阅读说明：本技术 车辆控制装置、车辆控制方法及存储介质 (Vehicle control device, vehicle control method, and storage medium ) 是由 余开江 于 2021-03-24 设计创作，主要内容包括：提供能够以车辆或车辆的乘员期望的步调维持车辆的行驶的车辆控制装置、车辆控制方法及存储介质。车辆控制装置在判定为第一其他车辆与所述车辆之间的关系满足第一条件、第二其他车辆与所述车辆之间的关系满足比所述第一条件严格的第二条件、第三其他车辆与车辆之间的关系满足比所述第一条件严格的第三条件、且第四其他车辆与所述车辆之间的关系满足比所述第二条件及第三条件严格的第四条件的情况下,进行使车辆通过行进方向上第一其他车辆与第二其他车辆之间的区域、以及行进方向上第三其他车辆与第四其他车辆之间的区域而使车辆向与第三车道相邻的第四车道进行车道变更的第一控制。(Provided are a vehicle control device, a vehicle control method, and a storage medium, which are capable of maintaining the travel of a vehicle at a pace desired by the vehicle or an occupant of the vehicle. The vehicle control device performs a first control of causing the vehicle to change lanes to a fourth lane adjacent to the third lane by passing the vehicle through an area between the first other vehicle and the second other vehicle in a traveling direction and an area between the third other vehicle and the fourth other vehicle in the traveling direction when it is determined that a relationship between the first other vehicle and the vehicle satisfies a first condition, a relationship between the second other vehicle and the vehicle satisfies a second condition stricter than the first condition, a relationship between the third other vehicle and the vehicle satisfies a third condition stricter than the first condition, and a relationship between the fourth other vehicle and the vehicle satisfies a fourth condition stricter than the second condition and the third condition.)

1. A control apparatus for a vehicle, wherein,

the vehicle control device includes:

an identification unit that identifies a peripheral condition of a vehicle including at least a position and a speed of another vehicle that is present in a periphery of the vehicle and that travels in the same direction as the vehicle; and

a control unit that causes the vehicle to travel based on the surrounding situation recognized by the recognition unit,

the other vehicles include a first other vehicle, a second other vehicle, a third other vehicle, and a fourth other vehicle,

the first other vehicle is present on a second lane adjacent to a first lane on which the vehicle is present at a position closest to the vehicle on a forward side in a traveling direction than the vehicle,

the second another vehicle is present on the second lane at a position closest to the vehicle on a rear side in a traveling direction than the vehicle,

the third other vehicle is present on a third lane that is adjacent to the second lane and is farther from the first lane than the second lane to the first lane on a forward side in a traveling direction than the vehicle,

the fourth another vehicle is present on the third lane at a position closest to the vehicle on a rear side in a traveling direction of the vehicle,

the control unit acquires information of the other vehicle from the recognition unit,

the control unit performs a first control when it is determined that the relationship between the first another vehicle and the vehicle satisfies a first condition, the relationship between the second another vehicle and the vehicle satisfies a second condition stricter than the first condition, the relationship between the third another vehicle and the vehicle satisfies a third condition stricter than the first condition, and the relationship between the fourth another vehicle and the vehicle satisfies a fourth condition stricter than the second condition and the third condition,

the first control is control for causing the vehicle to lane change to a fourth lane adjacent to the third lane by passing the vehicle through an area between the first another vehicle and the second another vehicle in the traveling direction and an area between the third another vehicle and the fourth another vehicle in the traveling direction.

2. The vehicle control apparatus according to claim 1,

the first condition is that a time obtained by subtracting a time at which the first another vehicle reaches the reference position from a current position exceeds a first threshold from a time at which the first another vehicle reaches the reference position in a case where it is assumed that the first another vehicle is present at a specific position in the traveling direction in which the vehicle is present,

the second condition is that the time for the second other vehicle to reach the particular location from the current location exceeds a second threshold,

the third condition is that a time obtained by subtracting a time at which the third another vehicle reaches the reference position from a current position exceeds a third threshold from a time at which the third another vehicle reaches the reference position in a case where it is assumed that the third another vehicle is present at the specific position,

the fourth condition is that a time for the fourth other vehicle to reach the specific location from the current location exceeds a fourth threshold.

3. The vehicle control apparatus according to claim 2,

the second threshold is greater than the first threshold, the fourth threshold is greater than the third threshold, the third threshold is greater than the first threshold, and the fourth threshold is greater than the second threshold.

4. The vehicle control apparatus according to claim 2 or 3,

the reference position is a starting point at which the second lane is separated from a first lane on which the vehicle is traveling,

the control unit moves the vehicle to the fourth lane before the vehicle reaches the reference position.

5. The vehicle control apparatus according to any one of claims 1 to 4,

the first control is control in which the vehicle moves to the fourth lane without stopping in the second lane and the third lane for a predetermined time or longer.

6. The vehicle control apparatus according to any one of claims 1 to 5,

the control unit performs a second control different from the first control when any one of the first condition, the second condition, the third condition, and the fourth condition is not satisfied,

the second control is control in which the vehicle stops in the second lane or the third lane for a predetermined time or longer.

7. The vehicle control apparatus according to any one of claims 1 to 6,

the first another vehicle, the second another vehicle, the third another vehicle, and the fourth another vehicle are vehicles that are present at positions within a predetermined distance from the vehicle in the traveling direction.

8. The vehicle control apparatus according to any one of claims 1 to 7,

the control unit executes the first control when there is no other vehicle in the fourth lane within a predetermined distance from the vehicle in the traveling direction.

