Moving body control apparatus, moving body, and moving body control method
A moving body control apparatus includes a cancel control section performing control to cancel a lane change when a first cancel condition and a second cancel condition for cancelling the lane change are satisfied. When the first cancel condition is satisfied with the grip of an occupant on a manipulator being a prescribed level or greater, if a distance in a vehicle width direction between a moving body and a lane marker is a first distance threshold value or greater, the cancel control section judges that the second cancel condition is satisfied and cancels the lane change, and when the first cancel condition is satisfied with the grip being less than the prescribed level, if the distance is not less than a second distance threshold value greater than the first distance threshold value, the cancel control section judges that the second cancel condition is satisfied and cancels the lane change.
1. A moving body control apparatus comprising one or more processors that execute computer-executable instructions stored in a memory, wherein
the one or more processors execute the computer-executable instructions to cause the moving body control apparatus to:
acquire vicinity information of a moving body;
control travel of the moving body based on the vicinity information;
control a lane change of the moving body;
perform control to cancel the lane change when a first cancel condition and a second cancel condition for cancelling the lane change are satisfied; and
judge a state of a grip of an occupant of the moving body on a manipulator configured to steer the moving body, and wherein
when the first cancel condition is satisfied in a state where the grip of the occupant on the manipulator is judged to be greater than or equal to a prescribed level, if a distance in a vehicle width direction between the moving body and a lane marker, which is positioned between a first lane in which the moving body is travelling and a second lane adjacent to the first lane, is greater than or equal to a first distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is satisfied and to cancel the lane change of the moving body from the first lane to the second lane, and if the distance in the vehicle width direction between the moving body and the lane marker is less than the first distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is not satisfied and to perform the lane change of the moving body from the first lane to the second lane, and
when the first cancel condition is satisfied in a state where the grip of the occupant on the manipulator is judged to be less than the prescribed level, if the distance in the vehicle width direction between the moving body and the lane marker is greater than or equal to a second distance threshold value, which is greater than the first distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is satisfied and to cancel the lane change of the moving body from the first lane to the second lane, and if the distance in the vehicle width direction between the moving body and the lane marker is less than the second distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is not satisfied and to perform the lane change of the moving body from the first lane to the second lane.
2. The moving body control apparatus according to claim 1 , wherein
when the first cancel condition is satisfied in a state where the distance in the vehicle width direction between the moving body and the lane marker is greater than or equal to the first distance threshold value and less than the second distance threshold value and the grip of the occupant on the manipulator is judged to be greater than or equal to the prescribed level, the one or more processors cause the moving body control apparatus to cancel the lane change of the moving body from the first lane to the second lane.
3. The moving body control apparatus according to claim 1 , wherein
when the lane change is cancelled, the one or more processors cause the moving body control apparatus to control travel of the moving body in a manner that the moving body travels along a center of the first lane.
4. The moving body control apparatus according to claim 1 , wherein
the moving body includes a touch sensor configured to detect a touch of the occupant on the manipulator, and a torque sensor configured to detect torque applied to the manipulator,
when the first cancel condition is satisfied in a state where the grip of the occupant on the manipulator is judged to be greater than or equal to the prescribed level based on an output of the touch sensor, if the distance in the vehicle width direction between the moving body and the lane marker is greater than or equal to the first distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is satisfied and to cancel the lane change of the moving body from the first lane to the second lane, and
when the first cancel condition is satisfied in a state where the grip of the occupant on the manipulator is not detected by the touch sensor and the grip of the occupant on the manipulator is judged to be greater than or equal to the prescribed level based on an output of the torque sensor, if the distance in the vehicle width direction between the moving body and the lane marker is greater than or equal to a third distance threshold value, which is greater than the first distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is satisfied and to cancel the lane change of the moving body from the first lane to the second lane.
5. The moving body control apparatus according to claim 1 , wherein
the first distance threshold value is variable according to velocity of the moving body.
6. The moving body control apparatus according to claim 1 , wherein
the second distance threshold value is variable according to velocity of the moving body.
7. The moving body control apparatus according to claim 1 , wherein
the first cancel condition is satisfied when another moving body travelling in the second lane is approaching.
8. The moving body control apparatus according to claim 1 , wherein
the first distance threshold value is 0.
