JP6160509B2 - Driving support device, driving support method and program - Google Patents

Description

  The present invention relates to a driving support device, a driving support method, and a program.

Conventionally, various techniques for supporting automatic driving of the host vehicle have been proposed.
For example, in the vehicle travel control device described in Patent Document 1, on an expressway or the like, when performing auto-cruise control for controlling the vehicle speed of the host vehicle so that the host vehicle travels at a constant speed, the adjacent lane When the vehicle is congested, an interrupt probability that an interrupting vehicle that interrupts immediately ahead of the host vehicle in the host vehicle traveling lane from the adjacent lane is calculated.

  Based on the calculated interruption probability, the steering device is controlled so that the traveling position of the host vehicle is displaced to the side opposite to the adjacent lane, that is, the right side in the width direction of the host vehicle traveling lane. As a result, the host vehicle travels at a constant speed in a position displaced to the right in the width direction of the host vehicle travel lane. Note that the host vehicle is configured to travel at the original travel position after passing the traffic jam area of the adjacent lane.

JP 2006-69344 A

  However, the vehicle travel control device described in Patent Document 1 controls the steering device based on the calculated interrupt probability so that the travel position of the host vehicle is displaced to the side opposite to the adjacent lane. Therefore, even if an interrupting vehicle does not enter in front of the host vehicle, the host vehicle may be very close to the lane boundary on the opposite side of the adjacent lane on the host vehicle lane, and the driver may feel uneasy. There is a risk of giving.

  Therefore, the present invention has been made to solve the above-described problems, and even if the adjacent lane is congested, driving assistance that allows automatic driving to be continued without causing anxiety to the driver. An apparatus, a driving support method, and a program are provided.

  In order to achieve the above object, the driving support device (2) according to the present invention includes boundary detection means for detecting lane boundary lines on both the left and right sides on the own vehicle traveling lane in which the host vehicle is traveling. 76A), preceding vehicle detection means (76A, 77) for detecting a preceding vehicle positioned in front of the host vehicle on the host vehicle lane, and an adjacent lane adjacent to the host vehicle lane in front of the host vehicle is congested. A traffic jam judging means (41) for judging whether or not the vehicle is ahead, and it is judged that an adjacent lane adjacent to the host vehicle traveling lane is congested in front of the host vehicle, and the front of the host vehicle on the host vehicle traveling lane When the preceding vehicle is not detected, the lane boundary line opposite to the adjacent lane on the own vehicle lane and the first side end opposite to the adjacent lane of the own vehicle are Drive in the vehicle lane with almost overlapping A first travel route is determined, and it is determined that an adjacent lane adjacent to the host vehicle travel lane is congested in front of the host vehicle, and the preceding vehicle is detected in front of the host vehicle on the host vehicle travel lane. In this case, based on the positional relationship between the second side end of the preceding vehicle opposite to the adjacent lane and the lane boundary opposite to the adjacent lane on the host vehicle lane. And a travel route setting means (41) for setting a second travel route on which the host vehicle travels.

  In addition, the driving support method according to the present invention includes a boundary line detecting step for detecting left and right lane boundary lines on the own vehicle traveling lane in which the host vehicle is traveling during automatic driving, and on the own vehicle traveling lane. A preceding vehicle detecting step for detecting a preceding vehicle located in front of the host vehicle, a traffic jam determining step for determining whether an adjacent lane adjacent to the host vehicle traveling lane is congested in front of the host vehicle, and the traffic jam determining step If it is determined that the adjacent lane is congested in front of the own vehicle and the preceding vehicle is not detected in front of the own vehicle in the preceding vehicle detection step, the adjacent lane on the own vehicle lane is A first travel route that travels in the host vehicle lane in a state in which the opposite lane boundary line and the first side end on the opposite side to the adjacent lane of the host vehicle are substantially overlapped, In front of the vehicle in the traffic jam judgment process When it is determined that the adjacent lane adjacent to the own vehicle travel lane is congested and the preceding vehicle is detected in front of the own vehicle in the preceding vehicle detection step, the adjacent lane of the preceding vehicle is A travel route for setting the second travel route on which the host vehicle travels based on the positional relationship between the second side end portion on the opposite side and the lane boundary line on the opposite side with respect to the adjacent lane on the host vehicle travel lane And a setting step.

  In addition, the program according to the present invention includes a boundary line detecting means for detecting lane boundary lines on the left and right sides on the own vehicle traveling lane in which the host vehicle is traveling, and the own vehicle on the own vehicle traveling lane. Boundary line detection for detecting lane boundary lines on both the left and right lanes on the traveling lane in which the vehicle is traveling during automatic driving in a computer comprising preceding vehicle detection means for detecting a preceding vehicle positioned in front Determining a preceding vehicle detection step for detecting a preceding vehicle located in front of the host vehicle on the host vehicle driving lane, and determining whether an adjacent lane adjacent to the host vehicle driving lane is congested in front of the host vehicle If the adjacent lane is determined to be congested in front of the host vehicle in the traffic jam determining step and the traffic jam determining step, and the preceding vehicle is not detected in front of the host vehicle in the preceding vehicle detecting step, car Drive in the own vehicle lane with the lane boundary opposite to the adjacent lane on the line of lane and the first side end opposite to the adjacent lane of the host vehicle substantially overlapping each other A first travel route is set, and it is determined in the traffic congestion determination step that an adjacent lane adjacent to the vehicle travel lane is congested in front of the vehicle, and the preceding vehicle detection step includes the preceding vehicle ahead. When a vehicle is detected, the positional relationship between the second side end of the preceding vehicle opposite to the adjacent lane and the lane boundary opposite to the adjacent lane on the host vehicle lane And a travel route setting step for setting a second travel route on which the host vehicle travels based on the program.

  In the driving support device (2), the driving support method, and the program having the above-described configuration, when the own vehicle is congested in the adjacent lane and the preceding vehicle is not detected ahead of the own vehicle on the own vehicle traveling lane The vehicle travels along the first travel route set in the own vehicle travel lane. As a result, the own vehicle travel lane in a state in which the lane boundary line on the opposite side to the adjacent lane where traffic is congested and the first side end opposite to the adjacent lane of the own vehicle substantially overlap each other. Since the vehicle travels in the vehicle, the vehicle can travel in the own vehicle travel lane in the state farthest from the adjacent lane where traffic is congested. Therefore, even when the adjacent lane is congested, the host vehicle can continue the automatic driving without giving the driver anxiety.

