JP2019119296A - Vehicle control device, vehicle control method, program, and information acquisition device - Google Patents

Abstract

To perform offset control under consideration of a structure present between the object vehicle and another vehicle.SOLUTION: A vehicle control device which controls a travel of a vehicle comprises: an acquisition part which acquires information associated with another vehicle traveling in a detection region at a periphery of the vehicle and information associated with a structure in the detection region; and a control part which performs, based upon the information that the acquisition part acquires, offset control to move the vehicle in a sideways direction crossing the traveling direction of the vehicle. The control part performs the offset control in which a sideways movement quantity is made less when there is a structure present between a first lane where the vehicle travels and a second lane where the other vehicle travels than when not.SELECTED DRAWING: Figure 2

Description

  The present invention relates to control technology of a vehicle.

  Patent Document 1 describes performing offset control on parallel vehicles and oncoming vehicles running in parallel, and Patent Document 2 performs offset control by predicting overtaking of oncoming vehicles. Is described.

Japanese Patent Application Publication No. 2005-524135 JP, 2010-097261, A

  In patent documents 1 and 2, since offset control is performed irrespective of existence of a structure between self-vehicles and an oncoming car, unnecessary offset control may be performed.

  The present invention provides a vehicle control technique capable of performing offset control in consideration of a structure existing between a host vehicle and another vehicle.

A vehicle control device according to an aspect of the present invention is a vehicle control device that controls traveling of a vehicle, and
Acquisition means for acquiring information on another vehicle traveling in a detection area around the vehicle and information on a structure located in the detection area;
Control means for performing offset control to move the vehicle in a lateral direction intersecting the traveling direction of the vehicle based on the information acquired by the acquisition means, the control means comprising:
Compared with the lateral movement amount in the case where the structure does not exist between the first lane in which the vehicle travels and the second lane in which the other vehicle travels, the lateral movement amount in the case where the structure exists is suppressed Offset control is performed.

  According to the present invention, it is possible to perform offset control in consideration of a structure existing between the host vehicle and another vehicle.

FIG. 1 is a block diagram showing a basic configuration of a vehicle control device. The figure which shows the structural example of the control block diagram for controlling a vehicle. A figure explaining a flow of processing of a vehicle control device concerning an embodiment. The figure explaining the flow of processing of offset control based on structure information. The figure explaining the flow of processing of offset control based on distance information. The flow of offset control processing based on the recognition level will be described. The figure explaining the flow of offset control in case an undetected area exists. The figure which shows the offset control of embodiment illustratively. The figure which shows the offset control based on structure information illustratively. FIG. 8 exemplarily shows offset control based on lateral distance information. The figure which shows determination of the recognition level of the other vehicle with respect to a structure illustratively. FIG. 8 exemplarily shows offset control when there is a non-detection area.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The components described in this embodiment are merely illustrative and are not limited by the following embodiments.

(Configuration of vehicle control device)
FIG. 1A is a diagram illustrating a basic configuration of a vehicle control device that performs automatic driving control of the vehicle. The sensor S includes, for example, a radar S1, a rider S2, a gyro sensor S3, a GPS sensor S4, a vehicle speed sensor S5, and the like. The camera CAM is configured by at least one camera. The sensor S and the camera CAM acquire information of the vehicle and various kinds of information around the vehicle, and inputs the acquired information to the control unit COM.

  The control unit COM includes a CPU (C1) that performs processing related to automatic driving control of a vehicle, a memory C2, a server on a network and an external device, and a communication unit C3 that can communicate with other vehicles. The control unit COM performs image processing on the information input from the sensor S (the radar S1, the rider S2) and the camera CAM, extracts a target (object) existing around the host vehicle, and Analyze if such targets are placed.

  Further, the gyro sensor S3 detects the rotational motion and posture of the host vehicle, and the control unit COM determines the course of the host vehicle based on the detection result of the gyro sensor S3, the vehicle speed detected by the vehicle speed sensor S5, and the like. be able to. Further, the control unit COM can detect the current position (position information) of the host vehicle in the map information based on the detection result of the GPS sensor S4. The control unit COM can perform automatic driving control of the vehicle based on the information input from the sensor S and the camera CAM.

  When the vehicle control device shown in FIG. 1A is mounted on a vehicle, for example, the control unit COM may be disposed in an ECU of a recognition processing system that processes information of the sensor S or camera CAM or an ECU of an image processing system. It may be disposed in the ECU that controls the communication device and the input / output device, or may be disposed in the ECU in the control unit that performs drive control of the vehicle or in the ECU for automatic driving. For example, as shown in FIG. 1B described below, functions for plural ECUs constituting the vehicle control device 100, such as an ECU for a sensor S, an ECU for a camera, an ECU for an input / output device, and an ECU for automatic driving. May be dispersed.

  FIG. 1B is a control block diagram of a vehicle control device 100 for controlling the vehicle 1. In FIG. 1B, the vehicle 1 is schematically shown in plan and side views. The vehicle 1 is a sedan-type four-wheeled passenger car as an example.

  The control unit 2 of FIG. 1B controls each part of the vehicle 1. The control unit 2 includes a plurality of ECUs 20 to 29 communicably connected by an in-vehicle network. Each ECU (Engine Control Unit) includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs executed by the processor, data used by the processor for processing, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like.

  Hereinafter, the function etc. which each ECU20-29 takes charge of is demonstrated. The number of ECUs and the functions to be in charge can be appropriately designed for the vehicle 1, and can be subdivided or integrated as compared with the present embodiment.

  The ECU 20 executes vehicle control related to automatic driving of the vehicle 1 (own vehicle) according to the present embodiment. In automatic driving, at least one of steering of the vehicle 1 and acceleration / deceleration is automatically controlled. The process regarding the specific control in connection with an automatic driving | operation is demonstrated in detail later.

  The ECU 20 executes control related to automatic driving of the vehicle 1. In automatic driving, at least one of steering of the vehicle 1 and acceleration / deceleration is automatically controlled. In a control example to be described later, both steering and acceleration / deceleration are automatically controlled.

  The ECU 21 controls the electric power steering device 3. The electric power steering apparatus 3 includes a mechanism for steering the front wheels in response to a driver's driving operation (steering operation) on the steering wheel 31. Further, the electric power steering device 3 includes a motor for assisting a steering operation or a driving force for automatically steering the front wheels, a sensor for detecting a steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20 to control the traveling direction of the vehicle 1.

