JP2016007954A - Lane merging assist system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lane merging assist system capable of providing more appropriate lane merging assist to an own vehicle in light of the merging status of a preceding vehicle.SOLUTION: A lane merging assist system providing driving assist to an own vehicle 80 running toward a lane merging point 91, predicts a merging space on a merging destination lane for a preceding vehicle 81 running ahead of the own vehicle 80, determines a merging space on the merging destination lane for the own vehicle 80 in response to the merging space of the preceding vehicle 81, and provides lane assist to the own vehicle 80 so as to merge with the merging destination lane in the merging space.

Description

  The present invention relates to a lane merging support apparatus for assisting in lane merging of vehicles.

  2. Description of the Related Art Conventionally, as a device for assisting in lane merging of vehicles, as described in Japanese Patent Application Laid-Open No. 2009-230377, when the host vehicle travels toward a lane merging point, the merging point of the own vehicle There is known an apparatus that calculates the arrival time of the merging candidate space and the arrival time of the merging candidate space at the merging destination lane to the merging point, compares these times, and displays the merging candidate space in ascending order of merging time difference.

JP 2009-230377 A

  However, in the above-described apparatus, there is a possibility that appropriate lane merge support cannot be performed depending on the traveling environment of the host vehicle. For example, when a preceding vehicle is traveling in front of the host vehicle, the preceding vehicle may first join the joining candidate space that was about to join. For this reason, there may be cases where the intended merge candidate space cannot be merged due to the presence of the preceding vehicle, and there is room for improvement in this regard.

  An object of the present technical field is to provide a lane merging support device capable of performing appropriate lane merging support by accurately determining a merging space in which the own vehicle should be merged.

  Therefore, a lane merge support device according to one aspect of the present invention is a lane merge support device that provides lane merge support for the host vehicle that travels toward a merge point between a travel lane on which the host vehicle travels and a merge destination lane. A recognition unit for recognizing a merging space candidate in the merging destination lane, and preceding vehicle information acquisition for acquiring preceding vehicle information including traveling state information of the preceding vehicle of the host vehicle and position information of the preceding vehicle in the traveling lane A preceding vehicle merging space of the preceding vehicle in the merging destination lane based on the recognition result of the merging space candidate by the recognition unit and the preceding vehicle information acquired by the preceding vehicle information acquiring unit Based on the prediction unit, the recognition result of the merging space candidate by the recognition unit, and the prediction result of the preceding vehicle merging space by the prediction unit, the combination of the own vehicle in the merging destination lane. Constructed and a support unit for performing a determination unit for determining the spatial, lane merging support of the vehicle so as to merge in the merging space determined by the determination unit.

  ADVANTAGE OF THE INVENTION According to this invention, appropriate lane merge assistance can be performed by determining the merge space of the own vehicle accurately.

It is a block diagram which shows the structure outline | summary of the lane junction assistance apparatus which concerns on 1st embodiment of this invention. It is a flowchart which shows the lane merge assistance process in the lane merge assistance apparatus of FIG. It is a flowchart which shows the lane merge assistance process in the lane merge assistance apparatus of FIG. It is explanatory drawing of the lane merge of the vehicle in the lane merge assistance apparatus of FIG. It is a flowchart which shows the lane merge assistance process of the lane merge assistance apparatus which concerns on 2nd embodiment of this invention. It is a flowchart which shows the lane merge assistance process of the lane merge assistance apparatus which concerns on 2nd embodiment of this invention. It is explanatory drawing of the lane merge of the vehicle in the lane merge assistance apparatus which concerns on 2nd embodiment.