9. A control method for a vehicle, wherein,

the vehicle control method causes a computer to perform processing including:

a process of identifying a peripheral condition of a vehicle including at least a position and a speed of another vehicle that is present in a periphery of the vehicle and that travels in the same direction as the vehicle; and

a process of causing the vehicle to travel based on the identified surrounding situation,

the other vehicles include a first other vehicle, a second other vehicle, a third other vehicle, and a fourth other vehicle,

the first other vehicle is present on a second lane adjacent to a first lane on which the vehicle is present at a position closest to the vehicle on a forward side in a traveling direction than the vehicle,

the second another vehicle is present on the second lane at a position closest to the vehicle on a rear side in a traveling direction than the vehicle,

the third other vehicle is present on a third lane that is adjacent to the second lane and is farther from the first lane than the second lane to the first lane on a forward side in a traveling direction than the vehicle,

the fourth another vehicle is present on the third lane at a position closest to the vehicle on a rear side in a traveling direction of the vehicle,

the vehicle control method causes the computer to perform processing further including:

the information of the other vehicles is obtained,

performing a first control when it is determined that the relationship between the first another vehicle and the vehicle satisfies a first condition, the relationship between the second another vehicle and the vehicle satisfies a second condition stricter than the first condition, the relationship between the third another vehicle and the vehicle satisfies a third condition stricter than the first condition, and the relationship between the fourth another vehicle and the vehicle satisfies a fourth condition stricter than the second condition and the third condition,

the first control is control for causing the vehicle to lane change to a fourth lane adjacent to the third lane by passing the vehicle through an area between the first another vehicle and the second another vehicle in the traveling direction and an area between the third another vehicle and the fourth another vehicle in the traveling direction.

10. A storage medium storing a program, wherein,

the program causes a computer to execute:

a process of identifying a peripheral condition of a vehicle including at least a position and a speed of another vehicle that is present in a periphery of the vehicle and that travels in the same direction as the vehicle; and

a process of causing the vehicle to travel based on the identified surrounding situation,

the other vehicles include a first other vehicle, a second other vehicle, a third other vehicle, and a fourth other vehicle,

the first other vehicle is present on a second lane adjacent to a first lane on which the vehicle is present at a position closest to the vehicle on a forward side in a traveling direction than the vehicle,

the second another vehicle is present on the second lane at a position closest to the vehicle on a rear side in a traveling direction than the vehicle,

the third other vehicle is present on a third lane that is adjacent to the second lane and is farther from the first lane than the second lane to the first lane on a forward side in a traveling direction than the vehicle,

the fourth another vehicle is present on the third lane at a position closest to the vehicle on a rear side in a traveling direction of the vehicle,

the program causes a computer to execute:

the information of the other vehicles is obtained,

performing a first control when it is determined that the relationship between the first another vehicle and the vehicle satisfies a first condition, the relationship between the second another vehicle and the vehicle satisfies a second condition stricter than the first condition, the relationship between the third another vehicle and the vehicle satisfies a third condition stricter than the first condition, and the relationship between the fourth another vehicle and the vehicle satisfies a fourth condition stricter than the second condition and the third condition,

the first control is control for causing the vehicle to lane change to a fourth lane adjacent to the third lane by passing the vehicle through an area between the first another vehicle and the second another vehicle in the traveling direction and an area between the third another vehicle and the fourth another vehicle in the traveling direction.

Technical Field

The invention relates to a vehicle control device, a vehicle control method, and a storage medium.

Background

Conventionally, a system for performing a lane change in consideration of the position and speed of a nearby vehicle has been disclosed (japanese patent laid-open No. 11-345396).

However, in the above-described system, sufficient consideration is not given to maintaining the travel of the vehicle at a pace (pace) desired by the vehicle or an occupant of the vehicle.

Disclosure of Invention

The present invention has been made in view of such circumstances, and an object thereof is to provide a vehicle control device, a vehicle control method, and a storage medium that can maintain the travel of a vehicle at a pace desired by the vehicle or an occupant of the vehicle.

Means for solving the problems

The vehicle control device, the vehicle control method, and the storage medium according to the present invention have the following configurations.

(1): a vehicle control device is provided with: an identification unit that identifies a peripheral condition of a vehicle including at least a position and a speed of another vehicle that is present in a periphery of the vehicle and that travels in the same direction as the vehicle; and a control unit that causes the vehicle to travel based on the surrounding situation recognized by the recognition unit, the other vehicles including a first other vehicle, a second other vehicle, a third other vehicle, and a fourth other vehicle, the first other vehicle being present in a position closest to the vehicle on a forward side in a traveling direction than the vehicle on a second lane adjacent to a first lane in which the vehicle is present, the second other vehicle being present in a position closest to the vehicle on a rearward side in the traveling direction than the vehicle on the second lane, the third other vehicle being present in a position closest to the vehicle on a forward side in the traveling direction than the vehicle on a third lane adjacent to the second lane and farther from the first lane than the second lane, the fourth another vehicle is present on the third lane at a position closest to the vehicle on a rear side in a traveling direction of the vehicle, the control unit acquires information of the another vehicle from the recognition unit, and the control unit performs a first control of causing the vehicle to pass through a region between the first another vehicle and the second another vehicle in the traveling direction when it is determined that a relationship between the first another vehicle and the vehicle satisfies a first condition, a relationship between the second another vehicle and the vehicle satisfies a second condition stricter than the first condition, a relationship between the third another vehicle and the vehicle satisfies a third condition stricter than the first condition, and a relationship between the fourth another vehicle and the vehicle satisfies a fourth condition stricter than the second condition and the third condition, And a control unit configured to cause the vehicle to perform a lane change to a fourth lane adjacent to the third lane in an area between the third another vehicle and the fourth another vehicle in the traveling direction.

(2): in the aspect of the above (1), the first condition is that a time obtained by subtracting a time at which the first another vehicle reaches the reference position from a current position, from a time at which the first another vehicle reaches the reference position when the first another vehicle is assumed to be present at a specific position in the traveling direction, exceeds a first threshold, the second condition is that a time at which the second another vehicle reaches the specific position from the current position, exceeds a second threshold, the third condition is that a time obtained by subtracting a time at which the third another vehicle reaches the reference position from the current position, from a time at which the third another vehicle reaches the reference position when the third another vehicle is assumed to be present at the specific position, exceeds a third threshold, and the fourth condition is that a time at which the fourth another vehicle reaches the specific position from the current position, exceeds a fourth threshold.

(3): in the above-described aspect (2), the second threshold is greater than the first threshold, the fourth threshold is greater than the third threshold, the third threshold is greater than the first threshold, and the fourth threshold is greater than the second threshold.

(4): in the above-described aspect of (2) or (3), the reference position is a starting point at which the second lane is separated from a first lane on which the vehicle travels, and the control portion moves the vehicle to the fourth lane before the vehicle reaches the reference position.

(5): in any one of the above (1) to (4), the first control is control in which the vehicle moves to the fourth lane without staying on the second lane and the third lane for a predetermined time or longer.