  The ECUs 22 and 23 control the detection units 41 to 43 that detect the surrounding situation of the vehicle and perform information processing on the detection results. The detection unit 41 is a camera for capturing an image in front of the vehicle 1 (hereinafter, may be referred to as a camera 41), and in the case of the present embodiment, two are provided on the roof front of the vehicle 1. By analyzing the image captured by the camera 41, it is possible to extract the contour of the target and extract the lane line (white line etc.) on the road.

  The detection unit 42 is a light detection and ranging (LIDAR: lidar) (hereinafter, may be referred to as a lidar 42), detects a target around the vehicle 1, and measures the distance to the target . In the case of the present embodiment, five lidars 42 are provided, one at each of the front corners of the vehicle 1, one at the center of the rear, and one at each side of the rear. The detection unit 43 is a millimeter wave radar (hereinafter, may be referred to as a radar 43), detects a target around the vehicle 1, and measures the distance to the target. In the case of this embodiment, five radars 43 are provided, one at the center of the front of the vehicle 1 and one at each of the front corners, and one at each of the rear corners.

  The ECU 22 performs control of one camera 41 and each lidar 42 and information processing of detection results. The ECU 23 controls the other camera 41 and each radar 43 and performs information processing of detection results. The reliability of the detection results can be improved by providing two sets of devices for detecting the surrounding environment of the vehicle, and by providing different types of detection units such as cameras, lidars and radars, analysis of the environment around the vehicle Can be done in many ways.

  The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and performs information processing of a detection result or a communication result. The gyro sensor 5 detects the rotational movement of the vehicle 1. The course of the vehicle 1 can be determined from the detection result of the gyro sensor 5, the wheel speed, and the like. The GPS sensor 24 b detects the current position of the vehicle 1. The communication device 24 c performs wireless communication with a server that provides map information and traffic information, and acquires such information. The ECU 24 can access a database 24a of map information built in a storage device, and the ECU 24 performs a route search from a current location to a destination.

  The ECU 25 includes a communication device 25a for inter-vehicle communication. The communication device 25a performs wireless communication with other vehicles in the vicinity to exchange information between the vehicles.

  The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the drive wheels of the vehicle 1 and includes, for example, an engine and a transmission. The ECU 26 controls, for example, the output of the engine in response to the driver's driving operation (acceleration operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, the vehicle speed detected by the vehicle speed sensor 7c, etc. The gear position of the transmission is switched based on the information of. When the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20 to control acceleration / deceleration of the vehicle 1.

  The ECU 27 controls a lamp (headlight, taillight, etc.) including the direction indicator 8 (turner). In the example of FIG. 1, the turn indicator 8 is provided at the front, the door mirror and the rear of the vehicle 1.

  The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and accepts input of information from the driver. The voice output device 91 reports information to the driver by voice. The display device 92 notifies the driver of the information by displaying an image. The display device 92 is disposed, for example, in front of the driver's seat, and constitutes an instrument panel or the like. In addition, although an audio | voice and a display were illustrated here, you may alert | report information by a vibration or light. Further, information may be notified by combining a plurality of voice, display, vibration, or light. Furthermore, depending on the level of information to be notified (for example, the degree of urgency), the combination may be different or the notification mode may be different.

  The input device 93 is arranged at a position where the driver can operate, and is a group of switches for giving an instruction to the vehicle 1. However, a voice input device may also be included.

  The ECU 29 controls the brake device 10 and a parking brake (not shown). The brake device 10 is, for example, a disc brake device, and is provided on each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by adding resistance to the rotation of the wheel. The ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the brake device 10 in response to an instruction from the ECU 20 to control the deceleration and stop of the vehicle 1. The brake device 10 and the parking brake can also be operated to maintain the vehicle 1 in the stopped state. In addition, when the transmission of the power plant 6 is provided with a parking lock mechanism, it can be operated to maintain the vehicle 1 in the stopped state.

<Example of control>
Control related to automatic driving of the vehicle 1 executed by the ECU 20 will be described. When the driver instructs the destination and the automatic driving, the ECU 20 automatically controls the traveling of the vehicle 1 toward the destination according to the guidance route searched by the ECU 24. At the time of automatic control, the ECU 20 acquires information on the surrounding condition of the vehicle 1 from the ECUs 22 and 23 and instructs the ECU 21, ECU 26 and 29 based on the acquired information to control steering and acceleration / deceleration of the vehicle 1.

  The ECU 22 performs control of one camera 41 and each lidar 42 and information processing of detection results. Further, the ECU 23 controls the other camera 41 and each radar 43 and performs information processing of detection results. The ECU 20 executes control related to automatic driving of the vehicle 1.

  FIG. 2 is a flowchart for explaining the flow of processing of the vehicle control device according to the embodiment. In step S200, the camera 41 and the riders 42 and the radars 43 detect the surroundings of the vehicle.

  In step S210, one camera 41, the ECU 22 performing control of each lidar 42 and information processing of detection results, and the other camera 41, ECU 23 performing control of each radar 43 and information processing of detection results are acquired It functions as a unit and acquires information on other vehicles traveling in a detection area around the vehicle and information on a structure located in the detection area.

  In step S220, the ECU 20 that executes control related to automatic driving of the vehicle 1 functions as a control unit, and the ECU 20 (control unit) acquires information on other vehicles in the acquisition result of the acquisition unit (ECU 22 and ECU 23). If not (S220-No), the process proceeds to step S230. Then, in step S230, the control unit (ECU 20) controls normal traveling.

  On the other hand, in step S220, when the information regarding another vehicle is acquired (S220-Yes), a control part (ECU20) advances a process to step S240.

  In step S240, the ECU 20 (control unit) advances the process to step S250 when the information on the structure present on the road is not acquired in the acquisition result of the acquiring unit (ECU 22, ECU 23) (S240-No) . Then, in step S250, the control unit (ECU 20) performs normal offset control that does not suppress the offset movement amount (hereinafter, also referred to as "lateral movement amount" or simply "movement amount"). Here, offset control refers to control in the lateral direction in which the vehicle is moved in the lateral direction intersecting the traveling direction of the vehicle, and the amount of lateral movement in normal offset control is taken as a first amount of movement.

