JP2016084092A - Travel control device of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform fail safe control in which safety is fully assured by considering response delay of a driver to set a target course properly in a case where abnormality of yaw motion control system and delay in correction operation of a driver are focused, relating to an automatic drive control.SOLUTION: At the time of automatic drive control, at least in one of a case of abnormality occurrence of a yaw motion control system of an own vehicle or when the abnormality is expected to occur and a case in which delay in correction operation of a driver is expected, a target course corrected with off-set correction is performed with a correction amount set by expected response delay of the driver along the inside of a curve of the target course, for performing automatic drive control with a target car speed Vt according to a corrected target course and a target steering angle θHt.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a travel control device for a vehicle that recognizes a travel environment, detects travel information of the host vehicle, and performs automatic driving control.

  In recent years, various types of vehicles using automatic driving technology have been developed and proposed so that drivers can drive more comfortably and safely. For example, Japanese Unexamined Patent Application Publication No. 2014-133477 (hereinafter referred to as Patent Document 1) is a travel support device that sets a target runway from a captured image in front of the host vehicle and controls the host vehicle so as to run along the target runway. When the vehicle's running path includes one curved road, the target vehicle is driven on the inner side of the curved road based on the confidence level, which is information indicating the degree of lane recognition based on the captured image. A technology of a driving support device that adds an offset to a road is disclosed.

JP 2014-133477 A

  By the way, as disclosed in the technology of the above-described driving support device of Patent Document 1, the correction is made when the target course is offset-corrected so as to travel closer to the inside of the curved road based on the confidence level of the lane recognition. Assuming later driver steering, it is known that switchback steering that corrects the turning trajectory to the outside is ergonomically difficult. As described above, in order to correct the curve toward the inside of the curved road, not only the information collected by the driving support device but also the safety is sufficient if the correction is not performed in consideration of such a driver's reaction delay. There is a possibility that it cannot be secured.

  The present invention has been made in view of the above circumstances, and in automatic operation control, when an abnormality in the yaw motion control system, a delay in a driver's correction operation, or the like is expected, an appropriate target route is considered in consideration of a driver's reaction delay. An object of the present invention is to provide a travel control device for a vehicle in which fail-safe control is performed with sufficient safety secured.

  One aspect of the vehicle travel control apparatus of the present invention includes travel environment information acquisition means for acquiring travel environment information for travel of the host vehicle, and travel information detection means for detecting travel information of the host vehicle. Yaw motion control system abnormality detecting means for detecting occurrence of abnormality of yaw motion control system of own vehicle and predicting occurrence of abnormality in vehicle travel control device for executing automatic driving control based on information and traveling information of own vehicle A driver driving state detecting means for detecting the driving state of the driver, and a case where an abnormality or an abnormal occurrence of the yaw motion control system of the host vehicle is expected by the yaw motion control system abnormality detecting means and the driver driving state detecting means In at least one of the cases where a delay in the driver's correction operation is assumed, the target course is set in the direction of the curve inside the target course in advance by predicting the driver's reaction delay. The offset correction by the correction amount, and a target trajectory correction means for executing the automatic driving control at the target vehicle speed and the target steering angle according to the corrected target trajectory.

  According to another aspect of the present invention, there is provided a travel control device for a vehicle including travel environment information acquisition means for acquiring travel environment information for traveling by the host vehicle and travel information detection means for detecting travel information of the host vehicle, In a vehicle travel control device that performs automatic operation control based on travel environment information and the travel information of the host vehicle, the yaw motion control system abnormality that detects the occurrence of an abnormality in the yaw motion control system of the host vehicle and predicts the occurrence of the malfunction When the detection means and the yaw motion control system abnormality detection means are expected to generate an abnormality or an abnormality in the yaw motion control system of the host vehicle, the driver's reaction is set in advance in the direction of the curve of the target path in advance. There is provided target course correction means for performing offset correction with a correction amount set in anticipation of the delay, and executing the automatic driving control at a target vehicle speed and a target steering angle corresponding to the corrected target course.

  Furthermore, one aspect of the vehicle travel control apparatus of the present invention includes travel environment information acquisition means for acquiring travel environment information for travel of the host vehicle, and travel information detection means for detecting travel information of the host vehicle, In a vehicle travel control apparatus that performs automatic driving control based on traveling environment information and the traveling information of the host vehicle, driver driving state detecting means for detecting a driving state of the driver, and driver correction by the driver driving state detecting means When an operation delay is assumed, the target route is offset in the direction of the curve inside the target route with a correction amount set in advance by predicting the response delay of the driver, and the target route is adjusted according to the corrected target route. There is provided a target course correction means for executing the automatic driving control at a target vehicle speed and a target steering angle.