(6): in any one of the above (1) to (5), when any one of the first condition, the second condition, the third condition, and the fourth condition is not satisfied, the control unit performs a second control different from the first control, the second control being a control in which the vehicle stops on the second lane or the third lane for a predetermined time or more.

(7): in any one of the above (1) to (6), the first another vehicle, the second another vehicle, the third another vehicle, and the fourth another vehicle are vehicles that are present at positions within a predetermined distance from the vehicle in the traveling direction.

(8): in any one of the above (1) to (7), the control unit executes the first control when there is no other vehicle in the fourth lane within a predetermined distance from the vehicle in the traveling direction.

(9): a vehicle control method according to an aspect of the present invention causes a computer to perform processing including: a process of identifying a peripheral condition of a vehicle including at least a position and a speed of another vehicle that is present in a periphery of the vehicle and that travels in the same direction as the vehicle; and processing for causing the vehicle to travel based on the recognized surrounding situation, the other vehicles including a first other vehicle, a second other vehicle, a third other vehicle, and a fourth other vehicle, the first other vehicle being present on a second lane adjacent to a first lane on which the vehicle is present, the second other vehicle being present on the second lane, the second other vehicle being present on a rear side in the traveling direction relative to the vehicle, the second other vehicle being present on the second lane, the third other vehicle being present on a third lane adjacent to the second lane, the third lane being further from the first lane than the second lane, the third other vehicle being present on the third lane, the fourth other vehicle being present on the third lane, the third lane being further from the first lane than the second lane in the traveling direction relative to the vehicle A position on the rear side closest to the vehicle, the vehicle control method causing the computer to perform processing further including: acquiring information of the other vehicle, and performing a first control when it is determined that a relationship between the first other vehicle and the vehicle satisfies a first condition, a relationship between the second other vehicle and the vehicle satisfies a second condition stricter than the first condition, a relationship between the third other vehicle and the vehicle satisfies a third condition stricter than the first condition, and a relationship between the fourth other vehicle and the vehicle satisfies a fourth condition stricter than the second condition and the third condition, the first control is control for causing the vehicle to lane change to a fourth lane adjacent to the third lane by passing the vehicle through an area between the first another vehicle and the second another vehicle in the traveling direction and an area between the third another vehicle and the fourth another vehicle in the traveling direction.

(10): a storage medium according to an aspect of the present invention stores a program for causing a computer to execute: a process of identifying a peripheral condition of a vehicle including at least a position and a speed of another vehicle that is present in a periphery of the vehicle and that travels in the same direction as the vehicle; and processing for causing the vehicle to travel based on the recognized surrounding situation, the other vehicles including a first other vehicle, a second other vehicle, a third other vehicle, and a fourth other vehicle, the first other vehicle being present on a second lane adjacent to a first lane on which the vehicle is present, the second other vehicle being present on the second lane, the second other vehicle being present on a rear side in the traveling direction relative to the vehicle, the second other vehicle being present on the second lane, the third other vehicle being present on a third lane adjacent to the second lane, the third lane being further from the first lane than the second lane, the third other vehicle being present on the third lane, the fourth other vehicle being present on the third lane, the third lane being further from the first lane than the second lane in the traveling direction relative to the vehicle A position on the rear side closest to the vehicle, the program causing a computer to execute: acquiring information of the other vehicle, and performing a first control when it is determined that a relationship between the first other vehicle and the vehicle satisfies a first condition, a relationship between the second other vehicle and the vehicle satisfies a second condition stricter than the first condition, a relationship between the third other vehicle and the vehicle satisfies a third condition stricter than the first condition, and a relationship between the fourth other vehicle and the vehicle satisfies a fourth condition stricter than the second condition and the third condition, the first control is control for causing the vehicle to lane change to a fourth lane adjacent to the third lane by passing the vehicle through an area between the first another vehicle and the second another vehicle in the traveling direction and an area between the third another vehicle and the fourth another vehicle in the traveling direction.

Effects of the invention

According to (1) to (10), the vehicle control device can maintain the travel of the vehicle at a pace desired by the vehicle or an occupant of the vehicle by causing the vehicle to change the lane to the fourth lane when the relationship between the other vehicle and the vehicle satisfies the condition. Further, the vehicle or the occupant of the vehicle can travel without feeling obstructed.

According to (2) or (3), the vehicle control device can flexibly cope with a change in the behavior of traveling on the third lane.

Drawings

Fig. 1 is a configuration diagram of a vehicle system using a vehicle control device according to an embodiment.

Fig. 2 is a functional configuration diagram of the first control unit and the second control unit.

Fig. 3 is a diagram for explaining the processing of the vehicle to perform a lane change.

Fig. 4 is a diagram for explaining the displacement time.

Fig. 5 is a diagram for explaining the threshold values set for the displacement time.

Fig. 6 is a diagram for explaining the relationship between the thresholds.

Fig. 7 is a diagram illustrating an example of a track for explaining a case where a vehicle makes a lane change.

Fig. 8 is a diagram showing an example of a first another vehicle — a fourth another vehicle.

Fig. 9 is a flowchart showing an example of the flow of processing executed by the automatic driving control apparatus.

Fig. 10 is a diagram showing an example of the hardware configuration of the automatic driving control device according to the embodiment.

Detailed Description

Embodiments of a vehicle control device, a vehicle control method, and a storage medium according to the present invention will be described below with reference to the accompanying drawings.

[ integral Structure ]

Fig. 1 is a configuration diagram of a vehicle system 1 using a vehicle control device according to an embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a two-wheel, three-wheel, four-wheel or the like vehicle, and the drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using generated power generated by a generator connected to the internal combustion engine or discharge power of a secondary battery or a fuel cell.

The vehicle system 1 includes, for example, a camera 10, a radar device 12, a lidar (light Detection and ranging)14, an object recognition device 16, a communication device 20, an hmi (human Machine interface)30, a vehicle sensor 40, a navigation device 50, an mpu (map Positioning unit)60, a driving operation unit 80, an automatic driving control device 100, a driving force output device 200, a brake device 210, and a steering device 220. These devices and apparatuses are connected to each other by a multiplex communication line such as a can (controller Area network) communication line, a serial communication line, a wireless communication network, and the like. The configuration shown in fig. 1 is merely an example, and a part of the configuration may be omitted or another configuration may be added.

