CN-115071750-B - Vehicle control device, vehicle control method, and storage medium

Abstract

A vehicle control device, a vehicle control method, and a storage medium capable of more appropriately performing light-duty driving control for an occupant in various situations. The vehicle control device includes an identification unit that identifies a surrounding situation of a vehicle, a drive control unit that controls one or both of steering and acceleration and deceleration of the vehicle based on the identified surrounding situation, and a first receiving unit that receives a switching operation of a vehicle occupant to a drive mode of the vehicle, wherein the drive control unit causes the vehicle to travel in any one of a plurality of drive modes including a first drive mode and a second drive mode that is less tasked with the vehicle occupant than the first drive mode, and performs acceleration and deceleration control so that a speed of the vehicle becomes a target speed when the first drive mode is in execution and the second drive mode is in a state where the second drive mode is executable, and switches from the first drive mode to the second drive mode when the first receiving the switching operation to the second drive mode when the speed becomes the target speed.

Inventors

• Imanishi kaneki
• The eight generation of victories
• Kato Ochi

Assignees

• 本田技研工业株式会社

Dates

Publication Date

20260505

Application Date

20220218

Priority Date

20210316

Claims (12)

1. 1. A vehicle control apparatus, wherein, The vehicle control device includes: An identification unit that identifies a surrounding situation of the vehicle; a driving control unit that controls one or both of steering and acceleration and deceleration of the vehicle based on the peripheral condition recognized by the recognition unit, and A first receiving portion that receives a switching operation of a driving mode of the vehicle by an occupant of the vehicle, The driving control portion causes the vehicle to travel in any one of a plurality of driving modes including a first driving mode and a second driving mode that is lighter in the task to be placed on the occupant than the first driving mode, The driving control unit performs acceleration/deceleration control so that a speed of the vehicle becomes a target speed when the first driving mode is being executed and the second driving mode is being executed, and switches the driving mode from the first driving mode to the second driving mode when a switching operation to the second driving mode is received by the first receiving unit while the speed becomes the target speed, The lane in which the vehicle is traveling includes a overtaking lane for overtaking a preceding vehicle, The driving control unit is configured to switch the driving mode from the first driving mode to the second driving mode when the vehicle is in the first driving mode, the second driving mode is executable, and the first receiving unit receives a switching operation to the second driving mode after a lane change from the overtaking lane to a lane other than the overtaking lane is performed and the speed of the vehicle reaches a target speed or after a lane change from the overtaking lane to a lane other than the overtaking lane is performed after the speed of the vehicle reaches the target speed, when the vehicle is in the first driving mode and the vehicle is traveling on the overtaking lane.
2. 2. The vehicle control apparatus according to claim 1, wherein, The driving control unit switches the driving mode from the first driving mode to the second driving mode when the vehicle travels on the expressway for a predetermined distance or longer and the first receiving unit receives a switching operation to the second driving mode after the vehicle reaches a target speed.
3. 3. The vehicle control apparatus according to claim 1, wherein, The vehicle control device further includes an output control unit that causes an output unit to output information related to the driving mode, The output control portion causes the output portion to output information for proposing to the occupant that the vehicle is to be driven in the second driving mode when the speed becomes the target speed, The driving control unit switches the driving mode from the first driving mode to the second driving mode when the first receiving unit receives a switching operation to the second driving mode after the output unit outputs the information.
4. 4. The vehicle control apparatus according to claim 1, wherein, The acceleration and deceleration to the target speed is performed by speed control by the operation of the occupant or by speed control by the driving control portion.
5. 5. The vehicle control apparatus according to claim 1, wherein, The vehicle control device further includes a second receiving unit that receives a setting of a speed of the vehicle when the vehicle is traveling in the first driving mode, The driving control portion adjusts the speed of the vehicle based on the set speed received by the second receiving portion.
6. 6. The vehicle control apparatus according to claim 3, wherein, The output control unit causes the output unit to output information prompting adjustment of the speed of the vehicle to the occupant when the speed of the vehicle is controlled by an operation of the occupant.
7. 7. The vehicle control apparatus according to claim 5, wherein, The driving control unit switches the driving mode from the first driving mode to the second driving mode when the speed of the vehicle becomes the target speed by adjustment of the set speed.
8. 8. The vehicle control apparatus according to claim 1, wherein, The target speed is a speed within a legal speed of a driving lane of the vehicle.
9. 9. The vehicle control apparatus according to claim 8, wherein, The driving control unit suppresses execution of the second driving mode when a lower limit speed is set for the driving lane and a speed of the vehicle is less than the lower limit speed of the driving lane.
10. 10. The vehicle control apparatus according to claim 9, wherein, The driving control portion continues the second driving mode when the speed of the vehicle is less than the lower limit speed after the second driving mode is executed.
11. 11. A vehicle control method, wherein, The vehicle control method causes a computer to perform the following processing: Identifying a surrounding condition of the vehicle; controlling one or both of steering and acceleration and deceleration of the vehicle based on the identified surrounding conditions; Accepting a switching operation of a driving mode of the vehicle by an occupant of the vehicle; running the vehicle in any one of a plurality of driving modes including a first driving mode and a second driving mode that is lighter in task to an occupant of the vehicle than the first driving mode; when the first driving mode is being executed and the second driving mode is being executed, performing acceleration/deceleration control so that the speed of the vehicle becomes a target speed; when a switching operation to the second driving mode is received in a state where the speed is the target speed, switching the driving mode from the first driving mode to the second driving mode; The lane in which the vehicle is traveling includes a overtaking lane for overtaking a preceding vehicle, When the vehicle is in the first driving mode, and the second driving mode is enabled, and the vehicle is traveling on the overtaking lane, the driving mode is switched from the first driving mode to the second driving mode after the vehicle speed reaches the target speed by changing the overtaking lane to a lane other than the overtaking lane, or after the vehicle speed reaches the target speed by changing the overtaking lane to a lane other than the overtaking lane, the switching operation to the second driving mode is accepted.
12. 12. A storage medium storing a program, wherein, The program causes a computer to perform the following processing: Identifying a surrounding condition of the vehicle; controlling one or both of steering and acceleration and deceleration of the vehicle based on the identified surrounding conditions; Accepting a switching operation of a driving mode of the vehicle by an occupant of the vehicle; running the vehicle in any one of a plurality of driving modes including a first driving mode and a second driving mode that is lighter in task to an occupant of the vehicle than the first driving mode; when the first driving mode is being executed and the second driving mode is being executed, performing acceleration/deceleration control so that the speed of the vehicle becomes a target speed; when a switching operation to the second driving mode is received in a state where the speed is the target speed, switching the driving mode from the first driving mode to the second driving mode; The lane in which the vehicle is traveling includes a overtaking lane for overtaking a preceding vehicle, When the vehicle is in the first driving mode, and the second driving mode is enabled, and the vehicle is traveling on the overtaking lane, the driving mode is switched from the first driving mode to the second driving mode after the vehicle speed reaches the target speed by changing the overtaking lane to a lane other than the overtaking lane, or after the vehicle speed reaches the target speed by changing the overtaking lane to a lane other than the overtaking lane, the switching operation to the second driving mode is accepted.