  According to the vehicle travel control apparatus of the present invention, in the automatic driving control, when an abnormality of the yaw motion control system or a delay in the driver's correction operation is expected, the target course is appropriately set in consideration of the driver's reaction delay. There is an excellent effect that fail-safe control is performed with sufficient safety by setting.

1 is an overall configuration diagram of a vehicle travel control device according to an embodiment of the present invention. It is a flowchart of the fail safe control at the time of automatic operation control by one Embodiment of this invention. It is explanatory drawing of the target course corrected by one Embodiment of this invention. It is explanatory drawing of calculation of the target gaze point by one Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In FIG. 1, reference numeral 1 denotes a travel control device for a vehicle. The travel control device 1 includes a travel control unit 10, a surrounding environment recognition device 11, a driver state detection device 12, a travel parameter detection device 13, and a host vehicle. Position information detection device 14, inter-vehicle communication device 15, road traffic information communication device 16, input devices of switch group 17, engine control device 21, brake control device 22, steering control device 23, display device 24, speaker / buzzer 25 output devices are connected.

  The surrounding environment recognition device 11 includes a camera device (stereo camera, monocular camera, color camera, etc.) provided with a solid-state imaging device or the like provided in a vehicle interior that captures image information by capturing an external environment of the vehicle, 1 is constituted by a radar device (laser radar, millimeter wave radar, etc.) for receiving a reflected wave from a three-dimensional object, sonar (not shown).

  The surrounding environment recognition device 11 performs, for example, a well-known grouping process on the distance information based on the image information captured by the camera device, and the three-dimensional road shape in which the grouping distance information is set in advance. Three-dimensional objects such as lane marking data, guardrails along the road, side walls such as curbs, vehicles (preceding vehicles, oncoming vehicles, parallel vehicles, parked vehicles) The relative position (distance, angle) from the host vehicle is extracted along with the speed of data and the like.

  The surrounding environment recognition device 11 detects the position (distance, angle) of the reflected three-dimensional object along with the speed based on the reflected wave information acquired by the radar device. In the present embodiment, the maximum distance that can be recognized by the surrounding environment recognition device 11 (the distance to the three-dimensional object, the farthest distance of the lane marking) is used as the visibility. Thus, the surrounding environment recognition device 11 is provided as a traveling environment information acquisition unit.

  The driver state detection device 12 detects the driver's visual field behavior by a visual field camera, an infrared lamp, or the like provided in the vehicle interior as disclosed in Japanese Patent Application Laid-Open No. 2006-318049, for example. , And the driver's line of sight and face orientation are outside the set range, and it is determined whether or not the driver is in an aside look driving state and is output to the traveling control unit 10.

  The driver state detection device 12 detects the driver's arousal level by detecting a handle operation (handle angle) as disclosed in the above-described visual field camera, infrared lamp, or the like, or disclosed in JP2012-234398A. Is detected and output to the traveling control unit 10.

  Furthermore, the driver state detection device 12 detects a driver's heart rate, pulse waveform, blood pressure, sweating state, body temperature, and the like using a biosensor as disclosed in JP-A-2002-104013, and these detected values. For example, the driver's personal time history data average value is compared, and it is determined whether or not the driver's physical condition is abnormal by determining whether or not it is within a certain range, and the result is output to the traveling control unit 10.

  Thus, in this Embodiment, the driver state detection apparatus 12 is provided as a driver driving | running state detection means.

  The travel parameter detection device 13 is the travel information of the host vehicle, specifically, the vehicle speed V, the steering torque Tdrv, the steering wheel angle θH, the yaw rate γ, the accelerator opening, the throttle opening, the road surface gradient of the road surface, and the road surface friction. Coefficient estimates are detected. In addition, the travel parameter detection device 13 calculates the power supply system of the host vehicle, that is, the power supply voltage drop state, the battery charge state (State of charge: SOC) drop state, the frequency of communication errors, and the like. Output to the traveling control unit 10. Thus, the travel parameter detection device 13 is provided with the functions of the travel information detection means and the yaw motion control system abnormality detection means.