The camera 10 is a digital camera using a solid-state imaging device such as a ccd (charge Coupled device) or a cmos (complementary Metal Oxide semiconductor). The camera 10 is mounted on an arbitrary portion of a vehicle (hereinafter referred to as a vehicle M) on which the vehicle system 1 is mounted. When photographing forward, the camera 10 is attached to the upper part of the front windshield, the rear surface of the vehicle interior mirror, or the like. The camera 10 repeatedly shoots the periphery of the vehicle M periodically, for example. The camera 10 may also be a stereo camera.

The radar device 12 radiates radio waves such as millimeter waves to the periphery of the vehicle M, and detects radio waves (reflected waves) reflected by an object to detect at least the position (distance and direction) of the object. The radar device 12 is attached to an arbitrary portion of the vehicle M. The radar device 12 may detect the position and velocity of the object by an FM-cw (frequency Modulated Continuous wave) method.

The LIDAR14 irradiates the periphery of the vehicle M with light (or electromagnetic waves having a wavelength close to light), and measures scattered light. The LIDAR14 detects the distance to the object based on the time from light emission to light reception. The light to be irradiated is, for example, pulsed laser light. The LIDAR14 is attached to an arbitrary portion of the vehicle M.

The object recognition device 16 performs a sensor fusion process on the detection results detected by some or all of the camera 10, the radar device 12, and the LIDAR14, and recognizes the position, the type, the speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic driving control device 100. The object recognition device 16 may directly output the detection results of the camera 10, the radar device 12, and the LIDAR14 to the automatic driving control device 100. The object recognition device 16 may also be omitted from the vehicle system 1.

The communication device 20 communicates with another vehicle present in the vicinity of the vehicle M or with various server devices via a wireless base station, for example, using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), dsrc (dedicated Short Range communication), or the like.

The HMI30 presents various information to the occupant of the vehicle M, and accepts input operations by the occupant. The HMI30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like.

The vehicle sensors 40 include a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity about a vertical axis, an orientation sensor that detects the orientation of the vehicle M, and the like.

The Navigation device 50 includes, for example, a gnss (global Navigation Satellite system) receiver 51, a Navigation HMI52, and a route determination unit 53. The navigation device 50 stores first map information 54 in a storage device such as an hdd (hard Disk drive) or a flash memory. The GNSS receiver 51 determines the position of the vehicle M based on the signals received from the GNSS satellites. The position of the vehicle M may also be determined or supplemented by an ins (inertial Navigation system) that utilizes the output of the vehicle sensors 40. The navigation HMI52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI52 may also be partially or wholly shared with the aforementioned HMI 30. The route determination unit 53 determines a route (hereinafter referred to as an on-map route) from the position of the vehicle M (or an arbitrary input position) specified by the GNSS receiver 51 to the destination input by the occupant using the navigation HMI52, for example, with reference to the first map information 54. The first map information 54 is information representing a road shape by, for example, a line representing a road and nodes connected by the line. The first map information 54 may include curvature of a road, poi (point of interest) information, and the like. The map upper path is output to the MPU 60. The navigation device 50 may also perform route guidance using the navigation HMI52 based on the on-map route. The navigation device 50 may be realized by a function of a terminal device such as a smartphone or a tablet terminal held by the occupant. The navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20, and acquire a route equivalent to the route on the map from the navigation server.

The MPU60 includes, for example, the recommended lane determining unit 61, and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determining unit 61 divides the on-map route provided from the navigation device 50 into a plurality of blocks (for example, every 100[ m ] in the vehicle traveling direction), and determines the recommended lane for each block with reference to the second map information 62. The recommended lane determining unit 61 determines to travel in the second lane from the left. The recommended lane determining unit 61 determines the recommended lane so that the vehicle M can travel on a reasonable route for traveling to the branch destination when the route has a branch point on the map.

The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of a lane, information on the boundary of a lane, and the like. The second map information 62 may include road information, traffic regulation information, address information (address/postal code), facility information, telephone number information, and the like. The second map information 62 can be updated at any time by communicating with other devices through the communication device 20.

The driving operation members 80 include, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a joystick, and other operation members. A sensor for detecting the operation amount or the presence or absence of operation is attached to the driving operation element 80, and the detection result is output to some or all of the automatic driving control device 100, the running driving force output device 200, the brake device 210, and the steering device 220.

The automatic driving control device 100 includes, for example, a first control unit 120 and a second control unit 160. The first control unit 120 and the second control unit 160 are each realized by a hardware processor such as a cpu (central Processing unit) executing a program (software). Some or all of these components may be realized by hardware (including circuit units) such as lsi (large Scale integration), asic (application Specific Integrated circuit), FPGA (Field-Programmable Gate Array), and gpu (graphics Processing unit), or may be realized by cooperation between software and hardware. The program may be stored in advance in a storage device (a storage device including a non-transitory storage medium) such as an HDD or a flash memory of the automatic drive control device 100, or may be stored in a removable storage medium such as a DVD or a CD-ROM, and may be attached to the HDD or the flash memory of the automatic drive control device 100 by being attached to the drive device via the storage medium (the non-transitory storage medium). The automatic driving control apparatus 100 is an example of a "vehicle control apparatus".

Fig. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160. The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The first control section 120 implements, for example, an AI (Artificial Intelligence) based function and a predetermined model based function in parallel. For example, the function of "recognizing an intersection" can be realized by "performing recognition of an intersection by deep learning or the like and recognition based on a predetermined condition (presence of a signal, a road sign, or the like that enables pattern matching) in parallel, and scoring both sides and comprehensively evaluating them". Thereby, the reliability of automatic driving is ensured.

The recognition unit 130 recognizes the position, speed, acceleration, and other states of the object in the periphery of the vehicle M based on information input from the camera 10, the radar device 12, and the LIDAR14 via the object recognition device 16. The position of the object is recognized as a position on absolute coordinates with the origin at a representative point (center of gravity, center of drive shaft, etc.) of the vehicle M, for example, and used for control. The position of the object may be represented by a representative point such as the center of gravity and a corner of the object, or may be represented by a region to be represented. The "state" of the object may include acceleration, jerk, or "behavior state" of the object (e.g., whether a lane change is being made or is about to be made).