9. The moving body control apparatus according to claim 1 , wherein
the one or more processors cause the moving body control apparatus to judge whether the manipulator is being gripped by the occupant,
when the first cancel condition is satisfied in a state where it is judged that the manipulator is being gripped by the occupant, if the distance in the vehicle width direction between the moving body and the lane marker is greater than or equal to the first distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is satisfied and to cancel the lane change of the moving body from the first lane to the second lane, and if the distance in the vehicle width direction between the moving body and the lane marker is less than the first distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is not satisfied and to perform the lane change of the moving body from the first lane to the second lane, and
when the first cancel condition is satisfied in a state where it is judged that the manipulator is not being gripped by the occupant, if the distance in the vehicle width direction between the moving body and the lane marker is greater than or equal to the second distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is satisfied and to cancel the lane change of the moving body from the first lane to the second lane, and if the distance in the vehicle width direction between the moving body and the lane marker is less than the second distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is not satisfied and to perform the lane change of the moving body from the first lane to the second lane.
10. A moving body comprising a moving body control apparatus, the moving body control apparatus comprising one or more processors that execute computer-executable instructions stored in a memory, wherein
the one or more processors execute the computer-executable instructions to cause the moving body control apparatus to:
acquire vicinity information of a moving body;
control travel of the moving body based on the vicinity information;
control a lane change of the moving body;
perform control to cancel the lane change when a first cancel condition and a second cancel condition for cancelling the lane change are satisfied; and
judge a state of a grip of an occupant of the moving body on a manipulator configured to steer the moving body, and wherein
when the first cancel condition is satisfied in a state where the grip of the occupant on the manipulator is judged to be greater than or equal to a prescribed level, if a distance in a vehicle width direction between the moving body and a lane marker, which is positioned between a first lane in which the moving body is travelling and a second lane adjacent to the first lane, is greater than or equal to a first distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is satisfied and to cancel the lane change of the moving body from the first lane to the second lane, and if the distance in the vehicle width direction between the moving body and the lane marker is less than the first distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is not satisfied and to perform the lane change of the moving body from the first lane to the second lane, and
when the first cancel condition is satisfied in a state where the grip of the occupant on the manipulator is judged to be less than the prescribed level, if the distance in the vehicle width direction between the moving body and the lane marker is greater than or equal to a second distance threshold value, which is greater than the first distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is satisfied and to cancel the lane change of the moving body from the first lane to the second lane, and if the distance in the vehicle width direction between the moving body and the lane marker is less than the second distance threshold value, the one or more processors cause the moving body control apparatus to judge that the second cancel condition is not satisfied and to perform the lane change of the moving body from the first lane to the second lane.
11. A moving body control method comprising:
controlling a lane change of a moving body based on vicinity information of the moving body;
performing control to cancel the lane change when a first cancel condition and a second cancel condition for cancelling the lane change are satisfied; and
judging a state of a grip of an occupant of the moving body on a manipulator configured to steer the moving body, wherein
in the controlling of cancellation, when the first cancel condition is satisfied in a state where it is judged, in the judging of the grip, that the grip of the occupant on the manipulator is greater than or equal to a prescribed level, if a distance in a vehicle width direction between the moving body and a lane marker, which is positioned between a first lane in which the moving body is travelling and a second lane adjacent to the first lane, is greater than or equal to a first distance threshold value, the second condition is judged to be satisfied and the lane change of the moving body from the first lane to the second lane is cancelled, and if the distance in the vehicle width direction between the moving body and the lane marker is less than the first distance threshold value, the second cancel condition is judged not to be satisfied and the lane change of the moving body from the first lane to the second lane is performed, and
in the controlling of cancellation, when the first cancel condition is satisfied in a state where it is judged, in the judging of the grip, that the grip of the occupant on the manipulator is less than the prescribed level, if the distance in the vehicle width direction between the moving body and the lane marker is greater than or equal to a second distance threshold value, which is greater than the first distance threshold value, the second condition is judged to be satisfied and the lane change of the moving body from the first lane to the second lane is cancelled, and if the distance in the vehicle width direction between the moving body and the lane marker is less than the second distance threshold value, the second cancel condition is judged not to be satisfied and the lane change of the moving body from the first lane to the second lane is performed.