On the other hand, when the information on the structure is acquired in step S240 (S240-Yes), the control unit (ECU 20) advances the process to step S260. In this state
In step S260, the control unit (ECU 20) performs offset control to move the vehicle in the lateral direction intersecting the traveling direction of the vehicle based on the information acquired by the acquisition unit (ECU 22, ECU 23). In this step, the control unit (ECU 20) compares the movement amount (first movement amount) when there is no structure between the first lane in which the vehicle travels and the second lane in which the other vehicle travels. The offset control is performed to suppress the amount of movement when a structure exists. Offset control in which the lateral movement amount is suppressed compared to the movement amount (first movement amount) is referred to as offset control.

  FIG. 7 is a view exemplarily showing the offset control of the embodiment. In FIG. 7A, a vehicle 705 is an own vehicle to be controlled, and travels in a lane 701 (first lane) in the direction of an arrow 707. Vehicle 706 is another vehicle, and travels in the direction of arrow 708 in the opposite lane 702 (second lane) with respect to lane 701 (first lane). A structure 703 is present between the lane 701 (first lane) and the oncoming lane 702 (second lane). The structure 703 includes a separation zone, a pole, a wire, a pylon, and the like that divide between the lane 701 (first lane) and the opposite lane 702 (second lane). Here, the separation zone (central separation zone) refers to a zone provided at the center of the carriageway in order to separate the carriageway into two directions.

  In FIG. 7B, a detection area 710 is a detection area in the normal state of the acquisition unit (ECU 22, ECU 23). When performing offset control, the control unit performs control based on information of an area in which the detection area is narrowed. That is, when the structure 703 exists between the lane 701 (the first lane) and the oncoming lane 702 (the second lane), the control unit (ECU 20) starts the normal detection area 710 to start the oncoming lane 702 (the first lane). It is possible to perform offset control based on the information acquired by the acquisition unit (ECU 22, ECU 23) in an area 720 (suppressed detection area) excluding two lanes).

  Alternatively, when performing offset control, information is acquired in the detection area 710 in the normal state, and control is performed by excluding information of other vehicles from the acquired information. That is, when the structure 703 exists between the lane 701 (first lane) and the opposite lane 702 (second lane), the control unit (ECU 20) detects the information acquired by the acquiring unit (ECU 22, ECU 23). It is possible to perform offset control excluding information on the other vehicle 706 in the oncoming lane 702 (the second lane) from the information in the area 710.

  The control unit (ECU 20) performs target management for storing information acquired by the acquisition unit (ECU 22, ECU 23) in the memory C2 in time series. By storing time-series information in the memory C2, it is possible to track the movement trajectory of the moving target as time passes.

  As illustrated in FIG. 7, when the structure 703 is present between the lane 701 (first lane) and the oncoming lane 702 (second lane), the control unit (ECU 20) controls the oncoming lane 702 (second lane). The target management of the information regarding other vehicles 706) is controlled. For example, the normal sampling interval is thinned out, and information is stored in the memory C2 or obtained once in two samplings, or information on another vehicle 706 is acquired, but other vehicles 706 are stored without storing time-series information. It is possible to change the target management so as not to track the movement trajectory of the object.

(Offset control based on structure information)
In the present embodiment, is the structure a high strength structure or a low strength structure based on at least one structure information regarding the type or shape of the structure or the size (height or width) of the structure? A configuration will be described in which determination is made and the movement amount in offset control is changed based on the determination result.

  FIG. 3 is a flowchart for explaining the flow of offset control processing based on structure information. In step S300, the acquisition unit (ECU 22, ECU 23) acquires at least one piece of information (structure information) regarding the type or shape of the structure 703 or the size (height or width) of the structure 703. For example, the acquisition unit (ECU 22, ECU 23) can be seen from the traveling position of the vehicle 705 (own vehicle), which is a strong structure, such as a central separator or a guard rail, or a pole that is more fragile than the central separator or guard rail. Information on the size (area), height, and width of the cross section of the structure 703 is acquired. The control unit (ECU 20) changes the movement amount in the offset control based on the structure information acquired by the acquisition unit (ECU 22, ECU 23).

  In step S310, the control unit (ECU 20) determines whether or not the structure 703 is a high-strength structure based on the structure information acquired by the acquisition unit (ECU 22, ECU 23).

  For example, as a type, a median or a guardrail is determined as a high strength structure. Alternatively, when the shape (including the area) of the cross section of the structure 703 seen from the traveling position is equal to or larger than a preset threshold value, the control unit (ECU 20) determines that the structure is a high strength structure. Alternatively, when the information of the size such as the height and the width is equal to or more than the preset threshold value, the control unit (ECU 20) determines as a high strength structure. The threshold used as the reference of the determination in step S310 can be arbitrarily set by the user and can be customized.

  If it is determined in step S310 that the structure is a high strength structure (S310-Yes), the process proceeds to step S320. If it is determined that the structure is not a high strength structure but a low strength structure (S310-No), the process proceeds to step S330.

  In step S320, when the control unit (ECU 20) determines that the structure is a high strength structure according to the result of the determination in step S310, compared with the first movement amount in the offset control when the structure does not exist. The offset control is performed with the second movement amount in which the movement amount is set small.

  In step S330, when the control unit (ECU 20) determines that the structure is a low strength structure according to the result of the determination in step S310, compared with the first movement amount in the offset control when the structure does not exist. The movement amount is set small, and the offset control is performed with the third movement amount in which the movement amount is set larger than the second movement amount.

  FIG. 8 is a view exemplarily showing offset control based on structure information. FIG. 8A is a rear view of the vehicle 705. In FIG. 8A, a height 805 indicates the height of the structure 803, and a width 807 indicates the width of the structure 803. If the shape (including the area) of the cross section of the structure 803 seen from the traveling position of the vehicle 705 is less than a preset threshold value, the control unit (ECU 20) determines that the structure has low strength. Alternatively, if the size information such as the height 805 and the width 807 of the structure 803 is less than a preset threshold, the control unit (ECU 20) determines that the structure is a low strength structure. The cross-sectional shape of the structure 803 and the material of the structure can be acquired, for example, using information on the reflectance and radio wave transmittance of the lidar 42 and the radar 43. It is possible to determine whether the structure is a high strength structure or a low strength structure from the material of the structure.

