JP-2026075257-A - Vehicle control method and vehicle control device

JP2026075257AJP 2026075257 AJP2026075257 AJP 2026075257AJP-2026075257-A

Abstract

[Challenge] To smoothly change lanes of one's own vehicle without disrupting surrounding traffic. [Solution] The vehicle control device 10 includes a controller 100 that controls the lane change of the vehicle 1 from the first lane to the second lane adjacent to the first lane. When the forward situation determination unit 101 determines that the area in front of the vehicle is impassable in the first lane, the following vehicle detection unit 102 detects a following vehicle traveling behind the vehicle 1 in the first lane, and the surrounding vehicle detection unit 103 detects surrounding vehicles traveling around the vehicle 1 in the second lane. The message output unit 106 outputs messages to the following vehicle and the surrounding vehicle that correspond to the relative positions of the vehicle 1, the following vehicle, and the surrounding vehicle, in order for the vehicle 1 and the following vehicle to change lanes to the second lane. [Selection Diagram] Figure 1

Inventors

ゴンゴラフロレスダニエルマルセル
高松敦

Assignees

日産自動車株式会社

Dates

Publication Date: 20260508
Application Date: 20241022

Claims (8)

A vehicle control method that uses a processor to control the lane change of the vehicle from the first lane to the second lane adjacent to the first lane, The aforementioned processor, If the vehicle is unable to move forward in the first lane, the following vehicle traveling behind the vehicle in the first lane and surrounding vehicles traveling around the vehicle in the second lane are detected. The vehicle changes lanes to the second lane while outputting messages to the following vehicle and the surrounding vehicles that correspond to the relative positions of the vehicle, the following vehicle, and the surrounding vehicles, so that the vehicle and the following vehicle can change lanes to the second lane. Vehicle control method.
The aforementioned processor, Based on the length of the space in front of the surrounding vehicle and the length of the space behind the surrounding vehicle, detected from the second lane, it is determined which vehicle, the own vehicle or the following vehicle, should perform the lane change first. The vehicle control method according to claim 1.
The aforementioned processor, If it is determined that the vehicle's lane change should take priority, the system outputs the message instructing the following vehicle not to change lanes until the vehicle's lane change is complete, and also outputs the message instructing the surrounding vehicles to maintain their current speed. After the vehicle changes lanes into the space ahead, the system outputs a message instructing surrounding vehicles to reduce the space ahead, and also outputs a message instructing following vehicles to change lanes into the space behind. The vehicle control method according to claim 2.
The aforementioned processor, If it is determined that priority should be given to the following vehicle changing lanes, the system outputs the message instructing the following vehicle to change lanes into the space behind it, and also outputs the message instructing the surrounding vehicles to maintain their current speed. After the following vehicle changes lanes into the space behind it, the system outputs the message instructing the surrounding vehicles to widen the space in front of them. The vehicle changes lanes to the space ahead. The vehicle control method according to claim 2.
The aforementioned processor, When it is determined that the vehicle itself and the following vehicle will change lanes simultaneously, the system outputs the message instructing the following vehicle to change lanes into the space behind it, and also outputs the message instructing the surrounding vehicles to maintain their current speed. The vehicle changes lanes to the space ahead. The vehicle control method according to claim 2.
The aforementioned processor, If it can be presumed that consent has not been obtained from the driver of the following vehicle or the surrounding vehicle for changing lanes using the method instructed in the aforementioned message, the lane change will not be performed using that method. A vehicle control method according to any one of claims 1 to 5.
The aforementioned processor, The aforementioned message is displayed on an external display unit attached to the vehicle. A vehicle control method according to any one of claims 1 to 5.
A vehicle control device comprising: a processor that controls the lane change of the vehicle from the first lane to the second lane adjacent to the first lane; and a sensor that detects the surroundings of the vehicle, The aforementioned processor, If the vehicle is unable to move forward in the first lane, the following vehicle traveling behind the vehicle in the first lane and surrounding vehicles traveling around the vehicle in the second lane are detected based on the output of the sensor. The vehicle changes lanes to the second lane while outputting messages to the following vehicle and the surrounding vehicles that correspond to the relative positions of the vehicle, the following vehicle, and the surrounding vehicles, so that the vehicle and the following vehicle can change lanes to the second lane. Vehicle control system.