Embodiments of the present invention will be described below with reference to the drawings. In the following description, the same or equivalent elements will be denoted by the same reference numerals, and redundant description will be omitted.
(First embodiment)

  FIG. 1 is a schematic configuration diagram of a lane junction support device 1 according to the first embodiment of the present invention. As shown in FIG. 1, the lane merge support device 1 according to the present embodiment is mounted on the host vehicle and travels toward the merge point between the travel lane on which the host vehicle travels and the merge destination lane. Is a device that performs lane merge support. The lane merging support device 1 is mounted on, for example, a host vehicle capable of autonomous traveling, and performs driving control of the host vehicle as lane merging support. Further, the lane merge support device 1 may be applied to the lane merge support of the host vehicle when traveling on a highway or an automobile exclusive road, or may be applied to other roads.

  The lane junction support device 1 includes a navigation device 2, a vehicle speed sensor 3, an information acquisition unit 4, an ECU (Electronic Control Unit) 5, and a driving support execution unit 6.

  The navigation device 2 is a device that performs route guidance of the host vehicle, and has, for example, map information and is equipped with a GPS (Global Positioning System) and can acquire position information of the host vehicle. This navigation device displays the position of the vehicle on the map, and performs driving guidance or driving guidance of the host vehicle through monitor display, speaker output, or the like according to the set route. The navigation device 2 is electrically connected to the ECU 5 and outputs vehicle position information, road shape information, and the like to the ECU 20.

  The vehicle speed sensor 3 is a vehicle speed detector that detects the traveling speed of the host vehicle. For example, a wheel speed sensor is used. The vehicle speed sensor 3 is electrically connected to the ECU 5 and outputs a vehicle speed signal to the ECU 5.

  The information acquisition unit 4 acquires traveling environment information of the host vehicle. As the traveling environment information, for example, position information of other vehicles around the host vehicle is applicable. The information acquisition unit 4 includes a sensor mounted on the host vehicle, such as a camera that images the surroundings of the vehicle, a radar sensor that detects objects around the host vehicle, LIDAR (Light Detection and Ranging), and an inter-vehicle communication device. Used. The information acquisition unit 4 communicates with sensors installed on the road, for example, a camera that captures the area around the junction, a radar sensor that detects an object around the junction, a facility or facility having a LIDAR, and the like. The road-vehicle communication part which can acquire this detection information may be sufficient. Moreover, you may comprise the information acquisition part 4 combining the road-vehicle communication part, the sensor mounted in a vehicle, and a vehicle-to-vehicle communication apparatus.

  The ECU 5 is an electronic control unit for executing support control in the lane junction support device 1, and is configured mainly by a computer including a CPU, a ROM, and a RAM, for example. The ECU 5 includes a surrounding environment recognition unit 51, a preceding vehicle prediction unit 52, a merge space determination unit 53, and a driving support control unit 54. These surrounding environment recognition unit 51, preceding vehicle prediction unit 52, merging space determination unit 53, and driving support control unit 54 are configured, for example, by introducing a program or software having these functions into a computer. Further, some or all of the surrounding environment recognition unit 51, the preceding vehicle prediction unit 52, the merge space determination unit 53, and the driving support control unit 54 may be configured as individual electronic control units.

  The surrounding environment recognition unit 51 recognizes the traveling environment around the host vehicle. For example, as the traveling environment, the traveling position of the host vehicle is recognized based on the vehicle position information of the navigation device 2. Further, road information in the traveling direction of the vehicle, for example, road shape information, road upper limit speed information or maximum speed information, and distance information to the junction point are recognized based on the map information of the navigation device 2. Further, the speed information of the host vehicle is recognized based on the vehicle speed information of the vehicle speed sensor 3.

  Moreover, the position of the other vehicle around the own vehicle is recognized based on the position information of the other vehicle of the information acquisition unit 4, and the traveling speed of the other vehicle is recognized by the temporal change of the position of the other vehicle. The other vehicles recognized include a preceding vehicle that travels ahead of the vehicle in the travel lane, and another vehicle that travels in the junction lane. Therefore, the surrounding environment recognition unit 51 functions as a preceding vehicle information acquisition unit that acquires preceding vehicle information including traveling state information of the preceding vehicle of the host vehicle in the traveling lane and position information of the preceding vehicle.