  In addition, the host vehicle travels along the second travel route when the adjacent lane is congested and a preceding vehicle is detected in front of the host vehicle on the travel lane. As a result, even if the adjacent lane is congested, the vehicle can follow the preceding vehicle that is traveling away from the congested adjacent lane, and can drive automatically without giving the driver anxiety. Can be continued. Further, the second travel route is set based on the positional relationship between the second side end opposite to the adjacent lane of the preceding vehicle and the lane boundary opposite to the adjacent lane on the own vehicle travel lane. Therefore, the second travel route can be set in consideration of the travel state of the preceding vehicle on the own vehicle travel lane.

It is a block diagram which shows an example of a structure of the own vehicle which concerns on this embodiment. It is a figure which shows an example of the traffic congestion learning table stored in the traffic congestion learning information of traffic information DB. It is a main flowchart which shows the "automatic driving control process" performed in a navigation apparatus. 4 is a sub-flowchart showing a sub-process of “travel route determination process” in FIG. 3. It is a figure which shows an example of a driving | running route when a preceding vehicle does not exist ahead of the own vehicle. It is a figure which shows an example of a driving | running route when a preceding vehicle exists ahead of the own vehicle. It is a figure which shows an example of the driving | running route in the place where traffic congestion occurs frequently and the preceding vehicle is easy to drive over a lane boundary line. It is a figure which shows an example of the driving | running route in the place where traffic congestion occurs frequently and the preceding vehicle is easy to drive over a lane boundary line.

  DETAILED DESCRIPTION Hereinafter, a driving support apparatus, a driving support method, and a program according to an embodiment of the present invention will be described in detail with reference to the drawings based on an embodiment.

[Schematic configuration of own vehicle 1]
First, a schematic configuration of the host vehicle 1 according to the present embodiment will be described with reference to FIG. As shown in FIG. 1, the host vehicle 1 according to the present embodiment is basically composed of a navigation device 2 installed on the host vehicle 1 and a vehicle control ECU (Electronic Control Unit) 3.

  Here, the navigation device 2 is provided on the center console or panel surface of the interior of the host vehicle 1, and displays a map around the vehicle and a search route to the destination, and voice guidance regarding route guidance. Is provided. Then, the current position of the host vehicle 1 is specified by the GPS 31 or the like, and when the destination is set, the route to the destination is searched, and guidance according to the set guide route is displayed on the liquid crystal display 15 and the speaker 16. To do. The detailed configuration of the navigation device 2 will be described later.

  The vehicle control ECU 3 is an electronic control unit that controls the entire host vehicle 1. The vehicle control ECU 3 is connected to a navigation control unit 13 (to be described later) included in the navigation device 2. The vehicle control ECU 3 detects a vehicle-mounted display (vehicle-mounted LCD) 5 for displaying a speedometer, a human interface (HMI) 6, a front shooting camera 76A, a rear shooting camera 76B, a millimeter wave radar 77, and a vehicle speed. A vehicle speed sensor 51 and the like are connected.

  The vehicle control ECU 3 includes a CPU 71 as an arithmetic device and a control device, an internal storage device such as a RAM 72 used as a working memory when the CPU 71 performs various arithmetic processes, and a ROM 73 in which a control program and the like are recorded. Yes. Then, the CPU 71 creates an operation plan based on the route data of the guide route received from the navigation control unit 13 of the navigation device 2, the gradient information of each link on the route, the link length, and the like.

  The human interface 6 is provided with an automatic operation start button 61 for instructing the start of automatic operation. The driver can instruct the vehicle control ECU 3 to start automatic driving by pressing the automatic driving start button 61 on a toll road such as a national highway, a city highway, and a general toll road.

  When an instruction to start automatic driving is input, the CPU 71 switches from automatic driving to a toll road exit (rampway), toll gate (interchange), etc. on the guidance route based on the driving plan. Set the interruption timing to switch to manual operation by. For example, the CPU 71 sets the interruption timing at a position 500 m before the exit of the toll road. Then, the CPU 71 drives and controls an unillustrated engine device, brake device, electric power steering, and the like, and starts automatic operation until the interruption timing on the guide route.

  The front shooting camera 76A is attached in the vicinity of the rear mirror of the host vehicle 1, and is configured by a CCD camera or the like to capture the front of the host vehicle and outputs an image signal to the vehicle control ECU 3. The rear photographing camera 76B is attached to the rear end portion of the host vehicle 1, and is configured by a CCD camera or the like to photograph the rear of the host vehicle and outputs an image signal to the vehicle control ECU 3. The CPU 71 performs image processing on the image signal input from the front shooting camera 76 </ b> A, detects the relative position of the surrounding vehicle ahead of the host vehicle with respect to the host vehicle 1, and outputs the detected position to the navigation device 2. In addition, the CPU 71 performs image processing on the image signal input from the front photographing camera 76A, and recognizes an image of a white line (for example, a roadside band, a lane boundary line, or the like) indicating the boundary of the traveling lane by edge detection or the like. To do.

  Then, the CPU 71 drives and controls an unillustrated engine device, brake device, electric power steering and the like so that the host vehicle 1 travels along the white line. Further, the CPU 71 performs image processing on the image signals input from the front shooting camera 76 </ b> A and the rear shooting camera 76 </ b> B, detects the inter-vehicle distance from other vehicles existing before and after the host vehicle 1, and sends it to the navigation device 2. Output. Further, the CPU 71 performs image processing on image signals input from the front shooting camera 76 </ b> A and the rear shooting camera 76 </ b> B, detects a space around the host vehicle 1, and outputs the detected space to the navigation device 2.

  The millimeter wave radar 77 is attached to the center position of the front end of the host vehicle 1, detects the distance to the surrounding vehicle in front of the host vehicle and the relative speed of the surrounding vehicle, and detects the detected distance to the surrounding vehicle and the surrounding vehicle. Relative speed data is output to the vehicle control ECU 3. The CPU 71 detects the relative position and relative speed of the surrounding vehicle ahead of the host vehicle with respect to the host vehicle 1 based on the distance to the surrounding vehicle and the relative speed data of the surrounding vehicle input from the millimeter wave radar 77, and the navigation device. Output to 2.