The recognition unit 130 recognizes, for example, a lane in which the vehicle M is traveling (traveling lane). For example, the recognition unit 130 recognizes the traveling lane by comparing the pattern of road dividing lines (e.g., the arrangement of solid lines and broken lines) obtained from the second map information 62 with the pattern of road dividing lines around the vehicle M recognized from the image captured by the camera 10. The recognition unit 130 is not limited to the road division line recognition, and may recognize the lane by recognizing a road division line, and a boundary of a traveling path (road boundary) including a shoulder, a curb, a center barrier, a guardrail, and the like. In this recognition, the position of the vehicle M acquired from the navigation device 50 and the processing result by the INS may be considered. The recognition part 130 recognizes a temporary stop line, an obstacle, a red light, a toll booth, and other road phenomena.

The recognition unit 130 recognizes the position and posture of the vehicle M with respect to the travel lane when recognizing the travel lane. The recognition unit 130 may recognize, for example, a deviation of the reference point of the vehicle M from the center of the lane and an angle formed by the traveling direction of the vehicle M with respect to a line connecting the centers of the lanes as a relative position and posture of the vehicle M with respect to the traveling lane. Instead, the recognition unit 130 may recognize the position of the reference point of the vehicle M with respect to an arbitrary side end portion (road dividing line or road boundary) of the traveling lane as the relative position of the vehicle M with respect to the traveling lane.

The action plan generating unit 140 generates a target trajectory on which the vehicle M automatically (without depending on the operation of the driver) travels in the future so as to travel on the recommended lane determined by the recommended lane determining unit 61 in principle and to be able to cope with the surrounding situation of the vehicle M. The target track contains, for example, a velocity element. For example, the target track is represented by a track in which points (track points) to which the vehicle M should arrive are arranged in order. The track point is a point to which the vehicle M should arrive at every predetermined travel distance (for example, several [ M ] or so) in terms of a distance along the way, and unlike this, a target speed and a target acceleration at every predetermined sampling time (for example, several zero [ sec ] or so) are generated as a part of the target track. The track point may be a position to which the vehicle M should arrive at a predetermined sampling time. In this case, the information on the target velocity and the target acceleration is expressed by the interval between the track points.

The action plan generating unit 140 may set an event of autonomous driving when generating the target trajectory. Examples of the event of the automatic driving include a constant speed driving event, a low speed follow-up driving event, a lane change event, a branch event, a merge event, and a take-over event. The action plan generating unit 140 generates a target trajectory corresponding to the activated event.

The second control unit 160 controls the running driving force output device 200, the brake device 210, and the steering device 220 so that the vehicle M passes through the target trajectory generated by the action plan generation unit 140 at a predetermined timing.

The second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires information of the target track (track point) generated by the action plan generation unit 140, and stores the information in a memory (not shown). The speed control unit 164 controls the running drive force output device 200 or the brake device 210 based on the speed element associated with the target track stored in the memory. The steering control unit 166 controls the steering device 220 according to the curve of the target track stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control. For example, the steering control unit 166 performs a combination of feedforward control according to the curvature of the road ahead of the vehicle M and feedback control based on deviation from the target trajectory.

Running drive force output device 200 outputs running drive force (torque) for running the vehicle to the drive wheels. The travel driving force output device 200 includes, for example, a combination of an internal combustion engine, a motor, a transmission, and the like, and an ecu (electronic Control unit) that controls them. The ECU controls the above configuration in accordance with information input from the second control unit 160 or information input from the driving operation element 80.

The brake device 210 includes, for example, a caliper, a hydraulic cylinder that transmits hydraulic pressure to the caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a brake ECU. The brake ECU controls the electric motor so that the braking torque corresponding to the braking operation is output to each wheel, in accordance with the information input from the second control unit 160 or the information input from the driving operation element 80. The brake device 210 may be provided with a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the driving operation tool 80 to the hydraulic cylinder via the master cylinder as a backup. The brake device 210 is not limited to the above-described configuration, and may be an electronically controlled hydraulic brake device that controls an actuator in accordance with information input from the second control unit 160 and transmits the hydraulic pressure of the master cylinder to the hydraulic cylinder.

The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor changes the orientation of the steering wheel by applying a force to a rack-and-pinion mechanism, for example. The steering ECU drives the electric motor to change the direction of the steered wheels in accordance with information input from the second control unit 160 or information input from the driving operation element 80.

[ processing relating to lane change ]

Fig. 3 is a diagram for explaining the process of the vehicle M performing a lane change. In the following description, the traveling direction of the vehicle (extending direction of the road) may be referred to as the X direction, and the width direction of the vehicle (width direction of the road) may be referred to as the Y direction.

The road shown in fig. 3 includes a first lane L1, a second lane L2, a third lane L3, and a fourth lane L4. The first lane L1 is a lane connected with the second lane. The first lane L1 is separated from the first lane L1 after being connected to the second lane L2 by a predetermined distance. The vehicle M traveling on the first lane L1 can enter the second lane L2 at the conflagable section. The conflagable interval is an interval from the position P1 to the position P2.

On the negative X direction side of the position P1, a zebra crossing (diversion tape) Z1 and a division OB1 are provided between the first lane L1 and the second lane L2. The division OB1 is provided on the negative X direction side of the zebra crossing Z1. The position P1 is the end of the zebra crossing Z1 on the positive X direction side. On the positive X direction side of the position P2, the zebra crossing Z2 and the partition OB2 are disposed between the first lane L1 and the second lane L2. The division OB2 is provided on the positive X direction side of the zebra crossing Z2. The position P2 is the end of the zebra crossing Z2 on the negative X direction side.

When the automatic drive control device 100 reaches the specific position PM (for example, the specific position PM and the reference line Rf) in the first lane L1 in the traveling direction, the information of the first another vehicle M1 to the fourth another vehicle M4 is acquired from the recognition unit 130, and when it is determined that the relationship between the first another vehicle M1 and the vehicle M satisfies the first condition, the relationship between the second another vehicle M2 and the vehicle M satisfies the second condition stricter than the first condition, the relationship between the third another vehicle M3 and the vehicle M satisfies the third condition stricter than the first condition, and the relationship between the fourth another vehicle M4 and the vehicle M satisfies the fourth condition stricter than the second condition and the third condition, the automatic drive control device 100 makes the vehicle M pass through the area between the first another vehicle M1 and the second another vehicle M2 in the traveling direction, and the area between the third another vehicle M3 and the fourth another vehicle M4 in the traveling direction, And the vehicle M is subjected to the first control of lane change to the fourth lane L4 adjacent to the third lane L3.