  In addition, the surrounding environment recognition unit 51 recognizes a space between the vehicles on the merging destination lane and a vehicle that is a predetermined distance or more as a free space, that is, a merging space candidate. In this respect, the surrounding environment recognition unit 51 functions as a recognition unit that recognizes a merge space candidate in the merge destination lane. As the predetermined distance for recognizing the free space, a distance value set in advance in the surrounding environment recognition unit 51 or the ECU 50 is used. For example, a distance value obtained by adding the inter-vehicle distance to the entire length of the vehicle is set.

  The preceding vehicle prediction unit 52 predicts the preceding vehicle joining space of the preceding vehicle in the joining destination lane based on the joining vehicle candidate and preceding vehicle information recognized by the surrounding environment recognition unit 51. For example, it is predicted that the preceding vehicle is traveling to join the lane of the joining destination, that is, which free space of the joining destination lane. Specifically, the shortest arrival time to the joining point of the preceding vehicle is calculated based on the maximum speed of the preceding vehicle (for example, the legal maximum speed on the road) and the distance to the joining point. Moreover, the arrival time to the joining point of the free space in the joining lane is calculated. As described above, the free space is a space between a vehicle traveling in the merging destination lane and a space having a distance of a predetermined distance or more. In addition, the free space may be a space in front of or behind the vehicle, and may be a space that is free from a predetermined distance from the vehicle. This free space moves on the lane according to the traveling of the vehicle. After calculating the shortest arrival time to the merging point of the preceding vehicle and the arrival time to the merging point of the free space, it is determined whether there is a free space with an arrival time longer than the shortest arrival time of the preceding vehicle. If it is determined, the free space having the arrival time closest to the shortest arrival time is predicted to be the joining space of the preceding vehicle, and it is determined that the preceding vehicle travels so as to join the joining space.

  Based on the prediction result of the merging space of the preceding vehicle by the preceding vehicle prediction unit 52 and the recognition result of the merging space candidate recognized by the surrounding environment recognition unit 51, the merging space determination unit 53 merges the own vehicle in the merging destination lane. To decide. For example, a free space that reaches the joining point next to the free space where the preceding vehicle is predicted to join is set as a joining space candidate for the vehicle. Then, the slower speed of the maximum speed of the road and the speed of the preceding vehicle is set as the upper limit speed of the host vehicle. Then, based on the set upper limit speed of the own vehicle and the distance to the joining point of the own vehicle, the arrival time to the joining point of the own vehicle is calculated, and if the own vehicle can join the joining space candidate, A merge space candidate is determined as a merge space in which the host vehicle should merge. When it is determined that the own vehicle cannot join the merge space candidate, a new merge space candidate is set.

  On the other hand, when there is no preceding vehicle within a predetermined distance in the traveling direction of the host vehicle, the shortest arrival time to the junction point of the host vehicle is calculated based on the maximum speed of the host vehicle and the distance to the junction point. The arrival time to the joining point of the free space in the joining lane is calculated. Then, it is determined whether or not there is a free space whose arrival time is longer than the shortest arrival time of the host vehicle. If there is a free space with the arrival time closest to the shortest arrival time, the joining space in which the host vehicle should join As determined.

  The driving support control unit 54 is a control unit that controls the lane merge support of the host vehicle so as to merge in the merge space determined by the merge space determination unit 53. For example, the driving support control unit 54 outputs a traveling control signal to the driving support execution unit 6 so that the vehicle joins the joining space determined by the joining space determining unit 53.

  The driving support execution unit 6 is a support unit that performs lane merge support of the host vehicle so as to merge in the merge space determined by the merge space determination unit 53. As the driving support execution unit 6, a drive control ECU of a driving machine such as an engine or a motor is used. The driving support execution unit 6 operates in response to a control signal from the driving support control unit 54 of the ECU 5 and causes the host vehicle to travel so that the host vehicle can join in the determined merging space.