[Schematic configuration of navigation device]
Next, a schematic configuration of the navigation device 2 will be described. As shown in FIG. 1, the navigation device 2 according to the present embodiment includes a current location detection processing unit 11 that detects the current position of the vehicle, a data recording unit 12 that records various data, and input information. The navigation control unit 13 for performing various arithmetic processes, the operation unit 14 for receiving operations from the operator, the liquid crystal display (LCD) 15 for displaying information such as a map to the operator, and route guidance A communication device 17 that communicates via a mobile phone network or the like with a speaker 16 that outputs voice guidance related to the information center such as a road traffic information center (not shown) or a probe center (not shown), and a liquid crystal display 15 It is comprised from the touchscreen 18 with which the surface of this was mounted | worn.

Instead of the touch panel 18, a remote controller, joystick, mouse, touch pad, etc. may be provided.
A vehicle speed sensor 51 is connected to the navigation control unit 13. The navigation control unit 13 is electrically connected to the vehicle control ECU 3 so as to be able to acquire a relative positional relationship, a relative speed, and the like of the surrounding vehicle in front of the host vehicle with respect to the host vehicle 1.

  Hereinafter, each component constituting the navigation device 2 will be described. The current position detection processing unit 11 includes a GPS 31 and the like, and includes the current position of the own vehicle 1 (hereinafter referred to as “own vehicle position”), the own vehicle direction, The travel distance, elevation angle, etc. can be detected. For example, it is possible to detect the turning speed of the three axes by the gyro sensor, and to detect the azimuth (horizontal direction) and the traveling direction of the elevation angle.

  The communication device 17 is configured to be able to receive the latest traffic information distributed from a probe center (not shown), a road traffic information center, and the like at predetermined time intervals (for example, every 5 minutes). Yes. The “traffic information” is, for example, detailed information related to traffic information such as travel time of each link, road traffic information regarding road traffic congestion, traffic regulation information due to road construction, building construction, and the like. In the case of road traffic information, the detailed information is the actual length of the traffic jam, the time when the traffic jam is expected to be resolved, the presence or absence of protrusion of the vehicle running on the lane adjacent to the exit road of the toll road, etc. In the case of traffic regulation information, it is the duration of road construction, building construction, etc., traffic closure, one-sided alternate traffic, traffic regulation types such as lane regulation, traffic regulation time zones, and the like.

  The data recording unit 12 includes an external storage device and a hard disk (not shown) as a recording medium, a map information database (map information DB) 25, a traffic information database (traffic information DB) 27 stored in the hard disk, A driver (not shown) for reading a predetermined program and the like and writing predetermined data to the hard disk is provided.

  The map information DB 25 stores navigation map information 26 used for travel guidance and route search of the navigation device 2. The traffic information DB 27 stores current traffic information 27A and traffic congestion learning information 27B. The current traffic information 27A is composed of the actual length of the traffic jam, the required time, the cause of the traffic jam, the time when the traffic jam is expected to be resolved, etc., created by collecting traffic information received from the probe center, the road traffic information center, etc. The current traffic information, which is information related to traffic congestion on the current road, is stored in association with the link ID of the navigation map information 26 corresponding to each traffic information.

  In the traffic jam learning information 27B, navigation places such as exit roads of toll roads in which “traffic jams” frequently occur in the past year, and the number of vehicles that are overtaken and overtaken when there are traffic jams. A traffic jam learning table 79 (see FIG. 2) stored in association with the link ID of the map information 26 is stored. Note that the contents of the traffic jam learning table 79 are updated by downloading update information distributed from the probe center (not shown) via the communication device 17.

  Here, the navigation map information 26 is composed of various information necessary for route guidance and map display. For example, new road information for specifying each new road, map display data for displaying a map, Search for intersection data related to intersections, node data related to node points, link data related to roads (links), search data for searching routes, facility data related to POI (Point of Interest) such as stores that are a type of facility, and points. Search data and the like.

  In addition, as node data, actual road junctions (including intersections, T-junctions, etc.), node coordinates (positions) set for each road according to the radius of curvature, etc. Elevation, node attribute indicating whether the node is a node corresponding to an intersection, etc., a connection link number list that is a list of link IDs that are identification numbers of links connected to the node, and a node of a node adjacent to the node via a link Data related to an adjacent node number list that is a list of numbers is recorded.

  Further, as link data, a link ID for specifying a link for each link constituting the road, a link length indicating the length of the link, a coordinate position (for example, latitude and longitude) of the start point and end point of the link, Data indicating presence / absence of median, link slope, road width to which link belongs, number of lanes, legal speed, level crossing, etc., for corners, indicate curvature radius, intersection, T-junction, corner entrance and exit, etc. Regarding the road type, in addition to general roads such as national roads, prefectural roads and narrow streets, data representing toll roads such as national highways, urban highways, general toll roads, and toll bridges are recorded.

  Furthermore, regarding toll roads, data relating to the toll road entrance and exit attachment roads (rampways), toll gates (interchanges), charges for each travel section, and the like are recorded. A toll road such as a national highway, a city highway, a car road, and a general toll road is referred to as a toll road. National roads, major local roads, prefectural roads, municipal roads, etc., excluding toll roads, are called general roads.

  In addition, as search data, data used for searching and displaying a route to a set destination is recorded, and costs for passing through a node (hereinafter referred to as node cost) and roads are configured. Cost data used for calculating a search cost including a link cost (hereinafter referred to as a link cost), route display data for displaying a guide route selected by the route search on a map of the liquid crystal display 15, and the like. It is configured. This link cost is data indicating the average travel time required to pass through the link, and is, for example, “3 (min)”.

The facility data includes hotel, amusement park, palace, hospital, gas station, parking lot, station, airport, ferry landing, interchange (IC), junction (JCT), service area, parking area (PA). POI names and addresses, telephone numbers, coordinate positions on the map (for example, latitude and longitude of the center position, entrance, exit, etc.), facility icons and landmarks that display the location of the facility on the map, etc. Are stored together with the facility ID that identifies the POI. In addition, a registered facility ID for specifying a registered facility such as a convenience store or a gas station registered by the user is also stored.
The contents of the map information DB 25 are updated by downloading update information distributed from the map information distribution center (not shown) via the communication device 17.

