Vehicle control apparatus, vehicle, and control method

1. A vehicle control apparatus for controlling traveling of a vehicle, the apparatus comprising:

a stop control unit configured to move the vehicle traveling on a traveling lane in a vehicle width direction and stop the vehicle;

a deviation detection unit configured to detect a deviation amount indicating an amount by which the vehicle stopped by the stop control unit crosses over the traveling lane;

a notification unit configured to make a notification of the stop of the vehicle; and

a change unit configured to change a notification method by the notification unit,

wherein the change unit changes the notification method in accordance with the deviation amount detected by the deviation detection unit.

2. The vehicle control apparatus according to claim 1 , further comprising a position detection unit configured to detect a distance between a traveling lane and the vehicle stopped by the stop control unit in a case where the deviation amount of the vehicle is less than zero,

wherein the change unit changes the notification method in accordance with the distance detected by the position detection unit.

3. The vehicle control apparatus according to claim 2 , wherein the change unit changes the notification method so that a notification level is higher as the distance detected by the position detection unit is shorter.

4. The vehicle control apparatus according to claim 1 , wherein the change unit changes the notification method so that the notification level is higher as the deviation amount detected by the deviation detection unit is larger.

5. The vehicle control apparatus according to claim 1 , further comprising a moving amount detection unit configured to detect a moving amount of the vehicle in the vehicle width direction when stopping the vehicle by the stop control unit,

wherein the change unit changes the notification method in accordance with the moving amount detected by the moving amount detection unit.

6. The vehicle control apparatus according to claim 5 , wherein the change unit changes the notification method so that the notification level is higher as the moving amount detected by the moving amount detection unit is smaller.

7. The vehicle control apparatus according to claim 1 , further comprising an estimation unit configured to estimate recognition difficulty of the vehicle from a following vehicle on the traveling lane,

wherein the change unit changes the notification method in accordance with the recognition difficulty estimated by the estimation unit.

8. The vehicle control apparatus according to claim 7 , wherein the estimation unit estimates the recognition difficulty based on at least one of a road curvature and a road gradient of the traveling lane, a structure on a road, and weather information.

9. The vehicle control apparatus according to claim 7 , wherein the change unit changes the notification method so that the notification level is higher as the recognition difficulty estimated by the estimation unit is higher.

10. The vehicle control apparatus according to claim 1 , further comprising a traffic detection unit configured to detect traffic on the traveling lane,

wherein the change unit changes the notification method in accordance with the traffic detected by the traffic detection unit.

11. The vehicle control apparatus according to claim 1 , wherein

the notification unit notifies at least one of a periphery of the vehicle and an occupant in the vehicle, of the stop of the vehicle, and

the change unit changes the notification method to the at least one.

12. The vehicle control apparatus according to claim 1 , wherein the change unit changes, as the notification method, at least one of an output volume, a type of a notification device, and a blinking period and a light amount of a lighting device.

13. The vehicle control apparatus according to claim 1 , further comprising a state detection unit configured to detect a state of a driver of the vehicle,

wherein the change unit changes the notification method in accordance with the state of the driver detected by the state detection unit.

14. The vehicle control apparatus according to claim 1 , further comprising a performance detection unit configured to detect a degree of degradation of performance of the vehicle,

wherein the change unit changes the notification method in accordance with the degree of degradation of the performance of the vehicle detected by the performance detection unit.

15. The vehicle control apparatus according to claim 1 , further comprising a place detection unit configured to detect a stop place of the vehicle,

wherein the change unit changes the notification method in accordance with the stop place of the vehicle detected by the place detection unit.

16. A vehicle comprising a vehicle control apparatus according to claim 1 .

17. A control method of controlling traveling of a vehicle, the method comprising:

moving the vehicle traveling on a traveling lane in a vehicle width direction and stopping the vehicle;

detecting a deviation amount indicating an amount by which the vehicle stopped by the stop control unit crosses over the traveling lane; and

making a notification of the stop of the vehicle,

wherein in the making the notification, a notification method is changed in accordance with the detected deviation amount.