Vehicle control device, vehicle, method of controlling vehicle control device, and non-transitory computer-readable storage medium
This invention provides a vehicle control device for controlling a vehicle, which comprises a first detection unit configured to detect an out-of-lane region outside a lane in which the vehicle is traveling; a second detection unit configured to detect an obstacle; and a determination unit configured to determine that performing steering control in the out-of-lane region is approved by a driver when the vehicle enters the out-of-lane region in response to a steering operation by the driver in a case where the second detection unit detects the obstacle, the first detection unit detects the out-of-lane region, and the vehicle and the obstacle have a predetermined relationship.
1. A vehicle control device for controlling a vehicle, the vehicle control device comprising:
one or more processors; and
a memory storing instructions which, when the instructions are executed by the one or more processors, cause the vehicle control device to:
detect an out-of-lane region outside a lane in which the vehicle is traveling;
detect an obstacle; and
determine that performing steering control in the out-of-lane region is approved by a driver when the vehicle enters the out-of-lane region in response to a steering operation by the driver in a case where the obstacle is detected, the out-of-lane region is detected, and the vehicle and the obstacle have a predetermined relationship; and
control, in a case where the vehicle and the obstacle have the predetermined relationship, steering in a transition period in which a path in the lane in which the vehicle is traveling is switched to a path for traveling in the out-of-lane region,
wherein the instructions causing the vehicle control device to control steering in the transition period include instructions causing the vehicle control device to:
calculate a transition path in the transition period,
restrict performing guidance regarding the steering in a case where the vehicle travels along the transition path calculated in response to a steering operation by the driver, and
execute steering control processing until the vehicle transitions to the path for traveling in the out-of-lane region in a case where the vehicle deviates from the transition path calculated in response to a steering operation by the driver.
2. The vehicle control device according to claim 1 , wherein
the entry into the out-of-lane region is determined in a case where a predetermined position of the vehicle enters the out-of-lane region.
3. The vehicle control device according to claim 1 , wherein the instructions further cause the vehicle control device to;
cause the vehicle to travel in a determined region, wherein
in a case where steering control by the driver is performed with a predetermined force or more, the steering control by the driver is executed in preference to the steering control.
4. The vehicle control device according to claim 3 , wherein the instructions further cause the vehicle control device to
guide the vehicle to the out-of-lane region in a case where the vehicle and the obstacle have the predetermined relationship and the vehicle is traveling without entering the out-of-lane region.
5. The vehicle control device according to claim 4 , wherein the instructions cause the vehicle control device to
restrict performing the guidance in a case where, after the vehicle enters the out-of-lane region, an amount of steering by the driver of the vehicle falls within a predetermined range of a steering amount obtained.
6. The vehicle control device according to claim 3 , wherein the instructions further cause the vehicle control device to
set the out-of-lane region as the region in a case where the approval is acquired while the vehicle is traveling in the lane under the control.
7. The vehicle control device according to claim 1 , wherein
the out-of-lane region is an adjacent lane.
8. The vehicle control device according to claim 1 , wherein the instructions further cause the vehicle control device to
calculate a value indicating a possibility of avoiding a collision between the vehicle and the obstacle, wherein
the predetermined relationship is that the value calculated is equal to or less than a predetermined threshold.
9. The vehicle control device according to claim 8 , wherein the instructions further cause the vehicle control device to
perform, in a case where the obstacle is detected, assist processing by braking control for avoiding the collision with the obstacle in the lane in which the vehicle is traveling, wherein
the instructions causing the vehicle control device to calculate includes instructions causing the vehicle control device to calculate the value during the assist processing by the braking control.
10. The vehicle control device according to claim 4 , wherein
the instructions causing the vehicle control device to guide the vehicle to the out-of-lane region include instructions causing the vehicle control device to perform the guidance in a case where, when the vehicle enters the out-of-lane region and travels after the obstacle is detected, the vehicle is predicted to come into contact with another object in the out-of-lane region.
11. A vehicle including a vehicle control device, wherein
the vehicle control device includes
one or more processors; and
a memory storing instructions which, when the instructions are executed by the one or more processors, cause the vehicle control device to:
detect an out-of-lane region outside a lane in which the vehicle is traveling,
detect an obstacle, and
determine that performing steering control in the out-of-lane region is approved by a driver when the vehicle enters the out-of-lane region in response to a steering operation by the driver in a case where the obstacle is detected, the out-of-lane region is detected, and the vehicle and the obstacle have a predetermined relationship; and
control, in a case where the vehicle and the obstacle have the predetermined relationship, steering in a transition period in which a path in the lane in which the vehicle is traveling is switched to a path for traveling in the out-of-lane region,
wherein the instructions causing the vehicle control device to control steering in the transition period include instructions causing the vehicle control device to:
calculate a transition path in the transition period,
restrict performing guidance regarding the steering in a case where the vehicle travels along the transition path calculated in response to a steering operation by the driver, and
execute steering control processing until the vehicle transitions to the path for traveling in the out-of-lane region in a case where the vehicle deviates from the transition path calculated in response to a steering operation by the driver.
12. A method of controlling a vehicle control device for controlling a vehicle, the method comprising:
detecting an out-of-lane region outside a lane in which the vehicle is traveling;
detecting an obstacle;
determining that performing steering control in the out-of-lane region is approved by a driver when the vehicle enters the out-of-lane region in response to a steering operation by the driver in a case where the obstacle is detected in the detecting the obstacle, the out-of-lane region is detected in the detecting the out-of-lane region, and the vehicle and the obstacle have a predetermined relationship; and
controlling, in a case where the vehicle and the obstacle have the predetermined relationship, steering in a transition period in which a path in the lane in which the vehicle is traveling is switched to a path for traveling in the out-of-lane region,
wherein the controlling steering in the transition period includes:
calculating a transition path in the transition period,
restricting performing guidance regarding the steering in a case where the vehicle travels along the transition path calculated in response to a steering operation by the driver, and
executing steering control processing until the vehicle transitions to the path for traveling in the out-of-lane region in a case where the vehicle deviates from the transition path calculated in response to a steering operation by the driver.
13. A non-transitory computer-readable storage medium storing a program to be read and executed by a processor included in a vehicle control device for controlling a vehicle, the program causing the processor to execute:
detecting an out-of-lane region outside a lane in which the vehicle is traveling;
detecting an obstacle;
determining that performing steering control in the out-of-lane region is approved by a driver when the vehicle enters the out-of-lane region in response to a steering operation by the driver in a case where the obstacle is detected in the detecting the obstacle, the out-of-lane region is detected in the detecting the out-of-lane region, and the vehicle and the obstacle have a predetermined relationship; and
controlling, in a case where the vehicle and the obstacle have the predetermined relationship, steering in a transition period in which a path in the lane in which the vehicle is traveling is switched to a path for traveling in the out-of-lane region,
wherein the controlling steering in the transition period includes:
calculating a transition path in the transition period,
restricting performing guidance regarding the steering in a case where the vehicle travels along the transition path calculated in response to a steering operation by the driver, and
executing steering control processing until the vehicle transitions to the path for traveling in the out-of-lane region in a case where the vehicle deviates from the transition path calculated in response to a steering operation by the driver.