  As shown in FIG. 1, the navigation control unit 13 constituting the navigation device 2 is a working device that controls the entire navigation device 2, the CPU 41 as the control device, and the CPU 41 performs various arithmetic processes. In addition to being used as a memory, it has a RAM 42 for storing route data when a route is searched, an internal storage device such as a ROM 43 for storing control programs, a timer 45 for measuring time, etc. Yes. In addition, even if a traffic jam occurs on the toll road interchange (to be described later) or the exit road (rampway), the ROM 43 travels along the own vehicle lane on the guide route adjacent to the traffic jam and performs automatic driving. A program such as “automatic operation control process” (see FIG. 3) for controlling to continue is stored.

  The operation unit 14 is operated when correcting the current position at the start of travel, inputting a departure point as a guidance start point and a destination as a guidance end point, or when searching for information about facilities, etc. Consists of keys and multiple operation switches. The navigation control unit 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches.

  Also, the liquid crystal display 15 includes map information currently traveling, map information around the destination, operation guidance, operation menu, key guidance, guidance route from the current location to the destination, guidance information along the guidance route, traffic Information, news, weather forecast, time, mail, TV program, etc. are displayed.

  Further, the speaker 16 outputs voice guidance or the like for guiding traveling along the guidance route based on an instruction from the navigation control unit 13. Here, the voice guidance to be guided includes, for example, “200m ahead, turn right at XX intersection”.

  The touch panel 18 is a transparent panel-like touch switch mounted on the display screen of the liquid crystal display 15. Various instruction commands can be input by pressing buttons or a map displayed on the screen of the liquid crystal display 15. It is possible to do the same. Note that the touch panel 18 may be configured by an optical sensor liquid crystal method or the like that directly presses the screen of the liquid crystal display 15.

Next, an example of the traffic jam learning table 79 stored in the traffic jam learning information 27B of the traffic information DB 27 will be described with reference to FIG.
As shown in FIG. 2, the traffic jam learning table 79 includes a “link ID”, a “time zone”, a “traffic jam”, and an “overrunning traveling vehicle”. In this “link ID”, the link ID of the navigation map information 26 is stored.

  The “time zone” stores a time zone in which a traffic jam occurs. The “congestion degree” stores the degree of congestion of “congestion”. For example, when the road type is “high-speed automobile national highway”, the traveling speed of the vehicle corresponding to “congestion” is “40 km / h” or less. The “running-out traveling vehicle” stores some of the vehicles that overtake and overtake the traffic jam that occurs on the exit road when a traffic jam occurs on the exit road of the toll road.

[Automatic operation control processing]
Next, in the host vehicle 1 configured as described above, the process is executed by the CPU 41 of the navigation device 2, even if traffic congestion occurs on the toll road interchange or exit route (rampway). The “automatic driving control process” for controlling the vehicle to run continuously on the driving lane on the guide route adjacent to the traffic jam and to continue the automatic driving will be described with reference to FIGS.

  Note that the program shown in the flowchart of FIG. 3 is a process that is executed every predetermined time, for example, every 100 milliseconds after the guide route is determined and transmitted to the vehicle control ECU 3. In addition, for example, when the automatic operation start button 61 is pressed and turned on on a toll road, the vehicle control ECU 3 starts an automatic operation control and then outputs an automatic operation start signal indicating that automatic operation has started. Output to the navigation device 2.

  Here, the automatic operation start button 61 is switched between ON and OFF every time the user presses it. When the automatic driving start button 61 is turned on while the vehicle is running, automatic driving control is started. On the other hand, when the automatic driving start button 61 is turned off during execution of the automatic driving control, the automatic driving start button 61 is automatically operated even during the driving of the automatic driving control. The operation control ends, and the operation is switched to manual operation depending on the driver's operation.

  As shown in FIG. 2, first, in step (hereinafter abbreviated as S) 11, the CPU 41 determines whether or not an automatic driving start signal indicating that automatic driving has started is input from the vehicle control ECU 3, that is, automatic The operation start button 61 is turned on, and determination processing for determining whether or not automatic operation is being performed is executed. If the automatic operation start button 61 is not turned on and it is determined that automatic operation is not being performed (S11: NO), the CPU 41 proceeds to the process of S12.

  In S12, the CPU 41 determines the center of the left and right lane boundary line of the host vehicle travel lane on which the host vehicle 1 travels on the guide route as the travel route, and ends the process. Thereby, CPU41 performs route guidance so that it may drive | work the center of the left-right lane boundary line of the own vehicle driving lane on which the own vehicle 1 drive | works on a guidance route.

  On the other hand, if the automatic operation start button 61 is turned on and it is determined that automatic operation is in progress (S11: YES), the CPU 41 proceeds to the process of S13. In S13, the CPU 41 determines a toll road within a predetermined distance X (m) ahead of the vehicle position, for example, 1 (km) based on the vehicle position detected by the current location detection processing unit 11 and the navigation map information 26. Judgment processing is performed to determine whether or not there is an exit route that exits from a guide route such as an exit road (rampway) or an interchange.

  Then, it is determined that there is no exit route that exits from a guide route such as an attachment road (rampway) or an interchange of a toll road within a predetermined distance X (m), for example, within 1 (km) from the vehicle position. If it has been performed (S13: NO), the CPU 41 proceeds to the process of S12. In S12, the CPU 41 determines the center of the left and right lane boundary line of the host vehicle travel lane on which the host vehicle 1 travels on the guide route as the travel route, and transmits the travel route to the vehicle control ECU 3, The process ends. Thereby, the CPU 71 of the vehicle control ECU 3 detects the center position of the left and right lane boundary line (white line) of the host vehicle traveling lane via the front photographing camera 76A, and travels in the center of the left and right lane boundary line. The automatic driving is continued by driving and controlling an engine device, a brake device, an electric power steering, etc. (not shown).

  On the other hand, within the predetermined distance X (m) ahead of the vehicle position, for example, within 1 (km), it is determined that there is an exit road that exits from a guide route such as an attachment road (rampway) or an interchange of a toll road. If it has been performed (S13: YES), the CPU 41 proceeds to the process of S14. In S14, based on the current traffic information 27A, the CPU 41 determines whether or not the degree of congestion associated with the link ID of the exit road is a traffic jam, that is, a traffic jam has occurred on the exit road adjacent to the host vehicle lane. A determination process for determining whether or not there is is executed.