For example, the automatic driving control device 100 executes the first control when there is no other vehicle in the fourth lane L4 within a predetermined distance from the vehicle M in the traveling direction. The satisfaction of the first condition to the fourth condition means that a displacement time described later exceeds a threshold value. Details of the first to fourth conditions, the displacement time, and the threshold value will be described later.

For example, the first another vehicle m1 and the second another vehicle m2 are traveling in the second lane L2, and the third another vehicle m3 and the fourth another vehicle m4 are traveling in the third lane L3. The first other vehicle M1-the fourth other vehicle M4 are traveling at a faster speed than the vehicle M. For example, the vehicle M is traveling at a speed of about 60km/h, and the first another vehicle M1-the fourth another vehicle M4 are traveling at a speed of about 100 km/h.

The specific position PM may be between the position P1 and the position P2, and preferably, as shown in fig. 3, is a position immediately after the vehicle M passes through the position P1. The reference line Rf is a line virtually set at a boundary between the first lane L1 and the second lane L2 in the conflagable section.

The first control is control in which the vehicle M moves to the fourth lane L4 without stopping in the second lane L2 and the third lane L3 for a predetermined time or more. The non-stop means, for example, that the time during which the center axis direction of the vehicle M is parallel to the extending direction of the lane is shorter than a predetermined time, and the vehicle M travels diagonally across the lane in accordance with the speed of the vehicle M.

When one or more of the first to fourth conditions are not satisfied, the automatic driving control apparatus 100 performs a second control different from the first control. The second control is control in which the vehicle M stays in the second lane L2 or the third lane L3 for a predetermined time or longer. The stop is, for example, a time during which the center axis direction of the vehicle M is parallel (substantially parallel) to the extending direction of the lane is equal to or longer than a predetermined time.

(with respect to displacement time)

Fig. 4 is a diagram for explaining the displacement time. The automatic driving control apparatus 100 obtains the displacement time between the first different vehicle m1 and the fourth different vehicle m 4. The displacement time is, for example, a time obtained by dividing the distance of the predetermined section by the speed of the target vehicle.

(1) Displacement time M-M1 with respect to first other vehicle M1

The displacement time M-M1 is a time obtained by subtracting the time at which the first another vehicle M1 reaches the position P2 from the current position from the time at which the first another vehicle M1 reaches the position P2 in a case where it is assumed that the first another vehicle M1 is present at the specific position PM where the vehicle M is present in the traveling direction.

(2) Displacement time M2-M for second other vehicle M2

The displacement time M2-M is the time at which the second other vehicle M2 reaches the specific position PM from the current position.

(3) Displacement time M-M3 with respect to third other vehicle M3

The displacement time M-M3 is a time obtained by subtracting the time at which the third another vehicle M3 reaches the position P2 from the current position from the time at which the third another vehicle M3 reaches the position P2 in a case where it is assumed that the third another vehicle M3 is present at the specific position PM.

(4) Displacement time M4-M for a fourth other vehicle M4

The displacement time M4-M is a displacement time obtained based on the displacement of the fourth other vehicle M4, that is, the time at which the fourth other vehicle M4 reaches the specific position PM from the current position.

(with respect to threshold)

Fig. 5 is a diagram for explaining the threshold values set for the displacement time. Thresholds are set for the displacement time M-M1, the displacement time M2-M, the displacement time M-M3, and the displacement time M4-M, respectively. A threshold Th1 was set for the shift time M-M1, a threshold Th2 was set for the shift time M2-M, a threshold Th3 was set for the shift time M-M3, and a threshold Th4 was set for the shift time M4-M.

The first control is executed in the case where the displacement time M-M1 exceeds the threshold Th1, the displacement time M2-M exceeds the threshold Th2, the displacement time M-M3 exceeds the threshold Th3, and the displacement time M4-M exceeds the threshold Th 4. In other words, in the case where the first condition-the fourth condition are satisfied, the first control is executed. In the case where any of the displacement time M-M1, the displacement time M2-M, the displacement time M-M3, or the displacement time M4-M does not exceed the threshold values respectively set for them, the second control is executed.

The relationship between the thresholds is as follows. The threshold Th2 is greater than the threshold Th 1. The threshold Th4 is greater than the threshold Th 3. The threshold Th3 is greater than the threshold Th 1. The threshold Th4 is greater than the threshold Th 2. The threshold Th2 may be the same as or different from the threshold Th 3.

Fig. 6 is a diagram for explaining the relationship between the thresholds. As described above, the threshold values (threshold values Th2, Th4) for the displacement times (displacement time M2-M, displacement time M4-M) relating to the rear vehicle are made larger than the threshold values (threshold values Th1, Th3) for the displacement times (displacement time M1, displacement time M3) relating to the front vehicle existing on the same lane. Thus, the vehicle M can maintain a state of being separated by a predetermined distance from another vehicle that is traveling faster than the vehicle M. Further, even when the speed of the vehicle at the rear side changes, the vehicle M can sufficiently maintain the distance from the vehicle at the rear side.

As described above, the threshold values (threshold values Th2, Th4) for the displacement times (displacement time M-M3, displacement time M4-M) relating to the vehicle traveling on the third lane L3 are made larger than the threshold values (threshold values Th1, Th2) for the displacement times (displacement time M-M1, displacement time M2-M) relating to the vehicle traveling on the second lane L2 (lane close to the lane on which the vehicle M travels).