  The own vehicle position information detecting device 14 is, for example, a known navigation system, and receives, for example, a radio wave transmitted from a GPS (Global Positioning System) satellite and determines the current position based on the radio wave information. Detected on map data stored in advance in flash memory, CD (Compact Disc), DVD (Digital Versatile Disc), Blu-ray (Blu-ray: registered trademark) disk, HDD (Hard disk drive), etc. Identify your vehicle position.

  The map data stored in advance includes road data and facility data. Road data includes link position information, type information, node position information, type information, and information on connection relations between nodes and links, that is, road branching, junction point information and maximum vehicle speed information on branch roads, etc. Contains. The facility data has a plurality of records for each facility, and each record includes the name information of the target facility, location information, facility type (department store, store, restaurant, parking lot, park, vehicle failure) It has data that shows information). When the vehicle position on the map position is displayed and a destination is input by the operator, a route from the departure point to the destination is calculated in a predetermined manner and displayed on a display device 24 such as a display or a monitor. In addition, the speaker / buzzer 25 can be guided by voice guidance. Thus, the own vehicle position information detection device 14 is provided as a travel environment information acquisition unit.

  The inter-vehicle communication device 15 is composed of, for example, a narrow-area wireless communication device having a communication area of about 100 [m] such as a wireless LAN, and directly communicates with other vehicles without passing through a server or the like to transmit and receive information. It is possible to do. And vehicle information, traveling information, traffic environment information, etc. are exchanged by mutual communication with other vehicles. The vehicle information includes specific information indicating the vehicle type (in this embodiment, the type of passenger car, truck, motorcycle, etc.). The traveling information includes vehicle speed, position information, brake lamp lighting information, blinking information of a direction indicator transmitted at the time of turning left and right, and blinking information of a hazard lamp blinking at an emergency stop. Furthermore, the traffic environment information includes information that varies depending on the situation such as road traffic congestion information and construction information. Thus, the inter-vehicle communication device 15 is provided as a travel environment information acquisition unit.

  The road traffic information communication device 16 is a so-called road traffic information communication system (VICS: Vehicle Information and Communication System: registered trademark). The road traffic information of the car park is received in real time, and the received traffic information is displayed on the previously stored map data. Thus, the road traffic information communication device 16 is provided as a travel environment information acquisition unit.

  The switch group 17 is a switch group related to the driver's driving support control. For example, the switch group 17 is a switch that controls the traveling at a constant speed that is set in advance, or the distance between the preceding vehicle and the time between the preceding cars are set in advance. A switch for keeping track at a constant value, a lane keeping control switch for driving control while maintaining the driving lane at the set lane, a lane departure preventing control switch for preventing departure from the driving lane, and preceding Passing control execution permission switch for executing overtaking control of vehicles (vehicles to be overtaken), switch for executing automatic driving control for performing all these controls in cooperation, vehicle speed, inter-vehicle distance, inter-vehicle distance required for each control It consists of a switch for setting time, speed limit, etc., or a switch for canceling each control.

  The engine control device 21 uses, for example, a fuel for a vehicle engine (not shown) based on the intake air amount, throttle opening, engine water temperature, intake air temperature, oxygen concentration, crank angle, accelerator opening, and other vehicle information. This is a known control unit that performs main control such as injection control, ignition timing control, and control of an electronically controlled throttle valve.

  The brake control device 22 makes the four-wheel brake device (not shown) independent of the driver's brake operation based on, for example, the brake switch, the wheel speed of the four wheels, the handle angle θH, the yaw rate γ, and other vehicle information. This is a known control unit that performs yaw moment control (yaw brake control) for adding yaw moment to a vehicle such as a known antilock brake system or side slip prevention control. Then, when the brake force of each wheel is input from the traveling control unit 10, the brake control device 22 calculates the brake fluid pressure of each wheel based on the brake force, and a brake drive unit (not shown). ). Thus, the brake control device 22 has a control function for controlling the yaw motion of the host vehicle. Also, the brake control device 22 detects abnormalities in the braking system including the hydraulic unit, brake booster, etc., and the brake control device 22 itself, and the traveling control unit 10 generates these abnormal states. Is being monitored. Thus, the brake control device 22 has a function as a yaw motion control system abnormality detection means.