  And when it determines with the traffic jam not having generate | occur | produced on the said exit route adjacent to the own vehicle travel lane (S14: NO), CPU41 transfers to the process of S12. In S12, the CPU 41 determines the center of the left and right lane boundary line of the host vehicle travel lane on which the host vehicle 1 travels on the guide route as the travel route, and transmits the travel route to the vehicle control ECU 3, The process ends. Thereby, the CPU 71 of the vehicle control ECU 3 detects the center position of the left and right lane boundary line (white line) of the host vehicle traveling lane via the front photographing camera 76A, and travels in the center of the left and right lane boundary line. The automatic driving is continued by driving and controlling an engine device, a brake device, an electric power steering, etc. (not shown).

  On the other hand, if it is determined that there is a traffic jam on the exit road adjacent to the host vehicle lane (S14: YES), the CPU 41 proceeds to the process of S15. In S15, the CPU 41 executes a sub-process (see FIG. 4) of “travel route determination process” for determining the travel route on which the host vehicle 1 travels in the travel lane of the host vehicle 1 and then proceeds to the process of S16. In S <b> 16, the CPU 41 executes a determination process for determining whether or not the vehicle position has passed the exit path based on the vehicle position detected by the current location detection processing unit 11 and the navigation map information 26.

  And when it determines with the own vehicle position not passing the said exit path (S16: NO), CPU41 performs the process after S14 again. On the other hand, when it is determined that the vehicle position has passed the exit route (S16: YES), the CPU 41 travels in the middle of the left and right lane boundary lines of the own vehicle travel lane on which the host vehicle 1 travels on the guide route. After determining the route and transmitting the travel route to the vehicle control ECU 3, the processing ends. Thereby, the CPU 71 of the vehicle control ECU 3 detects the center position of the left and right lane boundary line (white line) of the host vehicle traveling lane via the front photographing camera 76A, and travels in the center of the left and right lane boundary line. The automatic driving is continued by driving and controlling an engine device, a brake device, an electric power steering, etc. (not shown).

[Driving route determination process]
Next, sub-processing of “travel route determination processing” executed by the CPU 41 in S15 will be described with reference to FIGS. As shown in FIG. 4, first, in S <b> 111, the CPU 41 makes the vehicle control ECU 3 drive the vehicle on the exit road among the left and right lane boundary lines (white lines) of the vehicle lane in which the vehicle 1 travels. A request is made to detect the position of the lane boundary line (white line) on the opposite side with respect to the adjacent lane adjacent to the lane where traffic congestion occurs.

  The CPU 71 of the vehicle control ECU 3 performs image processing on the image signal input from the front shooting camera 76A, and is adjacent to the own vehicle travel lane of the exit road among the left and right lane boundary lines (white lines) of the own vehicle travel lane. The position of the lane boundary line (white line) on the opposite side to the adjacent lane where the traffic jam occurs is detected and transmitted to the navigation device 2. When the CPU 41 receives the position data of the lane boundary line (white line) on the side opposite to the adjacent lane where the traffic jam occurs, the CPU 41 stores the position data of the lane boundary line in the RAM 42.

  For example, as shown in FIG. 5, the CPU 41 instructs the vehicle control ECU 3 to change to the own vehicle travel lane 81 among the left and right lane boundary lines (white lines) 82 and 83 of the own vehicle travel lane 81 on which the host vehicle 1 travels. A request is made to detect the position of the right lane boundary 83 on the opposite side with respect to the adjacent lane 86 where the adjacent exit path 85 is congested. The CPU 71 of the vehicle control ECU 3 performs image processing on the image signal input from the front shooting camera 76 </ b> A, and the right side on the opposite side to the adjacent lane 86 where the traffic on the exit road 85 of the vehicle lane is congested. The position of the lane boundary line 83 is detected and transmitted to the navigation device 2.

  Subsequently, as shown in FIG. 4, in S112, the CPU 41 follows the preceding vehicle positioned within the range of Xm ahead of the host vehicle on the host vehicle lane, for example, 120m ahead of the host vehicle by automatic driving. A determination process is performed to determine whether or not it is in progress. Specifically, the CPU 41 makes a relative to the vehicle control ECU 3 with respect to the vehicle 1 for a preceding vehicle positioned within the range of the vehicle ahead Xm on the vehicle lane, for example, within the range of 120 m ahead of the vehicle. Request to detect and transmit position and relative velocity.

  When the preceding vehicle ahead of the host vehicle is following the vehicle by automatic driving, the CPU 71 of the vehicle control ECU 3 uses the front shooting camera 76A and the millimeter wave radar 77 to detect the relative position and relative speed of the preceding vehicle with respect to the host vehicle 1. Is detected and transmitted to the navigation device 2. On the other hand, when the CPU 71 does not detect the preceding vehicle ahead of the host vehicle, that is, when the preceding vehicle ahead of the host vehicle is not following the vehicle by automatic driving, the detection information indicating that the preceding vehicle is not detected ahead of the host vehicle. Is transmitted to the navigation device 2.

  When the CPU 41 receives detection information from the vehicle control ECU 3 that the preceding vehicle is not detected in front of the host vehicle, the CPU 41 determines that the preceding vehicle is not following the autonomous driving (S112: NO). , The process proceeds to S113. In S113, the CPU 41 reads from the RAM 42 the position of the lane boundary line (white line) opposite to the adjacent lane in which the traffic lane of the host vehicle is congested. And CPU41 is with respect to the adjacent lane in which the traffic congestion of the own vehicle travel lane and the side edge part (1st side edge part) on the opposite side with respect to the adjacent lane where the traffic congestion of the own vehicle 1 has generate | occur | produced. The first travel route that travels in a state where the opposite lane boundary line (white line) substantially overlaps is set as the travel route of the host vehicle 1 and stored in the RAM 42.

  Further, the CPU 41 determines the lane so that the side end (first side end) on the opposite side of the adjacent lane where the traffic of the host vehicle 1 is occurring does not exceed the lane boundary line on the opposite side. The first travel route is set to be slightly inside the boundary line, for example, about 20 cm, and the route data of the first travel route is stored in the RAM 42. Subsequently, the CPU 41 proceeds to the process of S121. In S121, the CPU 41 reads the route data of the first travel route from the RAM 42, transmits the route data of the first travel route to the vehicle control ECU 3, and travels along the first vehicle travel lane along the first travel route. Request to do. Thereafter, the CPU 41 ends the sub-process of “travel route determination process”, returns to the main flowchart, and proceeds to the process of S16.

