Autonomous driving control device and computer readable medium
A lane marking recognition unit recognizes left and right lane markings of a subject vehicle lane in which a subject vehicle travels. A departure determination unit determines departure of a surrounding vehicle traveling in the subject vehicle lane. A continuation determination unit determines whether continuation of the autonomous travel control based on information on the lane markings is possible, when departure occurs in the surrounding vehicle, in a state where the subject vehicle travels with autonomous travel control in which a driver has no surroundings monitoring obligation. A control continuation unit continues the autonomous travel control based on the information on the lane markings, when continuation of the autonomous travel control based on the information on the lane markings is possible.
1 . An autonomous driving control device configured to allow a subject vehicle to travel with autonomous travel control in which a driver has no surroundings monitoring obligation, the autonomous driving control device comprising:
at least one of (i) a circuit and (ii) a processor with a memory storing computer program code executable by the processor, the at least one of the circuit and the processor configured to cause the autonomous driving control device to:
determine departure of surrounding vehicles traveling in front of and behind the subject vehicle in a subject vehicle lane in which the subject vehicle travels;
change a position of the subject vehicle in a left-right direction inside the subject vehicle lane between
a position in a case where both surrounding vehicles traveling in front of and behind the subject vehicle depart and where departure directions of left and right of the surrounding vehicles are the same and
a position in a case where both the surrounding vehicles traveling in front of and behind the subject vehicle depart and where departure directions of left and right of the surrounding vehicles are different from each other, and
continue the autonomous travel control; and
(i) when it has been determined that the surrounding vehicles traveling in front of and behind the subject vehicle depart in different directions,
adjust the position of the subject vehicle inside the subject vehicle lane to a middle of the surrounding vehicles traveling in front of and behind the subject vehicle in the left-right direction, and
(ii) when it has been determined that the surrounding vehicles traveling in front of and behind the subject vehicle depart in the same direction,
shift the position of the subject vehicle inside the subject vehicle lane in the same direction as the departure directions of the surrounding vehicles, or
shift the position of the subject vehicle inside the subject vehicle lane in a direction opposite to the departure directions of the surrounding vehicles in the left-right direction.
2 . The autonomous driving control device according to claim 1 , wherein
the at least one of the circuit and the processor is further configured to cause the autonomous driving control device to, when at least one of the surrounding vehicles protrudes from the subject vehicle lane, stop changing the position of the subject vehicle.
3 . The autonomous driving control device according to claim 1 , further comprising:
the at least one of the circuit and the processor is further configured to cause the autonomous driving control device to perform notification indicating departure of the surrounding vehicle and notification indicating a change in position of the subject vehicle due to departure of the surrounding vehicle.
4 . The autonomous driving control device according to claim 3 , wherein
the at least one of the circuit and the processor is further configured to cause the autonomous driving control device to, when the surrounding vehicle traveling behind the subject vehicle departs in a direction of approaching the subject vehicle, perform notification indicating approaching of the surrounding vehicle traveling behind the subject vehicle.
5 . A non-transitory computer readable medium storing a computer program configured to allow a subject vehicle to travel with autonomous travel control in which a driver has no surroundings monitoring obligation, the computer program comprising instructions configured to, when executed by at least one processor, to cause the at least one processor to:
determine departure of surrounding vehicles traveling in front of and behind the subject vehicle in a subject vehicle lane in which the subject vehicle travels; and
change a position of the subject vehicle in a left-right direction inside the subject vehicle lane between
a position in a case where both surrounding vehicles traveling in front of and behind the subject vehicle depart and where departure directions of left and right of the surrounding vehicles are the same, and
a position in a case where both the surrounding vehicles traveling in front of and behind the subject vehicle depart and where departure directions of left and right of the surrounding vehicles are different from each other; and
continue the autonomous travel control,
i) when it has been determined that the surrounding vehicles traveling in front of and behind the subject vehicle depart in different directions,
adjust the position of the subject vehicle inside the subject vehicle lane to a middle of the surrounding vehicles traveling in front of and behind the subject vehicle in the left-right direction, and
ii) when it has been determined that the surrounding vehicles traveling in front of and behind the subject vehicle depart in the same direction,
shift the position of the subject vehicle inside the subject vehicle lane in the same direction as the departure directions of the surrounding vehicles, or
shift the position of the subject vehicle inside the subject vehicle lane in a direction opposite to the departure directions of the surrounding vehicles in the left-right direction.
6 . An autonomous driving control device configured to allow a subject vehicle to travel with autonomous travel control in which a driver has no surroundings monitoring obligation, the autonomous driving control device comprising:
a departure determination unit configured to determine departure of surrounding vehicles traveling in front of and behind the subject vehicle in a subject vehicle lane in which the subject vehicle travels; and
a control continuation unit configured to
change a position of the subject vehicle in a left-right direction inside the subject vehicle lane between
a position in a case where both surrounding vehicles traveling in front of and behind the subject vehicle depart and where departure directions of left and right of the surrounding vehicles are the same and
a position in a case where both the surrounding vehicles traveling in front of and behind the subject vehicle depart and where departure directions of left and right of the surrounding vehicles are different from each other, and
continue the autonomous travel control, wherein
the control continuation unit is further configured to
i) when it has been determined that the surrounding vehicles traveling in front of and behind the subject vehicle depart in different directions,
adjust the position of the subject vehicle inside the subject vehicle lane to a middle of the surrounding vehicles travelling in front of and behind the subject vehicle in the left-right direction, and
ii) when it has been determined that the surrounding vehicles traveling in front of and behind the subject vehicle depart in the same direction,
shift the position of the subject vehicle inside the subject vehicle lane in the same direction as the departure directions of the surrounding vehicles, or
shift the position of the subject vehicle inside the subject vehicle lane in a direction opposite to the departure directions of the surrounding vehicles in the left-right direction.