  The steering control device 23 controls the assist torque by an electric power steering motor (not shown) provided in the vehicle steering system based on, for example, vehicle speed, steering torque, steering wheel angle, yaw rate, and other vehicle information. It is a control device. In addition, the steering control device 23 can perform lane keeping control for performing traveling control while maintaining the above-described traveling lane at the set lane, and lane departure preventing control for performing departure prevention control from the traveling lane. The steering angle (target steering angle θHt) or steering torque required for the lane departure prevention control is calculated by the travel control unit 10 and input to the steering control device 23, and electric power steering is performed according to the input control amount. The motor is driven and controlled. Further, the steering control device 23 detects abnormalities such as a steering system including a steering mechanism, a steering torque sensor, and a handle angle sensor. The traveling control unit 10 monitors the occurrence of these abnormal conditions. Yes. In addition to the obvious abnormality of the steering mechanism itself, the steering control device 23 is in a protection state in which it temporarily operates to protect the drive circuit of the power steering motor, the motor resolver, etc. (for example, current cut by overload, etc. ) Is also detected as abnormal. Thus, the steering control device 23 is provided as a yaw motion control system abnormality detection means.

  The display device 24 is a device that provides a visual warning and notification to drivers such as a monitor, a display, and an alarm lamp. The speaker / buzzer 25 is a device that gives an audible warning and notification to the driver. The display device 24 and the speaker / buzzer 25 appropriately issue an alarm to the driver when an abnormality occurs in various devices of the vehicle.

  Then, the traveling control unit 10 is configured to prevent collisions with obstacles, constant speed traveling control, follow-up traveling control, lane keeping control, lane departure prevention control based on the input signals from the devices 11 to 16 described above. In addition, automatic driving control or the like is executed by performing overtaking control or the like in cooperation. During this automatic driving control, the occurrence of an abnormality in the yaw motion control system of the host vehicle or the occurrence of an abnormality is predicted by signals from the travel parameter detection device 13, the brake control device 22, and the steering control device 23, and the driver driving state In at least one of cases where a delay in the driver's correction operation is assumed by a signal from the detection device 12, the target course is set in advance in the direction of the curve of the target course and the driver's reaction delay is set in advance. The offset is corrected by the amount, and the automatic driving control is executed with the target vehicle speed Vt and the target steering angle θHt corresponding to the corrected target course. As described above, the travel control unit 10 is provided with a function as target course correction means.

  Next, the fail safe control at the time of the automatic operation control executed by the traveling control unit 10 will be described with reference to the flowchart of FIG.

  First, in step (hereinafter, abbreviated as “S”) 101, it is determined whether or not the automatic operation state in which the automatic operation control is being executed. If it is not the automatic operation state, the program is exited. In step S102, the traveling control unit 10 acquires abnormality information of the steering system, the braking system, the power supply system, and the communication system.

  Specifically, information on occurrence of abnormality of the yaw motion control system that performs yaw moment control (yaw brake control) for adding yaw moment to the vehicle is read from the brake control device 22, and the power steering motor is driven from the steering control device 23. Reads outbreak information such as circuits and motor resolvers. Further, when the power supply voltage, the SOC of the battery, the frequency of communication error, etc. are read from the travel parameter detection device 13 and the power supply voltage is lower than a preset threshold, the SOC of the battery is set in advance. If the threshold value is lower than the threshold value, the communication error frequency is higher than a predetermined value, and it is read whether an abnormal condition is expected in the yaw motion control system.

  Next, the process proceeds to S103, where it is determined whether or not an abnormality in the steering angle control or the yaw moment control (yaw brake control) is detected or predicted, the occurrence of an abnormality in these yaw motion control systems is not detected, and If no abnormality is predicted, the process proceeds to S104.

  In S104, the driver state detection device 12 detects a driver state (a driver's aside driving state, a driver's awakening state, a driver's physical condition is abnormal).

  Then, the process proceeds to S105, in which it is determined whether or not the driver is looking aside, or the driver's arousal level is low, or the driver's physical condition is abnormal, and a delay in the driver's correction operation is expected. Is done.

  As a result of the determination in S105, when the driver is not in the aside look driving state, the arousal level is not lowered, the driver's physical condition is not detected, and the driver's correction operation delay is not expected In S106, normal automatic driving control (steering / speed control along the target route) is executed, and the program exits.

  In this normal automatic operation control, for example, when traveling on a target route having a turning radius R (an example of a curve center line as shown in FIG. 3), a target handle angle θHt is calculated by the following equation (1): The target steering angle θHt is output to the steering control device 23 to execute steering control along the target course.