  For example, as shown in FIG. 5, if the CPU 41 of the navigation device 2 determines that the preceding vehicle is not following the vehicle by automatic driving (112: NO), the right end 1A of the host vehicle 1 (first The right side lane boundary line 83 and the right side lane boundary line 83 on the opposite side of the congested adjacent lane 86 of the exit path 85 adjacent to the host vehicle travel lane 81 and the right side end 1A Is set to be slightly inward of the right lane boundary line 83, for example, about 20 cm. Therefore, the distance between the first travel route 87 and the right lane boundary line 83 is set to a distance that is slightly longer than the width dimension of 1/2 of the vehicle width in the left-right direction of the host vehicle 1, for example, about 20 cm. . The vehicle width in the left-right direction of the host vehicle 1 is stored in the ROM 43 in advance.

  On the other hand, when the CPU 71 of the vehicle control ECU 3 receives the route data of the first travel route 87, the image signal input from the front photographing camera 76A is subjected to image processing, and the traffic lane 81 is congested. A right lane boundary line 83 opposite to the adjacent lane 86 is detected. Then, the CPU 71 sets a first travel route 87 in front of the host vehicle lane 81 with respect to the right lane boundary 83 on the opposite side to the adjacent lane 86, and the left and right width direction of the host vehicle 1. The automatic operation is continued by driving and controlling an engine device, a brake device, an electric power steering, etc. (not shown) so that the center 1C travels on the first travel route 87.

  On the other hand, as shown in FIG. 4, when the relative position and the relative speed of the preceding vehicle with respect to the host vehicle 1 are received from the vehicle control ECU 3 in S112, the CPU 41 follows the preceding vehicle by automatic driving. Determine (S112: YES). And CPU41 memorize | stores the relative position and relative speed with respect to the own vehicle 1 of a preceding vehicle in RAM42, Then, it transfers to the process of S114.

  In S <b> 114, the CPU 41 acquires from the navigation map information 26 the link ID of the adjacent lane where the traffic on the exit road adjacent to the host vehicle traveling lane is congested. In addition, the CPU 41 acquires the current time from the timer 45. Then, the CPU 41 stores the link ID of the adjacent lane where the traffic jam occurs in the “link ID” column of the traffic jam learning table 79 stored in the traffic jam learning information 27B, and corresponds to the “link ID”. The current time is stored in the “time zone” column, and the “overrunning vehicle” column corresponding to this “time zone” stores that there are many vehicles that overtake and overtake traffic jams that occurred on exit roads. A determination process for determining whether or not there is is executed.

  In other words, the CPU 41 is likely to generate frequent traffic congestion in the adjacent lane of the exit road adjacent to the own vehicle travel lane at the current time and to overtake and overtake the traffic generated in the adjacent lane. A determination process for determining whether or not the location is present is executed. That is, the CPU 41 executes a determination process for determining whether or not it is a local rule to overtake and overtake traffic jams occurring in adjacent lanes.

  Then, the link ID of the adjacent lane where the traffic jam has occurred is not stored in the “link ID” column of the traffic jam learning table 79, or the “time zone” column corresponding to this “link ID” is currently stored. If the time is not memorized, or if the number of vehicles that overtake and overtake traffic jams that occur on the exit road etc. is memorized in the “Excessive traveling vehicle” column corresponding to this “time zone” ( S114: NO), the CPU 41 determines that it is not a local rule to overtake and overtake when there is traffic in the adjacent lane, and the process proceeds to S115.

  In S115, the CPU 41 requests the vehicle control ECU 3 to detect the position of the side edge (third side edge) on the adjacent lane where the preceding vehicle is congested. The CPU 71 of the vehicle control ECU 3 performs image processing on the image signal input from the front photographing camera 76 </ b> A, detects the relative position of the side end portion of the preceding vehicle on the adjacent lane side with respect to the host vehicle 1, and sends it to the navigation device 2. Send. And when CPU41 receives the position data of the relative position with respect to the own vehicle 1 of the side edge part of the adjacent lane side of a preceding vehicle, the relative position with respect to the own vehicle 1 of the side edge part of the adjacent vehicle side of the said preceding vehicle Is stored in the RAM 42.

  Further, the CPU 41 detects the vehicle position based on the detection result of the current location detection processing unit 11. Then, the CPU 41 determines the position on the own vehicle travel lane of the side end of the preceding vehicle on the adjacent lane side from the own vehicle position and the relative position of the side end on the adjacent lane side of the preceding vehicle with respect to the own vehicle 1. Calculate and store in the RAM 42. After that, the CPU 41 determines the position of the lane boundary line (white line) opposite to the adjacent lane where the traffic on the own vehicle lane is congested, and the own vehicle lane on the side edge on the adjacent lane side of the preceding vehicle. Is read from the RAM 42 and travels in the center between the position of the lane boundary line (white line) on the opposite side of the adjacent lane and the position of the side edge on the adjacent lane side of the preceding vehicle on the host vehicle lane. The second travel route is set as the travel route of the host vehicle 1, and the route data of the second travel route is stored in the RAM 42.

  For example, as shown in FIG. 6, the CPU 41 determines from the own vehicle position of the own vehicle 1 and the relative position of the left end 91 </ b> A (third end) on the adjacent lane 86 side of the preceding vehicle 91 with respect to the own vehicle 1. Then, the position of the left end portion 91A of the preceding vehicle 91 on the own vehicle travel lane 81 is calculated. Then, the CPU 41 sets a second travel route 92 that travels in the center between the position of the left end 91 </ b> A of the preceding vehicle 91 on the own vehicle travel lane 81 and the right lane boundary line 83. The route data is stored in the RAM 42.

  Subsequently, as shown in FIG. 4, in S <b> 116, when the CPU 41 travels so that the center in the left-right width direction of the host vehicle 1 is located on the second travel route, the traffic jam of the host vehicle 1 has occurred. In the state where the side end (first side end) opposite to the adjacent lane protrudes from the lane boundary (white line) opposite to the adjacent lane where the traffic lane is congested A determination process for determining whether or not to travel is executed.