  Next, operation | movement of the lane merge assistance apparatus which concerns on this embodiment is demonstrated.

  FIG.2 and FIG.3 is a flowchart which shows the lane merge assistance process in the lane merge assistance apparatus 1 which concerns on this embodiment. FIG. 4 is an explanatory diagram of the lane merge of the vehicle.

  Here, as shown in FIG. 4, a case where the host vehicle 80 travels toward the merging point 91 of the lane and merges with the free space 84 on the merging destination lane at the merging point 91 will be described. First, as shown in step S10 of FIG. 2 (hereinafter simply referred to as “S10”, the same applies to the following steps), the surrounding environment recognition process is performed. The surrounding environment recognition process is a process for recognizing the traveling environment around the host vehicle 80 and is performed by the surrounding environment recognition unit 51. For example, as the traveling environment, the traveling position of the host vehicle 80 is recognized based on the vehicle position information of the navigation device 2. Further, road information in the traveling direction of the host vehicle 80, for example, road shape information, road upper limit speed information or maximum speed information, and distance information to the junction point are recognized based on the map information of the navigation device 2. Further, the speed information of the host vehicle 80 is recognized based on the vehicle speed information of the vehicle speed sensor 3. Further, the position and vehicle speed of the other vehicle around the vehicle are recognized based on the position information of the other vehicle of the information acquisition unit 4. As other vehicles to be recognized, a preceding vehicle 81 that travels ahead of the host vehicle 80 and an other vehicle 83 that travels in a merging destination lane are applicable. In the surrounding environment recognition process, a space between the other vehicle 83 and the other vehicle 83 in the merging destination lane or a space in front of or behind the other vehicle 83 that can be merged with respect to a space of a predetermined distance or more, that is, a free space. 84 is recognized. Here, the predetermined distance is a preset distance value. This predetermined distance may be set according to the vehicle speed of the vehicle. When there is a sufficiently wide space, it may be recognized that there are a plurality of free spaces 84 in one space between the vehicles. For example, it may be recognized that there are a plurality of free spaces 84 according to the number obtained by dividing the length of the space by a certain distance.

  And a process transfers to S12 and it is judged whether the distance to the junction 91 of the own vehicle 80 is below a preset threshold value. The threshold value is a distance value set in advance in the surrounding environment recognition unit 51. If it is determined in S12 that the distance to the merge point 91 of the host vehicle 80 is not less than or equal to the threshold value, it is determined that the merge support is unnecessary, and the control process ends. On the other hand, if it is determined in S12 that the distance to the merge point 91 of the host vehicle 80 is equal to or less than the threshold value, it is determined whether or not the free space 84 exists in the merge destination lane (S14).

  If it is determined in S14 that there is no free space 84 in the merging destination lane, deceleration processing is performed (S50). The deceleration process is a process for decelerating the vehicle, and is performed by the driving support control unit 54. For example, the driving support control unit 54 outputs a deceleration control signal to the driving support execution unit 6, and the traveling state of the vehicle is set to the deceleration state. At this time, the driver of the host vehicle 80 may be notified that deceleration control is being performed. In addition to the process of decelerating or instead of the process of decelerating, the lane merge support may be stopped. In this case, the driver may be informed that the lane merge support is to be stopped. Further, when the distance to the junction 91 is equal to or greater than a preset threshold value and the preceding vehicle 81 exists, the vehicle travels following the preceding vehicle 81 and the distance to the junction 91 is set in advance. If it is not equal to or greater than the threshold value, the host vehicle 80 may be stopped and the turn signal presentation may be performed in the merging direction. When the deceleration process of S50 is completed, the process returns to the surrounding environment recognition process of S10, and each control process is repeated.

  On the other hand, when it is determined in S14 that there is free space 84 in the merging destination lane, it is determined whether or not the preceding vehicle 81 exists (S16). This determination process is a process for determining whether or not there is a preceding vehicle 81 that travels ahead of the host vehicle 80. For example, whether or not the preceding vehicle 81 exists within a predetermined distance in the traveling direction of the host vehicle 80. Judgment is based on whether or not. Here, a predetermined distance value is used as the predetermined distance.