  In FIG. 8B, the movement locus 801 exemplarily shows the movement locus in the offset control, and in the case where the structure 803 is a high strength structure, for example, the offset control in the case where no structure exists. The offset control is performed with a second movement amount in which the movement amount is set smaller than the first movement amount in.

  When the structure is a low strength structure, the movement amount is set smaller than the first movement amount in the offset control when there is no structure, and the movement amount is set larger than the second movement amount. Offset control is performed with the third movement amount.

  The acquisition unit (ECU 22, ECU 23) can acquire at least one structure information of the type, width, or height of the structure 803, and can change the range of the detection area based on the acquired structure information. For example, when the structure is a low strength structure such as a pole, as shown in FIG. 8C, the range of the detection area is from the detection area 720 of FIG. 7B so as to include the oncoming lane 702. Change (magnify) (detection area 710). In the changed (expanded) detection area 710, the other vehicle 706 is included in the detection target. The control unit (ECU 20) performs offset control on the basis of the information acquired by the acquiring unit (ECU 22, ECU 23) in the detection area of the changed (expanded) range.

  According to the process of FIG. 3, the structure is a structure with high strength or a structure with low strength based on at least one structure information on the type or shape of the structure or the size (height or width) of the structure. It is possible to determine whether it is and to change the moving amount in the offset control based on the determination result.

(Offset control based on horizontal distance information)
In the offset suppression based on the structure information described in FIG. 3, when the structure is a low strength structure, the movement amount (a second movement amount) larger than the movement amount (second movement amount) in the case of a high strength structure The example which performs offset control by 3rd moving amount | distance was demonstrated. In the present embodiment, even if it is determined that the structure is a low strength structure, a configuration is described in which the movement amount in the offset control is changed based on distance information in the lateral direction.

  FIG. 4 is a flowchart for explaining the flow of offset control processing based on distance information. FIG. 9 is a view exemplarily showing offset control based on distance information in the lateral direction.

  In step S400, the acquisition unit (ECU 22, ECU 23) acquires a lateral distance that intersects the traveling direction of the vehicle. That is, as shown in FIGS. 9A and 9B, the acquiring unit determines the lateral distance L1 between the vehicle 705 and the structure 903 or between the other vehicle 706 and the structure 903. The lateral distance L2 of the vehicle or the lateral distance L3 between the vehicle 705 and the other vehicle 706 is acquired.

  In step S410, the control unit (ECU 20) compares the distance in the lateral direction acquired by the acquisition unit (ECU 22, ECU 23) with the threshold. The control unit (ECU 20) performs offset control based on the comparison result, suppressing the movement amount when the acquired distance is greater than or equal to the threshold value, as compared to the movement amount when the acquired distance is less than the threshold value.

  That is, if it is determined in step S410 that the acquired distance is equal to or greater than the threshold (S410-Yes), in step S420, the control unit (ECU 20) sets the first movement amount in offset control when there is no structure. In comparison, offset control is performed with the second movement amount in which the movement amount is set smaller. In this step, when the distance is greater than or equal to the threshold value, the control unit (ECU 20) excludes information related to the other vehicle 706 in the oncoming lane 702 (second lane) from the information acquired by the acquiring unit (ECU 22 and ECU 23). Offset control is performed (area 720 (suppressed detection area) in FIG. 9C).

  On the other hand, if it is determined in step S410 that the acquired distance is less than the threshold (S410-No), in step S430, the control unit (ECU 20) sets the first movement amount in offset control when there is no structure. The movement amount is set smaller as compared with the second movement amount, and the offset control is performed with the third movement amount in which the movement amount is set larger.

  According to the process of FIG. 4, even if it is determined that the structure is a low strength structure, it is possible to change the moving amount in the offset control based on the distance information in the lateral direction.

(Offset control based on recognition level)
In this embodiment, image processing is performed on information on another vehicle and information on a structure, the other vehicle with respect to the structure is recognized, and the appearance (recognition level) of the other vehicle over the structure is determined. And based on the determination result of a recognition level, the structure which changes the movement amount in offset control is demonstrated.

  Various methods can be applied as an image processing method for recognizing a structure or a vehicle. For example, feature points are extracted from the acquired other vehicle information and image information on the structure, the spatial position of the extracted feature points is calculated, and the structure or the structure is extracted based on the calculated spatial position of the feature points. It is possible to recognize other vehicles that are visible. In the following description, an example in which the ECU 20, the ECU 22, and the ECU 23 function as a recognition unit that performs recognition processing is described, but the acquisition unit (ECU 22 and ECU 23) may perform recognition processing, or the control unit (ECU 20) Recognition processing may be performed.

  FIG. 5 is a flowchart for explaining the flow of offset control processing based on the recognition level. In step S500, the ECU 20, the ECU 22 and the ECU 23 function as a recognition unit, and when the information related to the other vehicle 706 and the information related to the structure are acquired by the acquiring unit (ECU 22 and ECU 23), the other vehicle and the structure are specifically Recognize things.

  In step S510, the control unit (ECU 20) determines the recognition level of the other vehicle with respect to the structure. The control unit (ECU 20) is information on the type of the other vehicle (for example, a passenger car or a truck) recognized over the structure, or the height of the other vehicle relative to the structure (for example, the height of the other vehicle seen over the structure The recognition level is determined based on the information on For example, when the height of the other vehicle is equal to or greater than the threshold, the control unit (ECU 20) determines that the recognition level of the other vehicle is high, and when the height of the other vehicle is less than the threshold, the recognition level of the other vehicle is low. judge.

  FIG. 10 is a view exemplarily showing determination of the recognition level of another vehicle with respect to the structure. FIG. 10A shows the case where the type of the other vehicle is a passenger car, and FIG. 10B shows the case where the type of the other vehicle is a truck. In FIG. 10A, H1 indicates the height of the structure 1003, and H2 indicates the height (difference height) of the other vehicle 1006A viewed from the structure 1003. H4 indicates the height of the threshold. Further, in FIG. 10B, H1 indicates the height of the structure 1003, and H3 indicates the height (difference height) of the other vehicle 1006B that can be seen through the structure 1003. In a low-passenger passenger car (other vehicle 1006A), the recognition level is determined to be low because the height (H2) seen over the structure is lower than the threshold (H4). Further, in the case of a truck with a high vehicle height (the other vehicle 1006B), the recognition level is determined to be high because the height (H3) seen over the structure is higher than the threshold (H4).