  Specifically, the CPU 41 determines that the distance from the second travel route to the lane boundary on the opposite side to the adjacent lane in which traffic congestion has occurred is a size that is ½ of the vehicle width in the left-right direction of the host vehicle 1. If shorter, the vehicle 1 is determined to travel in a state of protruding from the lane boundary line. In addition, the CPU 41 determines that the distance from the second travel route to the opposite lane boundary line with respect to the adjacent lane in which the traffic congestion has occurred is equal to or greater than 1/2 the width of the vehicle 1 in the left-right direction. Is determined to travel in a state where the host vehicle 1 does not protrude from the lane boundary line.

  And when it drive | works so that the center of the left-right width direction of the own vehicle 1 may be located on a 2nd driving | running route, the side edge part (1st on the opposite side with respect to the adjacent lane in which the traffic jam of the own vehicle 1 has generate | occur | produced. When it is determined that the vehicle travels in a state where the side end portion protrudes from the opposite lane boundary line (white line) with respect to the adjacent lane in which the traffic lane is congested (S116: YES), CPU41 performs the process after S113. That is, in S113, instead of the second travel route, the CPU 41 resets the first travel route as the travel route of the host vehicle 1, stores it in the RAM 42, and then proceeds to the processing of S121.

  On the other hand, when the vehicle 1 travels so that the center in the left-right width direction is located on the second travel route, the side end portion (the first side opposite to the adjacent lane in which the vehicle 1 is congested) If it is determined that the vehicle is traveling outside the lane boundary line (white line) on the side opposite to the adjacent lane in which the traffic lane is congested (S116: NO) The CPU 41 proceeds to the process of S121. In S121, the CPU 41 reads the route data of the second travel route from the RAM 42, transmits the route data of the second travel route to the vehicle control ECU 3, and travels along the own vehicle travel lane along the second travel route. Request to do. Thereafter, the CPU 41 ends the sub-process of “travel route determination process”, returns to the main flowchart, and proceeds to the process of S16.

  On the other hand, when the CPU 71 of the vehicle control ECU 3 receives the route data of the second travel route, the image signal input from the front photographing camera 76A is subjected to image processing, and traffic congestion in the own vehicle travel lane occurs. The lane boundary opposite to the adjacent lane is detected. Then, the CPU 71 sets a second travel route in front of the host vehicle lane with respect to the opposite lane boundary line with respect to the adjacent lane, and the center in the left-right width direction of the host vehicle 1 is the second travel direction. An automatic operation is continued by driving and controlling an unillustrated engine device, brake device, electric power steering and the like so as to travel on the route.

  On the other hand, in S114, the link ID of the adjacent lane where the traffic congestion has occurred is stored in the “link ID” field of the traffic congestion learning table 79, and the current time is stored in the “time zone” field corresponding to this “link ID”. In addition, when it is stored that “there are many” vehicles that overtake and overtake traffic jams that occur on the exit road or the like are stored in the “overrunning traveling vehicle” column corresponding to this “time zone” (S114: YES) The CPU 41 determines that the overtaking and overtaking is a local rule when there is traffic on the adjacent lane, and the process proceeds to S117.

  In S117, the CPU 41 determines the position of the side end portion (second side end portion) opposite to the adjacent lane where the traffic of the preceding vehicle has occurred and the traffic congestion of the host vehicle travel lane with respect to the vehicle control ECU 3. It is requested to detect the position of the lane boundary line (white line) on the opposite side with respect to the adjacent lane where the traffic occurs. The CPU 71 of the vehicle control ECU 3 performs image processing on the image signal input from the front photographing camera 76A, and the side end portion (second side end portion) on the opposite side to the adjacent lane where the traffic of the preceding vehicle is occurring. ) Relative to the host vehicle 1 and a relative position of the lane boundary line (white line) on the side opposite to the adjacent lane in which the traffic lane is congested with respect to the host vehicle 1 is detected. 2 to send.

  Then, the CPU 41 causes the relative position of the side end portion (second side end portion) on the opposite side to the own vehicle 1 with respect to the adjacent lane in which the traffic congestion of the preceding vehicle occurs, and the traffic congestion of the own vehicle traveling lane. When the position data of the relative position of the lane boundary line (white line) opposite to the adjacent lane with respect to the host vehicle 1 is received, each position data is stored in the RAM 42. Then, the CPU 41 has a side end on the opposite side to the adjacent lane in which the traffic of the preceding vehicle has occurred, and the lane boundary line on the opposite side to the adjacent lane in which the traffic of the host vehicle traveling lane has occurred. Also, a determination process for determining whether or not the vehicle is located on the opposite side to the adjacent lane where the traffic jam occurs is executed.

  That is, the CPU 41 determines that the side end on the opposite side to the adjacent lane where the traffic of the preceding vehicle is occurring is more than the lane boundary line on the opposite side of the adjacent lane where the traffic of the own vehicle lane is generated. A determination process for determining whether or not the protrusion has occurred is executed. And, the side edge on the opposite side to the adjacent lane where the traffic of the preceding vehicle is occurring protrudes beyond the lane boundary line on the opposite side of the adjacent lane where the traffic of the host vehicle lane is generated. When it is determined that there is no traffic (S117: NO), the CPU 41 automatically avoids the traffic jam even if the vehicle 41 does not run out of the adjacent lane where the traffic jam has occurred. It determines with a driving | operation being able to be continued, and the process after said S115 is performed.

  On the other hand, the side edge on the opposite side to the adjacent lane where the traffic jam of the preceding vehicle occurs protrudes beyond the lane boundary on the opposite side of the adjacent lane where the traffic lane of the host vehicle travels. If it is determined that it is present (S117: YES), the CPU 41 proceeds to the process of S118. In S118, the vehicle control ECU 3 is requested to detect the position of the side end (third end) on the adjacent lane where the preceding vehicle is congested.

  The CPU 71 of the vehicle control ECU 3 performs image processing on the image signal input from the front photographing camera 76A, detects the relative position of the side end of the preceding vehicle on the adjacent lane side where the preceding vehicle is congested, and the navigation device. 2 to send. When the CPU 41 receives position data of the relative position of the side edge of the adjacent vehicle on the adjacent lane side where the preceding vehicle is congested with respect to the host vehicle 1, the CPU 41 stores the position data in the RAM 42. Further, the CPU 41 detects the vehicle position based on the detection result of the current location detection processing unit 11.