  When it is determined in S16 that the preceding vehicle 81 does not exist, the upper limit speed of the host vehicle 80 is calculated (S18). This calculation process is a process of calculating the upper limit speed of the host vehicle 80. For example, the maximum speed of the road is calculated as the upper limit speed. Further, the upper limit speed may be calculated based on the current vehicle speed, the upper limit acceleration, the distance to the junction 91, and the arrival time to the junction 91 using a preset upper limit acceleration. At that time, a predetermined amount of time may be added and used as a margin for the arrival time to the junction 91.

  And a process transfers to S20 and it is judged whether the free space 84 which can be joined when the own vehicle 80 drive | works at an upper limit speed exists. In this determination process, the arrival time to the merge point 91 is calculated based on the upper limit speed in the host vehicle 80 and the distance to the merge point 91, and the arrival time to the merge point 91 in the free space 84 in the merge lane of the merge destination is calculated. Calculate. Then, it is determined whether or not there is a free space 84 that can be merged based on whether or not the free space 84 that has an arrival time longer than the arrival time of the host vehicle 80 exists in the merge destination lane. The calculation of the arrival time at the junction 91 may be performed by dividing the distance to the junction 91 by the vehicle speed, for example.

  If it is determined in S20 that there is no free space 84 that can be joined when the host vehicle 80 travels at the upper limit speed, deceleration processing is performed (S50). When the deceleration process is finished, the surrounding environment recognition process in S10 is executed again. On the other hand, if it is determined in S20 that there is a free space 84 that can be merged when the host vehicle 80 travels at the upper limit speed, the free space 84 that is determined to be merged in S20 is closest to the merge point 91. The space 84 is set as a merge space where the host vehicle 80 should merge (S22). In addition, when there is one free space 84 that can be merged, the free space 84 may be set as a merge space in which the host vehicle 80 should merge. When the process of S20 is completed, the process proceeds to S40 of FIG.

  By the way, when it is determined in S16 that the preceding vehicle 81 exists, the upper limit speed of the preceding vehicle 81 is calculated (S24). This calculation process is a process of calculating the upper limit speed of the preceding vehicle 81, and a preset speed, for example, the maximum speed of the road is set as the upper limit speed. Here, the maximum speed of the road means a legal maximum speed set on the road. In the calculation process, when calculating the upper limit speed of the preceding vehicle 81, the margin speed is added as the upper limit speed to the speed at which the preceding vehicle 81 is considered not to go any more, for example, the vehicle speed of the vehicle in the merging destination lane. Or a speed based on statistical data of the vehicle speed of the vehicle heading to the junction 91, or a speed that takes into account the deceleration due to weather such as rain or snow from the maximum speed.

  And a process transfers to S26 and the shortest arrival time to the junction 91 of the preceding vehicle 81 is calculated. This calculation process is calculated based on the upper limit speed of the preceding vehicle 81 calculated in S24 and the distance to the junction 91 of the preceding vehicle 81, for example. Further, as the shortest arrival time, the time that the preceding vehicle 81 is considered to be shorter than that, for example, the current vehicle speed of the preceding vehicle 81, the preset acceleration / deceleration upper limit, the upper limit speed of the preceding vehicle 81, and the junction 91 A time calculated based on the distance may be set. Further, assuming that the preceding vehicle 81 does not accelerate to a speed equal to or higher than the current vehicle speed plus the threshold speed amount, and setting the threshold speed amount, the preceding vehicle 81 adds the threshold speed amount to the current vehicle speed. The shortest arrival time may be set based on the distance to the junction 91. At this time, the threshold speed amount may be set to a different value depending on the current vehicle speed.