  The height (H2, H3) of the other vehicle seen through the structure 1003 may be calculated by subtracting the height (H1) of the structure 1003 from the overall height of the vehicle. For example, in FIG. 10, the total height of the other vehicle 1006A is (H5), and the difference obtained by subtracting the height (H1) of the structure 1003 from the total height (H5) is the other vehicle seen over the structure 1003 The height (H2) may be 1006A. Similarly, the overall height of the other vehicle 1006B is (H6), and the difference obtained by subtracting the height (H1) of the structure 1003 from the overall height (H6) is the height of the other vehicle 1006B seen over the structure 1003. (H3).

  The control unit (ECU 20) performs offset control based on the movement amount changed according to the recognition level, based on the determination result of the recognition level. That is, the control unit (ECU 20) performs offset control while suppressing the movement amount when the recognition level is low as compared to the movement amount when the recognition level is high.

  Note that the recognition unit may not be able to exhibit predetermined recognition performance depending on the environment around the vehicle. In such a case, the recognition level of the recognition unit may be low. If different recognition levels are output in the redundant recognition unit, the recognition level is low. In such a case, in order to make the vehicle travel more safely, the control unit (ECU 20) can perform control such that offset control is not performed.

  Referring back to FIG. 5, in step S520, when the recognition level is low (S510-Yes), the control unit (ECU 20) moves the movement amount compared to the first movement amount in the offset control when the structure does not exist. Offset control is performed with a second movement amount set to a small value.

  On the other hand, when the recognition level is high (S510-No), the control unit (ECU 20) sets the movement amount smaller than the first movement amount, and sets the movement amount larger than the second movement amount. Offset control is performed with a movement amount of 3.

  According to the process of FIG. 5, the other vehicle with respect to the structure is recognized, the appearance (recognition level) of the other vehicle over the structure is determined, and the movement amount in the offset control is changed based on the determination result of the recognition level. It becomes possible.

(Offset control when there is an undetected area where the structure becomes discontinuous)
In the present embodiment, offset control will be described in the case where there is a non-detection area in which the recognized structure is not recognized after the recognition unit recognizes the structure.

  FIG. 6 is a flowchart for explaining the flow of offset control when there is a non-detection area.

  In step S600, the recognition unit (ECU 20, ECU 22, ECU 23) recognizes a structure. As an image processing method for recognizing a structure, various image processing methods are possible. For example, as described in the offset control based on the recognition level (FIG. 5), the feature point is extracted from the image information on the acquired structure, the spatial position of the extracted feature point is calculated, and the calculated spatial position of the feature point It is possible to recognize structures based on Further, based on the spatial position of the extracted feature point, it is possible to recognize an area in which the structure is continuous and an area (non-detection area) in which the structure is discontinuous. Note that the image processing method described here is an example, and is not limited to this method, and various methods can be applied.

  In step S610, if there is a non-detection area in which the recognized structure is not recognized after the recognition unit recognizes the structure, the recognition unit (ECU 20, ECU 22 or ECU 23) determines the distance between the non-detection area and the threshold value. Make a comparison. If the distance of the non-detection area is less than the threshold (S610-Yes), the process proceeds to step S620.

  In step S620, the control unit (ECU 20) continues the offset control based on the movement amount set for the structure. The offset control to be continued in this process is the offset control described in step S260 of FIG. 2, and the control unit (ECU 20) is configured between the first lane in which the vehicle travels and the second lane in which the other vehicle travels. The offset control in which the amount of movement in the presence of the structure is suppressed is continuously performed as compared with the amount of movement (first amount of movement) in the case where no object exists.

  The amount of movement suppressed is set based on, for example, the amount of movement set when the structure has high strength or low strength, or the relationship between the distance in the lateral direction to the structure and the threshold, and Based offset control continues.

  On the other hand, when the distance of the non-detection area is equal to or larger than the threshold value in the comparison process of step S610 (S610-No), the process proceeds to step S630.

  In step S630, when the distance of the undetected area is equal to or greater than the threshold value, the control unit (ECU 20) is based on the movement amount set according to the lateral distance between the other vehicle traveling in the second lane and the vehicle. Offset control. The offset control performed in step S630 is the normal offset control described in step S250 of FIG. 2, and the control unit (ECU 20) performs offset control not suppressing the movement amount when the distance of the non-detection area is equal to or greater than the threshold. Do.

  FIG. 11 is a diagram exemplarily showing offset control when there is a non-detection area. In FIG. 11A, a vehicle 705 is a self-vehicle to be controlled, and travels in a lane 701 (first lane) in the direction of an arrow 707. Vehicle 706 is another vehicle, and travels in the direction of arrow 708 in the opposite lane 702 (second lane) with respect to lane 701 (first lane). The structure A and the structure B separate the lane 701 (first lane) and the opposite lane 702 (second lane).

  The area C is a non-detection area in which the recognized structure A is not recognized after the recognition unit (ECU 20, ECU 22, ECU 23) recognizes the structure A. When the undetected area C exists, the recognition unit compares the distance of the undetected area with the threshold, and when the distance of the undetected area is less than the threshold, the recognition unit detects the end of the recognized structures A and B The virtual line 1101 connected to the virtual line 1101 is set in the non-detection area C, and the non-detection area C is a virtual structure. The undetected area C is a virtual structure C, and the structures A, B, and C are integrated. The control unit (ECU 20) performs offset control based on the movement amount set for the structure A also for the structures C and B, and continues the offset control.

  In addition, it is not limited to the setting of the virtual line 1101, a virtual target is arranged in the non-detection area C, and it is possible to interpolate between recognized structures A and B as a virtually integrated structure. Good.

  FIG. 11B is a diagram showing a case where the distance of the non-detection area is equal to or more than the threshold. When the distance of the non-detection area is equal to or more than the threshold, the virtual line is not set as shown in FIG. 11A, and the acquisition unit (ECU 22 and ECU 23) detects the detection area for the non-detection area C in the normal state. Change settings to return to the area.

