JP2016011030A - 車両の運転支援装置 - Google Patents
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Abstract
【解決手段】先行車両B1を追い越すため、自車両が走行車線P1から追い越し車線P2に移動し、追い越し車線P2に対向車両C1が出現したとき、対向車両が減速しても、その減速変化量が閾値未満の場合、先行車の安全な追い越しは不可と判断して追い越しを中止する。一方、対向車両の減速変化量が閾値以上で周辺車両との安全が確認でき、先行車両の前方に安全に復帰できると判断される場合には、先行車両の追い越しを実行する。これにより、先行車両の追い越し開始後の状況変化に対応して追い越しの中止又は実行を適切に判断し、運転者に不安を与えることがない。
【選択図】図2
Description
図1において、符号1は自動車等の車両(自車両)であり、この自車両1に、ドライバの運転操作に対して自律的な自動運転を含む運転支援制御を実行する運転支援装置2が搭載されている。運転支援装置2は、自車両1を取り巻く周囲の外部環境を認識する各種デバイスからなる外部環境認識部を備え、また、自車両1の運転状態を検出する各種センサ類からの信号が入力される。
対向車両が減速しても、その減速変化量が閾値未満の場合、先行車の安全な追い越しは不可と判断して追い越しを中止する。ここで、減速変化量は、自車両に対する対向車両の車速或いは加速度の変化量であり、減速変化量が閾値未満、すなわち、対向車両が減速しない、或いは減速しても減速の度合いが小さい場合には、追い越しを中止して元の走行車線に復帰させるよう自動操舵部50及び加減速制御部60に指示する。図2で示すと、自車両がA1位置で対向車両C1の減速変化量が閾値未満の場合、先行車両B1の追い越しを中止して追い越し車線P2から元の走行車線P1に戻り、先行車両B1後方のA2位置に移動する。
対向車両の減速変化量が閾値以上であり、且つ元の走行車線の先行車両の前方に安全に復帰できると確認された場合には、自動操舵部50及び加減速制御部60による追い越し制御を続行させる。この場合は、自車両を加速させて図2のA1位置から先行車両B1を追い越し、元の走行車線P1の先行車両B1前方のA3位置に移動して追い越しを完了する。
対向車両の減速変化量が閾値以上であっても、自車両と周辺車両との位置及び相対速度等の関係から元の走行車線の先行車両の前方に安全に復帰できないと判断される場合には、追い越しを中止して元の走行車線に復帰させるよう自動操舵部50及び加減速制御部60に指示する。この場合には、図2の追い越し車線P2のA1位置で先行車両B1の追い越しを中止して、元の走行車線P1に戻り、先行車両B1の後のA2位置に移動する。
2 運転支援装置
3 ステレオカメラユニット
4 側方レーダユニット
5 後方レーダユニット
6 交通情報通信ユニット
10 車速センサ
11 操舵角センサ
12 Gセンサ
20 追い越し判断部
30 追い越し環境監視部
40 追い越し実行/中止判断部
50 自動操舵部
60 加減速制御部
70 追い越し情報出力部
B1 先行車両
C1 対向車両
Claims (9)
- 自車両の前方を走行する先行車両を追い越し可能な否かを判断し、追い越し可能な場合、前記先行車両の追い越し制御を実行する運転支援装置であって、
前記先行車両を追い越し可能と判断して自車両が追い越し車線に移動したとき、前記追い越し車線を中心とする走行環境の変化を監視する追い越し環境監視部と、
前記追い越し環境監視部により前記追い越し車線上に対向車両が検出されたとき、前記対向車両の減速変化量と、自車両と周辺車両との位置及び相対速度の関係とに基づいて、前記先行車両の追い越しを実行させるか中止させるかを判断する追い越し実行/中止判断部と
を備えることを特徴とする運転支援装置。 - 前記追い越し環境監視部は、少なくとも、前記対向車両の有無、自車両周辺の周辺車両の位置及び相対速度、前記追い越し車線の路面状態を監視し、
前記追い越し実行/中止判断部は、前記対向車両の減速変化量が閾値未満のときには前記先行車両の追い越し中止と判断し、前記対向車両の減速変化量が閾値以上で且つ自車両と前記周辺車両の位置及び相対速度の関係から元の走行車線への安全な復帰が可能なときには、前記先行車両の追い越し実行と判断することを特徴とする請求項1記載の運転支援装置。 - 前記減速変化量は、加速度の変化量であることを特徴とする請求項1又は2記載の運転支援装置。
- 前記減速変化量は、車速の変化量であることを特徴とする請求項1又は2記載の運転支援装置。
- 前記閾値は、所定時間後の自車両と前記対向車両との安全限界距離を与える減速変化量であることを特徴とする請求項2〜4の何れか一に記載の運転支援装置。
- 前記閾値は、車速の変化度合い或いは自車両の車速と制限速度との関係に応じて可変されることを特徴とする請求項2〜5の何れか一に記載の運転支援装置。
- 前記閾値は、自車両と前記対向車両との距離の関係に応じて可変されることを特徴とする請求項2〜6の何れか一に記載の運転支援装置。
- 前記閾値は、前記追い越し車線の路面摩擦係数が低い場合には小さく設定されることを特徴とする請求項2〜7の何れか一に記載の運転支援装置。
- 前記閾値は、前記追い越し車線が前記対向車両の走行車線である場合には小さく設定されることを特徴とする請求項2〜8の何れか一に記載の運転支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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JP2014133147A JP5952862B2 (ja) | 2014-06-27 | 2014-06-27 | 車両の運転支援装置 |
US14/738,854 US9499171B2 (en) | 2014-06-27 | 2015-06-13 | Driving support apparatus for vehicle |
DE102015109574.2A DE102015109574A1 (de) | 2014-06-27 | 2015-06-16 | Fahrtunterstützungsvorrichtung für ein Fahrzeug |
CN201510363115.1A CN105216795B (zh) | 2014-06-27 | 2015-06-26 | 车辆的驾驶辅助装置 |
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JP5952862B2 (ja) | 2016-07-13 |
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