  Then, the process proceeds to S28, and it is determined whether or not there is a free space 84 in which the preceding vehicle 81 can join in the destination lane. This determination process is determined, for example, by comparing the shortest arrival time of the preceding vehicle 81 to the junction 91 and the arrival time of the free space 84 in the junction lane. That is, if the shortest arrival time of the preceding vehicle 81 is shorter than the arrival time of the free space 84, it is determined that there is a free space 84 that can be merged, and the shortest arrival time of the preceding vehicle 81 is not shorter than the arrival time of the free space 84 It is determined that there is no free space 84 that can join. At this time, when the length of the free space 84 is longer than a predetermined distance, a predetermined time value may be used as the arrival time of the free space 84. If it is determined in S28 that there is no free space 84 in which the preceding vehicle 81 can merge in the lane of the merge destination, deceleration processing is performed (S50).

  On the other hand, if it is determined in S28 that there is a free space 84 in which the preceding vehicle 81 can join in the lane of the joining destination, the most confluence 91 of the free space 84 in which the preceding vehicle 81 is judged to join can be found. A near free space 84 is predicted as a merge space where the preceding vehicle 81 merges (S30). Further, when there is one free space 84 that can be merged, the free space 84 may be predicted as a merged space where the preceding vehicle 81 merges.

  When the process of S30 is completed, the process proceeds to S32 of FIG. 3, and it is determined whether or not there is a free space 84 that is next to the junction 91 after the free space 84 that is predicted to join the preceding vehicle 81. . If it is determined in S32 that there is no free space 84 next to the junction 91 after the free space 84 where the preceding vehicle 81 is predicted to merge, deceleration processing is performed (S50).

  On the other hand, when it is determined in S32 that the free space 84 next to the joining point 91 is present next to the free space 84 where the preceding vehicle 81 is predicted to join, the next free space 84 should join the own vehicle 80. It is set as a merge space (S34). In addition, as the setting of the merge space, a free space 84 that can be merged without requiring a change in the speed of the host vehicle 80 according to the vehicle speed of the host vehicle 80 may be set as the merge space to be merged. And a process transfers to S36 and the upper limit speed of the own vehicle 80 which is the own vehicle is calculated. This calculation process is a process for calculating the upper limit speed of the host vehicle 80 in the current driving environment. For example, the slower of the above-described maximum road speed and the preceding vehicle 81 is set as the upper limit speed of the host vehicle 80. Calculate.

  Then, the process proceeds to S38, and it is determined whether or not the free space 84 set as the merge space to merge at S34 can be merged at the upper limit speed of the host vehicle 80. If it is determined in S38 that the merge is not possible, the process returns to S32. In this case, in S32, it is only necessary to determine whether or not there is a free space 84 next to the joining point 91 next to the free space 84 in which the preceding vehicle 81 is predicted to join. That is, it is assumed that there is no free space 84 that is closest to the merge point 91 next to the free space 84 in which the preceding vehicle 81 is predicted to merge, and the next free space 84 that is closest to the merge point 91 is the next closest free space 84. What is necessary is just to judge the presence or absence. On the other hand, when it is determined in S38 that the merge is possible, the process proceeds to S40.

  In S40, the lane merge support control of the host vehicle 80 is performed so as to merge into the merge space to be merged. For example, the acceleration / deceleration adjustment of the host vehicle 80 is performed such that the host vehicle 80 reaches the joining point 91 at the timing when the joining space reaches the joining point 91. Thereby, the own vehicle 80 can join the set joining space. When the process of S40 is finished, a series of control processes are finished.

  As described above, according to the lane merge support device 1 according to the present embodiment, the free space 84 where the preceding vehicle 81 merges is predicted, and the merge space in the merge destination lane of the host vehicle 80 is determined based on the prediction result. The lane merge support is performed so that it is determined and merges in the merge space. For this reason, by considering the merging situation of the preceding vehicle 81, it is possible to accurately determine the merging space in which the host vehicle should be merged, and to perform appropriate lane merging support.