θHt = (1 + A · V ² ) · (l / R) · n (1)
Here, l is a wheel base, n is a steering gear ratio, and A is a stability factor (vehicle specific value).

  Further, the target speed Vt set by the automatic driving control is obtained from information from the surrounding environment recognition device 11, the own vehicle position information detection device 14, the inter-vehicle communication device 15, the road traffic information communication device 16, etc. (traffic sign recognition result, The road speed limit obtained by map information, road condition communication information, and the like is set to a smaller value of the target vehicle speed preset by the driver and set to this target speed Vt.

  On the other hand, if an abnormality in the steering angle control or yaw moment control (yaw brake control) is detected or predicted in S103 and an unexpected situation of lane keeping control by automatic driving control is expected, or in S105 described above If the driver is looking aside, or the driver's arousal level is low, or the driver's physical condition is abnormal, and a delay in the driver's correction operation is expected, the process proceeds to S107.

  In S107, acquisition of information on the prohibition condition of the target course correction (correction in which the target course is offset in the curve inward direction of the target course by a correction amount set in advance by predicting the driver's reaction delay) is executed.

  Specifically, based on the image information from the surrounding environment recognition device 11, whether there are roadside obstacles or guardrails inside the curve of the target course, whether there is an oncoming vehicle inside the curve, Information on whether or not there is a parallel running vehicle and whether or not a driver's forward gazing point, which will be described later, can be recognized by image information or the like of the surrounding environment recognition device 11 (whether the front of the target course can be recognized) is acquired. .

  The forward gazing point mentioned above is a point in front of a preset target course. For example, if the host vehicle travels straight ahead and reaches after time t1 (a preset value), (V · t1) forward The point of the distance. Also, as shown in FIG. 4, when the forward gazing point is calculated on the xy coordinates in consideration of the traveling path of the host vehicle, the following calculation is performed.

  That is, assuming that the current vehicle position P0 (x0, y0), the yaw angle is Ψ, and the yaw rate is (dΨ / dt), the forward gazing point P1 (x1, y1) that arrives after time t1 is (2 ) And (3). It is assumed that the vehicle speed V and the yaw rate (dΨ / dt) are constant until time t1.

x1 = x0 + ∫ (V · cos (Ψ + (dΨ / dt) · t)) dt
(However, the integration range is 0 to t1)
= X0 + (V / (dψ / dt)) · (cos (ψ) · sin ((dψ / dt)
T1) + sin (Ψ) * (cos ((dΨ / dt) * t1) −1))
= X0 + (V / (dψ / dt)) · (sin (ψ + (dψ / dt) · t1)
-Sin (Ψ)) (2)
y1 = y0 + ∫ (V · sin (ψ + (dψ / dt) · t)) dt
(However, the integration range is 0 to t1)
= Y0 + (V / (dψ / dt)) · (sin (ψ) · sin ((dψ / dt)
T1) -cos (Ψ) * (cos ((dΨ / dt) * t1) -1))
= Y0- (V / (d [Psi] / dt)). (Cos ([Psi] + (d [Psi] / dt) .t1)
-Cos (Ψ)) (3)
Next, in S108, the presence state of roadside obstacles and guardrails inside the curve of the target route, the presence state of the oncoming vehicle inside the curve, the presence state of the parallel running vehicle, and the recognition state of the front gazing point are determined.

  As a result of the determination in S108, there is a roadside obstacle or a guard rail inside the curve of the target course, an oncoming vehicle exists inside the curve, a parallel running vehicle exists, or the forward gazing point is the surrounding environment. If it is determined that the image cannot be recognized by the image information of the recognition device 11 or the like, the target course correction (a correction in which the target course is offset in a direction inward of the curve of the target course by a correction amount set in advance by predicting the driver's reaction delay) ) Is prohibited, and the normal automatic operation control in S106 described above is executed.

  In addition, there are no roadside obstacles or guardrails inside the curve of the target course, no oncoming vehicle is inside the curve, there are no side-by-side cars, and the front gaze point is the surrounding environment recognition device. If it is determined that the image information can be recognized by the image information 11 or the like, the process proceeds to S109 to execute the target course correction.