Description

Vehicle control device, vehicle control method, and storage medium Technical Field The invention relates to a vehicle control device, a vehicle control method, and a storage medium. Background In recent years, research related to automatic driving that automatically controls the running of a vehicle is advancing. In connection with this, a technique of performing automatic driving under specific conditions such as congestion following is known (for example, international publication No. 2018/138765). Disclosure of Invention However, there is no consideration that the task light driving control to be performed for the occupant is properly performed under various conditions such as the condition that there is no other vehicle around. The present invention has been made in view of such circumstances, and provides a vehicle control device, a vehicle control method, and a storage medium that can more appropriately perform light driving control of a task disposed on an occupant in various situations. The vehicle control device, the vehicle control method, and the storage medium of the present invention adopt the following configurations. (1) The vehicle control device according to an aspect of the present invention includes an identification unit that identifies a surrounding situation of a vehicle, a drive control unit that controls one or both of steering and acceleration and deceleration of the vehicle based on the surrounding situation identified by the identification unit, and a first receiving unit that receives a switching operation of a drive mode of the vehicle by an occupant of the vehicle, wherein the drive control unit causes the vehicle to run in any one of a plurality of drive modes including a first drive mode and a second drive mode that is less tasked with the occupant than the first drive mode, and wherein the drive control unit performs, when the first drive mode is being executed and in a state where the second drive mode is executable, speed control so that a speed of the vehicle becomes a target speed, and when the speed becomes the target speed, the first receiving unit receives the switching operation of the second drive mode, the drive control unit switches the drive mode from the first drive mode to the second drive mode. (2) In the aspect of (1) above, the driving control unit switches the driving mode from the first driving mode to the second driving mode when the vehicle travels a predetermined distance or longer on a highway and the first receiving unit receives a switching operation to the second driving mode after the vehicle reaches a target speed. (3) In the aspect of (1) above, the vehicle control device further includes an output control unit that causes an output unit to output information related to the driving mode, wherein the output control unit causes the output unit to output information for proposing to the occupant that the vehicle is to travel in the second driving mode when the speed is the target speed, and wherein the driving control unit switches the driving mode from the first driving mode to the second driving mode when a switching operation to the second driving mode is received by the first receiving unit after the information is output by the output unit. (4) In the aspect of (1) above, the acceleration and deceleration to the target speed is performed by a speed control by an operation of the occupant or a speed control by the driving control portion. (5) In the aspect of (1) above, the vehicle control device further includes a second receiving portion that receives a setting of a speed of the vehicle when the vehicle is traveling in the first driving mode, and the driving control portion adjusts the speed of the vehicle based on the setting of the speed received by the second receiving portion. (6) In the aspect of (3) above, the output control unit causes the output unit to output information prompting an adjustment of the speed of the vehicle to the occupant when the speed of the vehicle is controlled by an operation of the occupant. (7) In the above (5), the driving control unit may switch the driving mode from the first driving mode to the second driving mode when the speed of the vehicle becomes the target speed by the adjustment of the set speed. (8) In the above-described scheme of (1), the target speed is a speed within a legal speed of a driving lane of the vehicle. (9) In the aspect of (8) above, the driving control portion suppresses execution of the second driving mode when a lower limit speed is set for the travel lane and a speed of the vehicle is less than the lower limit speed of the travel lane. (10) In the above-described aspect (9), the driving control portion may continue the second driving mode if the speed of the vehicle is less than the lower limit speed after the second driving mode is executed. (11) In the aspect of (1) above, the vehicle traveling lane includes a overtaking lane for overtaking a preceding vehicle, and the driving c