  For example, as shown in FIG. 4, when the own vehicle 80 tries to join in any free space 84 in the destination lane, the vehicle speed can be adjusted in consideration of the maximum speed of the road if there is no preceding vehicle 81. The desired free space 84 can be merged. However, when the preceding vehicle 81 is present, the speed of the host vehicle 80 is limited to be equal to or lower than the vehicle speed of the preceding vehicle 81. Therefore, it is necessary to select a free space 84 that can be merged under such a vehicle speed limit. Further, since the own vehicle 80 cannot join the free space 84 to which the preceding vehicle 81 is to join, the free space 84 to which the own vehicle 80 should join is determined as the joining space according to the joining state of the preceding vehicle 81. The merging space of the host vehicle 80 can be determined with high accuracy. Thereby, the situation where it cannot join the free space 84 scheduled due to the presence of the preceding vehicle 81 can be suppressed, and appropriate lane merge support can be performed.

In the lane merge support device 1 according to the present embodiment, as the lane merge support, the case where the vehicle traveling control is performed so that the own vehicle 80 merges into the merge space to be merged has been described. Alternatively, the driver of the host vehicle 80 may be instructed to drive. For example, the host vehicle 80 may be merged into a merge space where the driver is instructed to accelerate and decelerate. Even in this case, it is possible to provide appropriate driving support in accordance with the joining situation of the preceding vehicle 81.
(Second embodiment)

  Next, a lane merge support device according to a second embodiment of the present invention will be described.

  The lane merge support device according to the present embodiment is a device that provides lane merge support for the host vehicle that travels toward the merge point between the travel lane in which the host vehicle travels and the merge destination lane, and the merging situation of the preceding vehicle The driving situation of the preceding preceding vehicle (second preceding vehicle) that travels ahead of the preceding vehicle is the same as the lane combining support device according to the first embodiment in that it assists driving in the case of lane merging according to In addition, it is different from the lane merge support device according to the first embodiment in that it provides driving assistance during lane merge.

  5 and 6 are flowcharts showing lane merging support processing in the lane merging support apparatus according to the present embodiment. FIG. 7 is an explanatory diagram of the lane merge of the vehicle. The basic configuration of the lane merge support device according to the present embodiment is substantially the same as that of the lane merge support device 1 according to the first embodiment shown in FIG. 1, and can be configured by the same components. However, in addition to the recognition of the preceding vehicle, the surrounding environment recognition unit 51 recognizes the position and vehicle speed of the preceding preceding vehicle. In addition, the preceding vehicle prediction unit 52 performs prediction in consideration of the vehicle speed of the preceding vehicle when predicting the merging behavior of the preceding vehicle.

  With reference to FIGS. 5-7, operation | movement of the lane junction assistance apparatus which concerns on this embodiment is demonstrated.

  As shown in FIG. 7, when there is a preceding vehicle 81 that travels ahead of the host vehicle 80 that is the host vehicle and there is a preceding preceding vehicle 82 that travels ahead of the preceding vehicle 81, this embodiment The lane merging support device according to is useful.

  5 and 6, the processing content of S60 to S72 is the same as the processing content of S10 to S22 of the flowchart of the lane merge support device of FIGS. 2 and 3. 5 and 6, the processing content of S78 to S100 is the same as the processing content of S28 to S50 of the flowchart of the lane merge support device of FIGS. 2 and 3. For this reason, description of the same processing content is omitted here.

  In the lane junction support device according to the present embodiment, if it is determined in S66 of FIG. 5 that the preceding vehicle 81 exists, it is determined whether or not there is a preceding vehicle 82 that travels ahead of the preceding vehicle 81. (S73). This determination process is a process for determining whether or not there is a preceding vehicle 82 that travels ahead of the preceding vehicle 81 of the host vehicle 80 that is the host vehicle. For example, a predetermined distance in the traveling direction of the preceding vehicle 81 is determined. The determination is made based on whether or not the preceding preceding vehicle 82 exists within. Here, a predetermined distance value may be used as the predetermined distance.

