storing in a memory at a time in which a direction indicator is operated by an operation of a user of the host vehicle, as an operation history, one of normal operation and not normal operation of a direction indicator in providing notification of a first direction or a second direction, as a direction to which a traveling direction of the host vehicle will be changed, the second direction being opposite to the first direction; and
a lane change controlling step of performing the lane change control in which the host vehicle change lanes on the basis of the surrounding situation;
wherein the lane change controlling step further includes:
a lane change control allowing step of allowing the lane change control to the first direction and the second direction in a case that the operation history indicative of normal operation in providing the notification of the first direction and the second direction is stored,
a first lane change control suppressing step of suppressing the lane change control to the first direction and allowing the lane change control to the second direction in a case where the operation history indicative of not normal operation in providing the notification of the first direction and normal operation in providing the notification of the second direction is stored, and
a second lane change control suppressing step of suppressing the lane change control to the first direction and the second direction in a case where the operation history indicative of not normal operation in providing the notification of the first direction and the second direction is stored.