Thus, in consideration of the possibility of a change in the speed of the third another vehicle M3 or the fourth another vehicle M4, even when the speed of the third another vehicle M3 or the fourth another vehicle M4 changes (when the third another vehicle M3 decelerates or the fourth another vehicle M4 accelerates), the vehicle M can move to the fourth lane L4 with a margin. The behavior of the third other vehicle M3 or the fourth other vehicle M4 existing on the third lane L3 distant from the vehicle M is likely to change at a time before the vehicle M moves to the third lane L3. The remaining amount for the third other vehicle M3 or the fourth other vehicle M4 present on the third lane L3 distant from the vehicle M is set to be a larger remaining amount than the remaining amount for the first other vehicle M1 or the second other vehicle M2 present on the second lane L2 close to the vehicle M. Therefore, the vehicle M can move to the fourth lane L4 while flexibly coping with a change in the behavior of the third other vehicle M3 or the fourth other vehicle M4.

In the above example, the case of entering the lane (the fourth lane L4) whose number is two before the lane is entered has been described, but the processing of the present embodiment may be performed also in the case of entering the lane whose number is three before the lane is entered. The first three lanes are the fifth lane. In this case, a condition relating to the lane existing in the middle (the second-fourth lane is assumed) is added, and the severity of the condition between the vehicle and another vehicle traveling ahead of the vehicle M on the second-fourth lane is set to be the first condition or more and becomes stricter as the distance from the first lane becomes larger, and the severity of the condition between the vehicle and another vehicle traveling behind the vehicle M on the second-fourth lane is set to be the second condition or more and becomes stricter as the distance from the first lane becomes larger. The same applies to the case of a lane with four or more lanes before entering.

(track for vehicle lane change)

Fig. 7 is a diagram illustrating an example of a trajectory for explaining a case where the vehicle M makes a lane change. Fig. 7 is a diagram conceptually showing a track on which the vehicle M makes a lane change. The horizontal axis of fig. 7 indicates an index In1 relating to the position of the vehicle, and the vertical axis of fig. 7 indicates an index In2 relating to the speed of the vehicle. The coordinate at which the index In1 is zero is a coordinate corresponding to the position P2, and the coordinate at which the index In2 is zero, that is, the axis indicating the index In1 corresponds to the reference line Rf. The index In1 is a value obtained by dividing the distance from the position P2 to the subject vehicle (distance shown by a negative value) by the speed of the subject vehicle. The index In2 is a value obtained by dividing the distance from the reference position of the target vehicle (for example, the center axis or the intersection of the vehicle head and the center axis) to the reference line Rf by the lateral velocity of the target vehicle.

The first another vehicle m1 to the fourth another vehicle m4 do not actually move laterally, but for convenience, each of the other vehicles moves at a predetermined lateral speed from the reference line Rf to a reference position (for example, the center) of the lane on which each vehicle is traveling, and the coordinates are drawn. For example, the first another vehicle m1 to the fourth another vehicle m4 are moving laterally at a speed of, for example, 1 m/sec, and coordinates are drawn.

The automatic driving control device 100 generates a trajectory OR through which the vehicle M passes between the first another vehicle M1 and the second another vehicle M2, and between the third another vehicle M3 and the fourth another vehicle M4, for example, in the map of fig. 7 described above, and controls the vehicle M based on the generated trajectory. The track OR is, for example, a preset track OR a track set in accordance with the speed of the vehicle M and the speed of another vehicle. The track OR is a track corresponding to a behavior to the extent that the occupant of the vehicle M does not feel unpleasant when the vehicle M performs the behavior based on the track OR. The end of the track OR is position P2. In other words, the lane change is completed before the vehicle M reaches the position P2.

The lateral speed in the area AR1 immediately after the vehicle M starts moving laterally on the track OR, OR the lateral speed in the area AR2 immediately before the vehicle M finishes moving laterally on the track OR, is slower than the lateral speed in the other area (the area of the track OR during a lane change). As shown in fig. 7, the slopes of the area AR1 and the area AR2 are shallower than the slopes of the other areas. This suppresses abrupt behavior of the vehicle M at the initial and final stages of the lane change, thereby improving the riding comfort of the occupants.

(with respect to the first other vehicle m 1-the fourth other vehicle m4)

The automatic driving control apparatus 100 sets, for example, a vehicle existing at a first distance L1 from the vehicle M in the second lane L2 in the traveling direction as a first other vehicle, a vehicle existing at a first distance L1 (or a prescribed distance different from the first distance L1) from the vehicle M in the third lane L3 in the traveling direction as a second other vehicle, a vehicle existing at a second distance L2 from the vehicle M in the second lane L2 in the traveling direction as a third other vehicle, and a vehicle existing at a second distance L2 (or a prescribed distance different from the second distance L2) from the vehicle M in the third lane L3 in the traveling direction as a fourth other vehicle. Fig. 8 is a diagram showing an example of the first another vehicle m1 to the fourth another vehicle m 4.

The first distance L1 or the second distance L2 is a distance obtained by multiplying a reference speed derived from the speed of the vehicle traveling in the second lane L2 and the third lane L3 in the past by a predetermined time. The reference speed is a speed corresponding to a relatively high speed of the vehicles traveling in the second lane L2 and the third lane L3, and an average speed and a median of the vehicles traveling in the second lane L2 and the third lane L3. The first distance L1 is shorter than the second distance L2, for example.

[ flow chart ]

Fig. 9 is a flowchart showing an example of the flow of processing executed by the automatic driving control apparatus 100. First, the action plan generating unit 140 determines whether or not the first vehicle m1 to the fourth vehicle m4 exist based on the recognition result of the recognizing unit 130, the first distance L1, and the second distance L2 (step S100). If there are the first vehicle m1 to the fourth vehicle m4, the action plan generating unit 140 determines whether or not the fourth lane L4 satisfies a predetermined condition based on the recognition result of the recognizing unit 130 (step S102). The predetermined condition is that no other vehicle is present within a predetermined distance from the vehicle M in the traveling direction.

When the fourth lane L4 satisfies the predetermined condition, the action plan generating unit 140 determines whether or not the displacement times of the first vehicle m1 to the fourth vehicle m4 exceed the thresholds set for the first vehicle m1 to the fourth vehicle m4, respectively (step S104). That is, it is determined whether the first condition-the fourth condition is satisfied.

When the displacement times of the first vehicle m1 to the fourth vehicle m4 exceed the thresholds set for the first vehicle m1 to the fourth vehicle m4, respectively, the action plan generating unit 140 generates tracks for passing between the first another vehicle m1 and the second another vehicle m2, and between the third another vehicle m3 and the fourth another vehicle m4 (step S106). Then, the action plan generating unit 140 moves the vehicle M to the fourth lane L4 based on the generated track (step S108).