Description

This invention relates to a vehicle control method and a vehicle control device. Technologies for controlling a vehicle's lane changes are known. For example, the vehicle control device described in Patent Document 1 slows down a vehicle traveling in the first lane when it is changing lanes to the second lane, if there is a preceding vehicle in the first lane requesting to change lanes. When the vehicle's deceleration creates enough space in the second lane for the preceding vehicle to change lanes, the vehicle control device notifies the preceding vehicle of permission to change lanes. This enables a smooth lane change for the vehicle. International Publication No. 2019/235117 This is a block diagram showing an example of the functional configuration of a vehicle control device according to the first embodiment.This figure shows an example of the hardware configuration of a vehicle control device according to the first embodiment.This is a diagram (part 1) showing an example of a table where messages are registered.This is a diagram (part 2) showing an example of a table where messages are registered.This is a diagram (part 1) illustrating the relative positions of each vehicle.This is diagram (part 2) illustrating the relative positions of each vehicle.This diagram shows an example of the appearance of an external display unit.This is a flowchart of the lane change order determination process according to the first embodiment.This is a flowchart of the process for changing to a priority lane for the vehicle according to the first embodiment.This is a flowchart of the process for changing to a lane that gives priority to a following vehicle according to the first embodiment.This is a flowchart of the simultaneous lane change process according to the first embodiment.This is a flowchart of the result evaluation process according to the first embodiment.This is a diagram (part 1) illustrating the success or failure of a lane change.This is a diagram (part 2) illustrating the success or failure of a lane change.This is diagram (number 3) to explain the success or failure of a lane change.This is diagram (number 4) to explain the success or failure of a lane change.This is a block diagram showing an example of the functional configuration of a vehicle control device according to the second embodiment.This is a flowchart of the process for changing to a lane that prioritizes the vehicle, according to the second embodiment.This is a flowchart of the process for changing to a lane that gives priority to a following vehicle according to the second embodiment.This is an example of a message display related to a modified version. The vehicle control method and vehicle control device according to embodiments of the present invention will be described with reference to the drawings. In each drawing, the same or equivalent parts are denoted by the same reference numerals. (First Embodiment) The vehicle control device 10 according to an embodiment of the present invention is a device that controls the driving of the vehicle 1. The vehicle control device 10 realizes automatic driving of the vehicle 1 by controlling various parts of the vehicle 1. In this embodiment, the vehicle control device 10 is assumed to control Level 4 automatic driving, but other levels may also be used. The vehicle control device 10 according to an embodiment of the present invention is characterized by smoothly changing lanes by sending a message to other vehicles around the vehicle 1 when the vehicle 1 is unable to travel in its lane due to an obstacle ahead or the like. For this reason, the following description will mainly describe the control during lane changes among the various controls performed by the vehicle control device 10 on the vehicle 1. In the following description, the lane in which the vehicle 1 is traveling will be called the first lane, and the lane adjacent to the first lane from which the vehicle changes lanes will be called the second lane. Next, the configuration of the vehicle control device 10 will be described. Figure 1 is a diagram showing an example of the functional configuration of the vehicle control device 10. The vehicle control device 10 according to this embodiment is mounted on the vehicle 1. In addition to the vehicle control device 10, the vehicle 1 is equipped with actuators 20 that operate various parts of the vehicle 1, and an external display 30 that displays various messages to other surrounding vehicles, which will be described later. The vehicle 1 also includes turn signals, an engine, a body, a chassis, a drivetrain, a steering wheel, electrical components, brakes, etc., but the general configurations of these are not shown and their descriptions are omitted. The vehicle control device 10 comprises a controller 100 that controls the overall operation of the vehicle control device 10, a communication device 200, a location information acquisition unit 300 that acquires the location information of the