  In FIG. 11B, an area 1110 is a detection area in a normal state of the acquisition unit (ECU 22, ECU 23). When performing offset control in which the movement amount is suppressed, the control unit (ECU 20) performs control based on the information of the area in which the detection area is narrowed. That is, when the structure A exists between the lane 701 (the first lane) and the oncoming lane 702 (the second lane), the control unit (ECU 20) starts from the normal detection area 1110 to the oncoming lane 702 (the first The offset control is performed based on the information acquired by the acquisition unit (ECU 22, ECU 23) in an area 1120 (suppressed detection area) excluding two lanes). The offset control performed here is a process corresponding to step S260 in FIG.

  After the recognition unit (ECU 20, ECU 22 or ECU 23) recognizes the structure A, the acquisition unit (ECU 22 or ECU 23) detects if the distance of the non-detection area C at which the recognized structure A is not recognized becomes equal to or greater than the threshold. The area 1120 is changed to the detection area 1110 in the normal state (expansion of the detection area). In the non-detection area C, for example, another vehicle 706 traveling in the opposite lane 702 (second lane) may turn right or may make a U-turn as indicated by an arrow 1130. The control unit (ECU 20) performs normal offset control based on the movement amount set in accordance with the distance in the lateral direction between the other vehicle 706 traveling on the opposite lane 702 (the second lane) and the vehicle 705 (the host vehicle). I do. The offset control performed here is a process corresponding to step S250 in FIG. The control unit (ECU 20) performs normal offset control until the structure B having predetermined structure information (for example, width, height, etc.) is recognized (detected).

  When the structure B that divides the lane 701 (the first lane) and the opposite lane 702 (the second lane) is recognized by the traveling of the vehicle 705 (the host vehicle), the acquiring unit (the ECU 22 and the ECU 23) The detection area 1110 in the normal state is changed to the detection area 1120 (reduction of the detection area).

  When the structure B is present between the lane 701 (the first lane) and the oncoming lane 702 (the second lane), the control unit (ECU 20) starts from the normal detection area 1110 to the oncoming lane 702 (the second lane). The offset control is performed based on the information acquired by the acquisition unit (ECU 22, ECU 23) in the detection area 1120 (suppressed detection area) except for. The offset control performed here is a process corresponding to step S260 in FIG.

  According to the process shown in FIG. 6, even if there is a non-detection area where the structure is discontinuous, it is possible to change the offset control based on the distance of the non-detection area.

<Summary of the embodiment>
Configuration 1. The vehicle control device according to the above-described embodiment is a vehicle control device (for example, 100) that controls the traveling of the vehicle.
An acquiring unit (for example, an ECU 22 and an ECU 23) for acquiring information on another vehicle traveling in a detection area around the vehicle and information on a structure located in the detection area;
Control means (e.g., ECU 20) for performing offset control to move the vehicle in a lateral direction crossing the traveling direction of the vehicle based on the information acquired by the acquisition means, the control means comprising
Compared with the lateral movement amount in the case where the structure does not exist between the first lane in which the vehicle travels and the second lane in which the other vehicle travels, the lateral movement amount in the case where the structure exists is suppressed Offset control is performed (for example, S260).

  According to the vehicle control device of Configuration 1, the offset control can be performed in consideration of the structure existing between the own vehicle and the other vehicle.

Configuration 2. The vehicle control device (100) according to the above embodiment,
When the structure is present between the first lane and the second lane, the control means may obtain the acquisition means in an area (e.g., 720) obtained by removing the second lane from the detection area. The offset control is performed based on the acquired information.

Configuration 3. The vehicle control device (100) according to the above embodiment,
When the structure is present between the first lane and the second lane, the control means uses information acquired by the acquisition means (for example, 710) to obtain information on another vehicle in the second lane. To perform the offset control.

  According to the vehicle control devices of configurations 2 to 3, it is possible to perform vehicle control with reduced power consumption by narrowing down the detection range of the radar, the rider, and the like.

Configuration 4. The vehicle control device (100) according to the above embodiment,
The control means
Perform target management to store information acquired by the acquisition unit in a time series in a storage unit (for example, C2),
When the structure is present between the first lane and the second lane, the target management of information on other vehicles in the second lane is suppressed.

  According to the vehicle control device of configuration 4, it is possible to perform vehicle control with reduced processing load by excluding from the time-series tracking targets.

Configuration 5. The vehicle control device (100) according to the above embodiment,
The acquisition means acquires at least one structure information regarding the type or shape of the structure or the height or width of the structure (for example, S300).
The control means changes the lateral movement amount in the offset control based on the structure information acquired by the acquisition means (for example, S320, S330).

Configuration 6. The vehicle control device (100) according to the above embodiment,
The control means
It is determined based on the structure information whether or not the structure is a high strength structure (for example, S310).
When it is determined that the structure is a high strength structure, the second lateral movement amount is set such that the lateral movement amount is set smaller than the first lateral movement amount in the offset control in the absence of the structure. Perform offset control (eg, S320),
When it is determined that the structure is not a high strength structure but a low strength structure, the lateral movement amount is set smaller than the first lateral movement amount, and the lateral direction is compared with the second lateral movement amount. The offset control is performed with the third lateral movement amount in which the movement amount is set large (for example, S330).

Configuration 7. The vehicle control device (100) according to the above embodiment,
The acquisition means is
The range of the detection area is changed based on the acquired structure information (for example, 720),
The control means performs the offset control based on the information acquired by the acquisition means in the detection area of the changed range.

  According to the vehicle control device of the fifth to seventh aspects, the structure has a high strength or low strength based on at least one structure information of the type or shape of the structure or the size regarding the height and width of the structure. It is possible to determine whether the structure is a strong structure and to change the lateral movement amount in the offset control based on the determination result.

Configuration 8. The vehicle control device (100) according to the above embodiment,
The acquisition means is the lateral distance between the vehicle and the structure (e.g., L1), or the lateral distance between the other vehicle and the structure (e.g., L2), Or acquiring the lateral distance (for example, L3) between the vehicle and the other vehicle,
The control means suppresses the lateral movement amount (for example, S420) when the acquired distance is greater than or equal to the threshold value compared to the lateral movement amount (for example, S430) when the acquired distance is less than the threshold value. Perform offset control.