  When it is determined in S73 that the preceding preceding vehicle 82 does not exist, the first upper limit speed calculation process for the preceding vehicle 81 is performed (S74). The first upper limit speed calculation process is a process of calculating the upper limit speed of the preceding vehicle 81, and for example, calculates the maximum speed of the road as the upper limit speed of the preceding vehicle 81. On the other hand, if it is determined in S73 that the preceding preceding vehicle 82 exists, the second upper limit speed calculation process for the preceding vehicle 81 is performed (S75). The second upper limit speed calculation process is a process for calculating the upper limit speed of the preceding vehicle 81. For example, the slower of the maximum speed on the road and the vehicle speed of the preceding preceding vehicle 82 is calculated as the upper limit speed of the preceding vehicle 81. In this manner, when the preceding preceding vehicle 82 exists, the free space 84 where the preceding vehicle 81 merges is accurately predicted by calculating the upper limit speed of the preceding vehicle 81 in consideration of the vehicle speed of the preceding preceding vehicle 82. be able to.

  When the processes of S74 and S75 are completed, the shortest arrival time to the junction 91 of the preceding vehicle 81 is calculated (S76). This calculation process is calculated based on, for example, the upper limit speed of the preceding vehicle 81 calculated in S74 or S75 and the distance to the junction 91 of the preceding vehicle 81.

  As described above, according to the lane merge support device according to the present embodiment, in addition to the operational effects of the lane merge support device 1 according to the first embodiment described above, the vehicle travels ahead of the preceding vehicle 81 of the host vehicle 80. When the preceding preceding vehicle 82 exists, the joining space where the preceding vehicle 81 joins is predicted according to the vehicle speed of the preceding preceding vehicle 82, so that the joining space of the preceding vehicle 81 can be predicted with high accuracy. Thereby, the lane merge support of the host vehicle 80 can be performed more appropriately.

  In addition, each embodiment mentioned above demonstrates one Embodiment of the lane merge assistance apparatus which concerns on this invention, The lane merge assistance apparatus which concerns on this invention is not limited to what was described in the said embodiment. The lane merging support apparatus according to the present invention may be modified from the lane merging support apparatus according to the above-described embodiment or applied to other things without changing the gist described in each claim.

  For example, in the flowchart showing the lane merge support process in FIGS. 2, 3 and 5, 6, the order of the control process may be changed within a range where the final process result is not changed.

  DESCRIPTION OF SYMBOLS 1 ... Lane junction assistance apparatus, 2 ... Navigation apparatus, 3 ... Vehicle speed sensor, 4 ... Information acquisition part, 5 ... ECU, 6 ... Driving assistance execution part, 51 ... Ambient environment recognition part, 52 ... Precedence vehicle prediction part, 53 ... Junction space determination unit, 54 ... driving support control unit, 80 ... own vehicle, 81 ... preceding vehicle, 82 ... preceding vehicle, 91 ... confluence.

Claims (1)

A lane merging support device that provides lane merging support for the host vehicle traveling toward a merging point between a traveling lane on which the host vehicle is traveling and a merging destination lane,
A recognition unit for recognizing a merge space candidate in the merge destination lane;
A preceding vehicle information acquisition unit for acquiring preceding vehicle information including traveling state information of the preceding vehicle of the host vehicle in the traveling lane and position information of the preceding vehicle;
A prediction unit that predicts a preceding vehicle joining space of the preceding vehicle in the joining destination lane based on a recognition result of the joining space candidate by the recognition unit and the preceding vehicle information acquired by the preceding vehicle information acquiring unit; ,
A determination unit that determines a merge space of the host vehicle in the merge destination lane based on a recognition result of the merge space candidate by the recognition unit and a prediction result of the preceding vehicle merge space by the prediction unit;
A support unit for supporting lane merge of the host vehicle so as to merge in the merge space determined by the determination unit;
A lane merge support device comprising:

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