  In S109, the target course correction turning radius r for the target course correction (correction for offsetting the target course in the curve inward direction of the target course with a correction amount set in advance by predicting the driver's reaction delay) is set to, for example, (4) Calculate by the formula.

r = R − ((Wr−Wb) / 2) + di (4)
Here, as shown in FIG. 3, R is the turning radius when the center line of the traveling lane is the target course, Wr is the lane width, Wb is the full width of the vehicle, and di is the vehicle body (left side in the example of FIG. 3). To the lane marking on the inside of the curve (a preset value). Note that do in FIG. 3 is the distance from the vehicle body (right side surface in the example of FIG. 3) to the lane marking on the outside of the curve. Therefore, in the lane of FIG. 3, the relationship is Wr = Wb + di + do.

  Next, the process proceeds to S110, and the target speed Vt for traveling along the above-described target course correction turning radius r is calculated by the following equation (8), for example.

  Here, the equation (8) for calculating the target speed Vt will be described.

  First, regarding the deviation from the curve in the tangential direction, the following equation (5) is established.

d = (1/2) · (d ² y / dt ² ) 0 · t ² (5)
Here, d is the amount of bulging outward from the target course, (d ² y / dt ² ) 0 is the original turning lateral acceleration, and t is the elapsed time.

In the lane of Wr = Wb + di + do as shown in FIG. 3, when it is preliminarily assumed that the time until the vehicle departs from the lane is secured ts (set value), the bulging amount d from the target course to the outside is set as the above-mentioned do The elapsed time t is ts, and this time ts is a preset time (in automatic driving control) where it is estimated that the vehicle does not deviate from the current traveling lane even if the vehicle continues traveling in the tangential direction of the curve. When a delay in the yaw motion control system or the driver's correction operation is expected, the following equation (6) is obtained as a time set in advance by experiment, calculation, etc. in consideration of the driver's reaction delay.
Wr−Wb−di = (1/2) · (d ² y / dt ² ) 0 · ts ² (6)
Solving this equation (6) for (d ² y / dt ² ) 0,
(D ² y / dt ² ) 0 = 2 · (Wr−Wb−di) / ts ²
= Vt ² / r (7)
Therefore, from this equation (7), Vt = (r · (d ² y / dt ² ) 0) ^1/2 .
Vt = ((R − ((Wr−Wb) / 2) + di)
(2 ((Wr−Wb−di) / ts ² )) ^1/2 (8)
Based on the target speed Vt, the current vehicle speed V is compared to calculate the necessary acceleration / deceleration and output it to the engine control device 21 and the brake control device 22 to execute speed control. As described in S106, the target speed Vt is information from the surrounding environment recognition device 11, the vehicle position information detection device 14, the inter-vehicle communication device 15, the road traffic information communication device 16, and the like (traffic sign recognition result, The vehicle is limited by the smaller value of the speed limit of the road acquired by map information, road condition communication information, etc.) and the target vehicle speed preset by the driver.

  Next, the process proceeds to S111, where, for example, the target steering wheel angle θHt is calculated according to the following equation (9) similar to the above equation (1), and the target steering wheel angle θHt is output to the steering control device 23 to obtain the target course. Execute steering control along

θHt = (1 + A · V ² ) · (l / r) · n (9)
As described above, according to the embodiment of the present invention, in the case of automatic driving control, a case where an abnormality or an abnormality is expected in the yaw motion control system of the host vehicle and a delay in the correction operation of the driver are assumed. If the vehicle continues to travel in the tangential direction of the curve in the direction of the curve, it is estimated that the vehicle will not deviate from the current travel lane (the yaw in automatic operation control). When a delay in the correction operation of the motion control system or the driver is expected, the target course is set in the direction of the curve inside the target course by the time set in advance by experiment, calculation, etc. in consideration of the response delay of the driver. Offset correction is performed, and automatic driving control is executed with the target vehicle speed Vt and the target steering angle θHt corresponding to the corrected target course. For this reason, in automatic operation control, if a delay in the yaw motion control system or driver's correction operation is expected, the target course is set appropriately in consideration of the driver's reaction delay, and the safety is sufficiently ensured. Safe control is performed. In addition, there are roadside obstacles and guardrails inside the curve of the target course, there are oncoming cars inside the curve, there are parallel cars, or the front gazing point is an image of the surrounding environment recognition device 11. When it is determined that the information cannot be recognized, the above-described target course correction is canceled, so that inadvertent correction is reliably avoided. In the present embodiment, the target course correction is canceled when there is a roadside obstacle or guardrail inside the curve of the target course, when there is an oncoming vehicle inside the curve, when there is a parallel running vehicle, It is assumed that any one of the cases where it is determined that the gazing point cannot be recognized by the image information of the surrounding environment recognition device 11 or the like is satisfied, but it may be configured such that any one of the conditions is a cancellation condition. Any two conditions may be used as a cancel condition, and any three conditions may be used as a cancel condition.