Configuration 9. The vehicle control device (100) according to the above embodiment,
If the structure is determined to be a low strength structure,
The control means sets a lateral movement amount smaller than a first lateral movement amount in offset control when the structure does not exist when the acquired distance is separated by a threshold value or more. Perform the offset control by the amount (for example, S420),
A third method in which the lateral movement amount is set smaller than the first lateral movement amount and the lateral movement amount is set larger than the second lateral movement amount when the acquired distance is not separated by the threshold or more. Offset control is performed with the lateral movement amount (for example, S430).

Configuration 10. The vehicle control device (100) according to the above embodiment,
The control means performs the offset control by excluding information on another vehicle in the second lane from the information acquired by the acquisition means, when the distance is greater than or equal to a threshold.

  According to the vehicle control devices of Configurations 8 to 10, the lateral movement amount in the offset control is changed based on the distance information in the lateral direction even when the structure is determined to be a low strength structure. Becomes possible.

Configuration 11. The vehicle control device (100) according to the above embodiment,
The information processing apparatus further comprises recognition means (for example, ECU 20, ECU 22, ECU 23) for recognizing the other vehicle and the structure when the information about the other vehicle and the information about the structure are acquired by the acquisition means.
The control means
Determining the recognition level of the other vehicle with respect to the structure, which is recognized by the recognition means (for example, S510);
The offset control is performed based on the lateral movement amount changed according to the recognition level (for example, S520, S530).

Configuration 12. The vehicle control device (100) according to the above embodiment,
The control means
The recognition level is determined based on the information of the type of the other vehicle recognized over the structure or the information regarding the height of the other vehicle with respect to the structure (for example, S510).

Configuration 13. The vehicle control device (100) according to the above embodiment,
The control means
If the height of the other vehicle is equal to or greater than the threshold, the recognition level of the other vehicle is determined to be high, and if the height of the other vehicle is less than the threshold, the recognition level of the other vehicle is determined to be low.
The offset control is performed while suppressing the lateral movement amount (for example, S520) when the recognition level is low as compared with the lateral movement amount (for example, S530) when the recognition level is high.

Configuration 14. The vehicle control device (100) according to the above embodiment,
The control means
When the recognition level is low, the offset control is performed with the second lateral movement amount in which the lateral movement amount is set smaller than the first lateral movement amount in the offset control when the structure does not exist (for example, S520 ),
When the recognition level is high, the lateral movement amount is set smaller than the first lateral movement amount, and the third lateral movement amount is offset by setting the lateral movement amount larger than the second lateral movement amount. Control is performed (for example, S530).

  According to the vehicle control devices of constitutions 11 to 14, the other vehicle with respect to the structure is recognized, the appearance (recognition level) of the other vehicle through the structure is judged, and the offset control is performed based on the judgment result of the recognition level. It becomes possible to change the lateral movement amount.

Configuration 15. The vehicle control device (100) according to the above embodiment,
After the recognition means recognizes the structure, if there is a non-detection area where the recognized structure will not be recognized, the recognition means compares the distance of the non-detection area with a threshold (e.g. S610) ,
The control means continues the offset control based on the lateral movement amount set for the structure when the distance of the non-detection area is less than a threshold (for example, S620).

Configuration 16. The vehicle control device (100) according to the above embodiment,
When the distance of the non-detection area is equal to or greater than a threshold, the control means is based on the lateral movement amount set in accordance with the lateral distance between the other vehicle traveling in the second lane and the vehicle. The offset control is performed (for example, S630).

Configuration 17. The vehicle control device (100) according to the above embodiment,
The control means performs offset control that does not suppress the lateral movement amount when the distance of the non-detection area is equal to or greater than a threshold (for example, S630).

  According to the vehicle control devices of configurations 15 to 17, it is possible to change the offset control based on the distance of the undetected area even when there is an undetected area where the structure becomes discontinuous. .

  Configuration 18. In the vehicle control device (100) of the above-described embodiment, the structure includes a separation band that separates the first lane and the second lane.

  According to the vehicle control device of configuration 18, it is possible to perform the offset control in consideration of the structure existing between the own vehicle and the other vehicle.

Configuration 19. The vehicle control method of the above embodiment is a vehicle control method of a vehicle control device that controls traveling of a vehicle, and
An acquisition step (for example, S210) of acquiring information on another vehicle traveling in a detection area around the vehicle and information on a structure located in the detection area;
Control step (for example, S260) for performing offset control to move the vehicle in the lateral direction intersecting with the traveling direction of the vehicle based on the information acquired in the acquisition step;
In the control step,
Compared with the lateral movement amount in the case where the structure does not exist between the first lane in which the vehicle travels and the second lane in which the other vehicle travels, the lateral movement amount in the case where the structure exists is suppressed Offset control is performed.

  According to the vehicle control method of configuration 19, it is possible to perform the offset control in consideration of the structure existing between the own vehicle and the other vehicle.

  Configuration 20. The program of the above embodiment causes the computer to execute each step of the vehicle control method described in configuration 19.

  According to the configuration 20, it is possible to implement the vehicle control method described in the configuration 19 by a computer.

Configuration 21. The information acquisition apparatus of the above embodiment is an information acquisition apparatus (for example, 22, 23, 41, 42, 43) for acquiring information around the vehicle to control the traveling of the vehicle (for example, 1). ,
An acquisition unit (for example, 22, 23) for acquiring information on another vehicle traveling in a detection area around the vehicle and information on a structure located in the detection area;
When the structure is present between the first lane in which the vehicle travels and the second lane in which the other vehicle travels, the acquisition unit obtains information of an area excluding the second lane from the detection area. Outputting to a control unit (for example, 20) for controlling the traveling of the vehicle.

  According to the information acquiring apparatus of the configuration 21, it is possible to acquire information for performing the offset control in consideration of the structure existing between the own vehicle and the other vehicle.

(Other embodiments)
The present invention can also be realized by a program for realizing the above-described vehicle control function, supplied to a vehicle via a network or a storage medium, and one or more processors in a computer of the vehicle read and execute the program.