The action plan generating unit 140 executes the second control (step S110) when the first vehicle m 1-the fourth vehicle m4 are not present in step S100, when the fourth lane L4 does not satisfy the predetermined condition in step S102, or when the displacement time of the first vehicle m 1-the fourth vehicle m4 does not exceed the threshold values set for the first vehicle m 1-the fourth vehicle m4, respectively, in step S104. For example, the action plan generating unit 140 performs the following control: the vehicle passes behind the second another vehicle m2 and the fourth another vehicle m4 and moves to the fourth lane L4, or temporarily travels on the second lane L2 or the third lane L3. This completes the processing of the 1 routine of the present flowchart.

In the above example, the case where the automatic driving control device 100 moves the vehicle M to the fourth lane L4 has been described, but it may be determined whether or not to move the vehicle M to the third lane L3 based on the above-described idea when moving the vehicle M to the third lane L3. For example, when the first condition and the second condition are satisfied, the vehicle M moves to the third lane L3. For example, when the third another vehicle M3 and the fourth another vehicle M4 are not present and the displacement time of the first another vehicle M1 and the second another vehicle M2 exceeds the threshold value set for the first another vehicle M1 and the second another vehicle M2, the vehicle M passes between the first another vehicle M1 and the second another vehicle M2 and moves to the third lane L3.

Further, when the vehicle M is moved to a lane farther than the fourth lane L4 (for example, a fifth lane adjacent to the fourth lane L4), the automatic driving control apparatus 100 may determine whether or not to move the vehicle M based on the above-described idea. In this case, when a fifth another vehicle is present ahead of the vehicle M in the fourth lane L4 in the traveling direction of the vehicle M, a sixth another vehicle is present behind, the fifth condition is satisfied by the relationship between the vehicle M and the fifth another vehicle in addition to the first condition-the fourth condition being satisfied, and the sixth condition is satisfied by the relationship between the vehicle M and the sixth another vehicle, the automatic driving control device 100 moves the vehicle M to the fifth lane by the first control. The fifth condition is a more stringent condition than the third condition, and the sixth condition is a more stringent condition than the fourth condition. Among the conditions regarding the relationship between the vehicle M and the other vehicle, the more distant the lane in which the other vehicle exists from the lane in which the vehicle M travels, the more strict the conditions regarding the relationship between the other vehicle and the vehicle M. However, in this case, the condition between the vehicle and another vehicle present in front of the vehicle M is also more relaxed than the condition between the vehicle and another vehicle present behind the vehicle M on the same lane as the other vehicle.

According to the embodiment described above, when it is determined that the relationship between the first another vehicle M1 and the vehicle M satisfies the first condition, the relationship between the second another vehicle M2 and the vehicle M satisfies the second condition stricter than the first condition, the relationship between the third another vehicle M3 and the vehicle M satisfies the third condition stricter than the first condition, and the relationship between the fourth another vehicle M4 and the vehicle M satisfies the fourth condition stricter than the third condition, the vehicle M is caused to pass through the region between the first another vehicle M1 and the second another vehicle M2 in the traveling direction and the region between the third another vehicle M3 and the fourth another vehicle M4 in the traveling direction, and the vehicle M is caused to change the lane to the fourth lane L4 adjacent to the third lane L3, whereby the traveling of the vehicle can be maintained at a pace desired by the vehicle or the occupant of the vehicle.

[ hardware configuration ]

Fig. 10 is a diagram showing an example of the hardware configuration of the automatic driving control apparatus 100 according to the embodiment. As shown in the figure, the automatic driving control apparatus 100 is configured such that a communication controller 100-1, a CPU100-2, a ram (random Access memory)100-3 used as a work memory, a rom (read Only memory)100-4 storing a boot program and the like, a flash memory, a storage apparatus 100-5 such as an hdd (hard Disk drive) and the like, and a drive apparatus 100-6 are connected to each other via an internal bus or a dedicated communication line. The communication controller 100-1 performs communication with components other than the automatic driving control apparatus 100. The program 100-5a to be executed by the CPU100-2 is stored in the storage device 100-5. This program is developed into the RAM100-3 by a dma (direct Memory access) controller (not shown) or the like, and executed by the CPU 100-2. This realizes a part or all of the first control unit 120, the second control unit 160, and the functional units included in these units.

The above-described embodiments can be expressed as follows.

A vehicle control device is provided with:

a storage device in which a program is stored; and

a hardware processor for executing a program of a program,

the hardware processor executes, by executing a program stored in the storage device:

a process of identifying a peripheral condition of a vehicle including at least a position and a speed of another vehicle that exists in a periphery of the vehicle and travels in the same direction as the vehicle; and

a process of causing the vehicle to travel based on the identified surrounding situation,

the other vehicles include a first other vehicle, a second other vehicle, a third other vehicle, and a fourth other vehicle,

the first other vehicle is present on a second lane adjacent to a first lane on which the vehicle is present at a position closest to the vehicle on a forward side in a traveling direction than the vehicle,

the second another vehicle is present on the second lane at a position closest to the vehicle on a rear side in a traveling direction than the vehicle,

the third other vehicle is present on a third lane that is adjacent to the second lane and is farther from the first lane than the second lane to the first lane on a forward side in a traveling direction than the vehicle,

the fourth another vehicle is present on the third lane at a position closest to the vehicle on a rear side in a traveling direction of the vehicle,

and performs the following processes:

the information of the other vehicles is obtained,

performing a first control when it is determined that the relationship between the first another vehicle and the vehicle satisfies a first condition, the relationship between the second another vehicle and the vehicle satisfies a second condition stricter than the first condition, the relationship between the third another vehicle and the vehicle satisfies a third condition stricter than the first condition, and the relationship between the fourth another vehicle and the vehicle satisfies a fourth condition stricter than the second condition and the third condition,

the first control is control for causing the vehicle to lane change to a fourth lane adjacent to the third lane by passing the vehicle through an area between the first another vehicle and the second another vehicle in the traveling direction and an area between the third another vehicle and the fourth another vehicle in the traveling direction.

While the present invention has been described with reference to the embodiments, the present invention is not limited to the embodiments, and various modifications and substitutions can be made without departing from the scope of the present invention.