DESCRIPTION OF SYMBOLS 1 Traveling control apparatus 10 Traveling control part (target course correction means)
11 Ambient environment recognition device (traveling environment information acquisition means)
12 Driver state detection device (driver operation state detection means)
13 Travel parameter detection device (travel information detection means, yaw motion control system abnormality detection means)
14 Vehicle position information detection device (traveling environment information acquisition means)
15 Vehicle-to-vehicle communication device (running environment information acquisition means)
16 Road traffic information communication device (running environment information acquisition means)
17 Switch group 21 Engine control device 22 Brake control device (yaw motion control system abnormality detection means)
23 Steering control device (yaw motion control system abnormality detection means)
24 display device 25 speaker buzzer

Claims (7)

A driving environment information acquiring means for acquiring driving environment information in which the host vehicle travels and a driving information detecting means for detecting driving information of the host vehicle are provided, and automatic driving is performed based on the driving environment information and the driving information of the host vehicle. In a vehicle travel control device that executes control,
A yaw motion control system abnormality detection means for detecting the occurrence of an abnormality in the yaw motion control system of the host vehicle and predicting the occurrence of the abnormality;
A driver operation state detection means for detecting the operation state of the driver;
At least one of a case where the yaw motion control system abnormality detecting means is expected to generate an abnormality or an abnormality of the yaw motion control system of the own vehicle and a case where a driver correction operation delay is assumed to be delayed by the driver operating state detecting means In this case, the target route is offset-corrected in the direction of the curve inside the target route with a correction amount set in advance by predicting the response delay of the driver, and the target vehicle speed and the target steering angle corresponding to the corrected target route are set. Target course correction means for executing the automatic operation control;
A travel control device for a vehicle, comprising: A driving environment information acquiring means for acquiring driving environment information in which the host vehicle travels and a driving information detecting means for detecting driving information of the host vehicle are provided, and automatic driving is performed based on the driving environment information and the driving information of the host vehicle. In a vehicle travel control device that executes control,
A yaw motion control system abnormality detection means for detecting the occurrence of an abnormality in the yaw motion control system of the host vehicle and predicting the occurrence of the abnormality;
If the yaw motion control system abnormality detection means predicts that the yaw motion control system of the host vehicle is abnormal or abnormal, predict the driver's reaction delay in advance toward the inside of the curve of the target route. Offset correction with the correction amount set in the step, and target course correction means for executing the automatic driving control at a target vehicle speed and a target steering angle corresponding to the corrected target course;
A travel control device for a vehicle, comprising: A driving environment information acquiring means for acquiring driving environment information in which the host vehicle travels and a driving information detecting means for detecting driving information of the host vehicle are provided, and automatic driving is performed based on the driving environment information and the driving information of the host vehicle. In a vehicle travel control device that executes control,
A driver operation state detection means for detecting the operation state of the driver;
When a delay in the driver's correction operation is assumed by the driver operating state detection means, the target course is offset in the direction of the curve inside the target course, and the offset is corrected in advance by a correction amount set in anticipation of the driver's reaction delay. , Target course correction means for executing the automatic driving control at a target vehicle speed and a target steering angle corresponding to the corrected target course;
A travel control device for a vehicle, comprising:   The yaw motion control system abnormality detection means detects at least one of the steering control system, the brake control system, the power supply system, and the communication system, and detects the occurrence of an abnormality in the yaw motion control system of the host vehicle and predicts the occurrence of the abnormality. The vehicle travel control apparatus according to claim 1 or 2, characterized in that   The vehicle driving control according to claim 1 or 3, wherein the driver driving state detecting means detects at least one of the driver's line-of-sight direction, arousal level, and physical condition to detect the driving state of the driver. apparatus.   The correction amount used by the target course correction means for the offset correction of the target course is estimated not to deviate from the current travel lane even if the host vehicle continues traveling in the tangential direction of the curve. 6. The vehicle travel control apparatus according to claim 1, wherein the correction amount is set in accordance with a preset time.   The said target course correction | amendment means cancels the said correction | amendment in the case of at least one of the case where a solid object exists inside the curve of a driving lane, and the front of a target course cannot be recognized. The vehicle travel control apparatus according to claim 6.

Images