20, 22, 23: ECU, 42: lidar, 43: radar, S: sensor,
COM: Computer, CAM: Camera, 100: Vehicle control device

Claims (21)

A vehicle control device for controlling the traveling of a vehicle, wherein
Acquisition means for acquiring information on another vehicle traveling in a detection area around the vehicle and information on a structure located in the detection area;
And control means for performing offset control to move the vehicle in a lateral direction intersecting the traveling direction of the vehicle based on the information acquired by the acquisition means.
The control means
Compared with the lateral movement amount in the case where the structure does not exist between the first lane in which the vehicle travels and the second lane in which the other vehicle travels, the lateral movement amount in the case where the structure exists is suppressed Vehicle control device characterized by performing offset control. When the structure is present between the first lane and the second lane, the control means is based on information acquired by the acquisition means in an area excluding the second lane from the detection area. The vehicle control device according to claim 1, wherein the offset control is performed. When the structure is present between the first lane and the second lane, the control means excludes information on other vehicles in the second lane from the information acquired by the acquisition means. The vehicle control device according to claim 1, wherein offset control is performed. The control means
Perform target management to store the information acquired by the acquisition unit in the storage unit in time series;
When the structure is present between the first lane and the second lane, the target management of information on other vehicles in the second lane is suppressed. The vehicle control device according to any one of the above. The acquisition means acquires at least one structure information regarding the type or shape of the structure or the height or width of the structure;
The vehicle control device according to any one of claims 1 to 4, wherein the control unit changes the lateral movement amount in the offset control based on the structure information acquired by the acquisition unit. The control means
Based on the structure information, it is determined whether the structure is a high strength structure,
When it is determined that the structure is a high strength structure, the second lateral movement amount is set such that the lateral movement amount is set smaller than the first lateral movement amount in the offset control in the absence of the structure. Perform offset control,
If it is determined that the structure is not a high strength structure but a low strength structure,
A lateral movement amount is set smaller than the first lateral movement amount, and offset control is performed with a third lateral movement amount in which the lateral movement amount is set larger than the second lateral movement amount. The vehicle control device according to claim 5. The acquisition means is
The range of the detection area is changed based on the acquired structure information,
The said control means performs the said offset control based on the information which the said acquisition means acquired in the detection area | region of the said changed range. The vehicle control apparatus of Claim 5 or 6 characterized by the above-mentioned. The acquisition means is the lateral distance between the vehicle and the structure, or the lateral distance between the other vehicle and the structure, or between the vehicle and the other vehicle. Get the lateral distance of the
The control means performs the offset control while suppressing the amount of lateral movement when the acquired distance is greater than or equal to a threshold compared to the amount of lateral movement when the acquired distance is less than a threshold. The vehicle control device according to claim 6. If the structure is determined to be a low strength structure,
The control means sets a lateral movement amount smaller than a first lateral movement amount in offset control when the structure does not exist when the acquired distance is separated by a threshold value or more. Perform the offset control by the amount,
A third method in which the lateral movement amount is set smaller than the first lateral movement amount and the lateral movement amount is set larger than the second lateral movement amount when the acquired distance is not separated by the threshold or more. The vehicle control device according to claim 8, wherein the offset control is performed by the lateral movement amount.   9. The apparatus according to claim 8, wherein the control means performs the offset control by excluding information on another vehicle in the second lane from the information acquired by the acquisition means when the distance is greater than or equal to a threshold. The vehicle control apparatus of Claim 9. The information processing apparatus further comprises recognition means for recognizing the other vehicle and the structure when the information regarding the other vehicle and the information regarding the structure are acquired by the acquisition means.
The control means
Determining the recognition level of the other vehicle with respect to the structure, recognized by the recognition means;
The vehicle control device according to any one of claims 1 to 10, wherein the offset control is performed based on a lateral movement amount changed according to the recognition level. The control means
The vehicle according to claim 11, wherein the recognition level is determined based on information of the type of the other vehicle recognized over the structure or information regarding the height of the other vehicle with respect to the structure. Control device. The control means
If the height of the other vehicle is equal to or greater than the threshold, the recognition level of the other vehicle is determined to be high, and if the height of the other vehicle is less than the threshold, the recognition level of the other vehicle is determined to be low.
The vehicle control device according to claim 12, wherein the offset control is performed while suppressing the lateral movement amount when the recognition level is low compared to the lateral movement amount when the recognition level is high. The control means
When the recognition level is low, the offset control is performed with a second lateral movement amount in which the lateral movement amount is set smaller than the first lateral movement amount in the offset control when the structure does not exist.
When the recognition level is high, the lateral movement amount is set smaller than the first lateral movement amount, and the third lateral movement amount is offset by setting the lateral movement amount larger than the second lateral movement amount. The vehicle control device according to any one of claims 11 to 13, wherein control is performed. After the recognition means recognizes the structure, when there is a non-detection area in which the recognized structure is not recognized, the recognition means compares the distance of the non-detection area with a threshold value;
12. The vehicle control according to claim 11, wherein the control means continues the offset control based on the lateral movement amount set for the structure when the distance of the non-detection area is less than a threshold. apparatus.   When the distance of the non-detection area is equal to or greater than a threshold, the control means is based on the lateral movement amount set in accordance with the lateral distance between the other vehicle traveling in the second lane and the vehicle. The vehicle control device according to claim 15, wherein the offset control is performed.   17. The vehicle control device according to claim 16, wherein the control unit performs offset control that does not suppress the lateral movement amount when the distance of the non-detection area is equal to or greater than a threshold.   The vehicle control device according to any one of claims 1 to 17, wherein the structure includes a separation band that divides the first lane and the second lane. A vehicle control method of a vehicle control device for controlling the traveling of a vehicle, comprising:
An acquisition step of acquiring information on another vehicle traveling in a detection area around the vehicle and information on a structure located in the detection area;
A control step of performing offset control to move the vehicle in a lateral direction crossing the traveling direction of the vehicle based on the information acquired in the acquiring step;
In the control step,
Compared with the lateral movement amount in the case where the structure does not exist between the first lane in which the vehicle travels and the second lane in which the other vehicle travels, the lateral movement amount in the case where the structure exists is suppressed Vehicle control method characterized by performing offset control.   The program for making a computer perform each process of the vehicle control method of Claim 19. An information acquisition apparatus for acquiring information around the vehicle to control traveling of the vehicle, wherein
The information processing apparatus further comprises acquisition means for acquiring information on another vehicle traveling in a detection area around the vehicle and information on a structure located in the detection area.
When the structure is present between the first lane in which the vehicle travels and the second lane in which the other vehicle travels, the acquisition unit obtains information of an area excluding the second lane from the detection area. An information acquisition device that outputs the information to control means for controlling the traveling of the vehicle;