  Then, the CPU 41 determines the own vehicle traveling vehicle at the side end on the adjacent lane where the preceding vehicle is congested from the position of the own vehicle and the relative position of the side end on the adjacent lane where the preceding vehicle is congested with respect to the own vehicle 1. The position on the line is calculated and stored in the RAM. Thereafter, the CPU 41 has the side end (fourth side end) on the adjacent lane side where the own vehicle 1 is congested along the traveling position on the own vehicle traveling lane at the side end portion on the adjacent lane where the preceding vehicle is congested. Thus, the third travel route traveling is set as the travel route of the host vehicle 1, and the route data of the third travel route is stored in the RAM 42.

  For example, as shown in FIG. 7, the CPU 41 determines from the own vehicle position of the own vehicle 1 and the relative position of the left end 95 </ b> A (third end) on the adjacent lane 86 side of the preceding vehicle 95 with respect to the own vehicle 1. Then, the position of the left end portion 95A of the preceding vehicle 95 on the own vehicle travel lane 81 is calculated. Then, the CPU 41 travels such that the left end 1B (fourth side end) of the host vehicle 1 travels along the travel position on the host vehicle lane 81 of the left end 95A of the preceding vehicle 95. 96 is set, and the route data of the third travel route 96 is stored in the RAM 42.

  Subsequently, as shown in FIG. 4, in S119, when the CPU 41 travels so that the center in the left-right width direction of the host vehicle 1 is located on the third travel route, the center in the left-right width direction of the host vehicle 1 is Whether or not the vehicle lane is located on the opposite side of the adjacent lane with respect to the adjacent lane on the opposite side of the adjacent lane where traffic is congested, that is, the center in the left-right width direction of the own vehicle 1 is the lane boundary A determination process for determining whether or not to protrude is executed. Specifically, the CPU 41 determines whether or not the third travel route is located on the opposite side of the adjacent lane with respect to the adjacent lane boundary with respect to the adjacent lane where the own vehicle travel lane is congested, that is, A determination process for determining whether or not the lane boundary line protrudes is executed.

  And when it drive | worked so that the left-right width direction center of the own vehicle 1 might be located on a 3rd driving | running route, the left-right width direction center of the own vehicle 1 is an other side with respect to the adjacent lane where the own vehicle driving lane is congested. If it is determined not to protrude from the lane boundary line (S119: NO), the CPU 41 proceeds to the process of S121. In S121, the CPU 41 reads the route data of the third travel route from the RAM 42, transmits the route data of the third travel route to the vehicle control ECU 3, and travels along the third vehicle travel lane along the third travel route. Request to do. Thereafter, the CPU 41 ends the sub-process of “travel route determination process”, returns to the main flowchart, and proceeds to the process of S16.

  On the other hand, when the CPU 71 of the vehicle control ECU 3 receives the route data of the third travel route, the image signal input from the front photographing camera 76A is subjected to image processing, and traffic congestion in the own vehicle travel lane occurs. The lane boundary opposite to the adjacent lane is detected. Then, the CPU 71 sets a third travel route in front of the host vehicle traveling lane on the basis of the lane boundary opposite to the adjacent lane, and the center in the left-right width direction of the host vehicle 1 is the third traveling. An automatic operation is continued by driving and controlling an unillustrated engine device, brake device, electric power steering and the like so as to travel on the route.

  On the other hand, in S119, when the vehicle 1 travels so that the center in the left-right width direction is located on the third travel route, the center in the left-right width direction of the host vehicle 1 corresponds to the adjacent lane in which the host vehicle travel lane is congested. If it is determined that the lane boundary line protrudes from the opposite lane boundary line (S119: YES), the CPU 41 proceeds to the process of S120. In S120, instead of the third travel route, the CPU 41 travels along the lane boundary line on the opposite side to the adjacent lane where the own vehicle travel lane is jammed in the center in the left-right width direction of the host vehicle 1 After the route is set as the travel route of the host vehicle 1 and the route data of the fourth travel route is stored in the RAM 42, the process proceeds to S121.

  For example, as shown in FIG. 8, the CPU 41 sets a third travel route 99 that travels along the travel position on the host vehicle travel lane 81 of the left end 98 </ b> A of the preceding vehicle 98. Subsequently, when the CPU 41 travels so that the left-right width direction center 1C of the host vehicle 1 is positioned on the third travel route 99, the left-right width direction center 1C of the own vehicle 1 moves to the right side from the right lane boundary line 83. When it is determined to protrude (S119: YES), the center 1C in the left-right width direction of the host vehicle 1 travels along the right lane boundary line 83 of the host vehicle travel lane 81 instead of the third travel route 99. The fourth travel route 101 is set and the route data of the fourth travel route 101 is stored in the RAM 42.

  Then, as shown in FIG. 4, in S121, the CPU 41 reads the route data of the fourth travel route from the RAM 42, transmits the route data of the fourth travel route to the vehicle control ECU 3, and the fourth travel route. Request to travel along the own vehicle lane. Thereafter, the CPU 41 ends the sub-process of “travel route determination process”, returns to the main flowchart, and proceeds to the process of S16.

  On the other hand, when the CPU 71 of the vehicle control ECU 3 receives the route data of the fourth travel route, the CPU 71 performs image processing on the image signal input from the front photographing camera 76A, and traffic congestion occurs in the own vehicle travel lane. The lane boundary opposite to the adjacent lane is detected. Then, the CPU 71 sets a fourth travel route on the lane boundary opposite to the adjacent lane, and an engine (not shown) so that the center in the left-right width direction of the host vehicle 1 travels on the fourth travel route. The automatic operation is continued by controlling the driving of the device, the brake device, the electric power steering and the like.

  As described above in detail, in the host vehicle 1 according to the present embodiment, the CPU 41 of the navigation device 2 has a traffic jam in the adjacent lane on the exit road adjacent to the host vehicle traveling lane during automatic driving, and When there is no preceding vehicle within X (m) ahead of the vehicle, the side end (first side end) on the opposite side to the adjacent lane in which the own vehicle 1 is congested and the host vehicle travel The first travel route that travels in a state where the lane boundary line (white line) on the opposite side substantially overlaps the adjacent lane in which traffic congestion occurs is set as the travel route of the host vehicle 1. And CPU41 transmits the route data of a 1st driving | running route with respect to vehicle control ECU3, and requests | requires driving the own vehicle driving | running | working lane along the said 1st driving | running route.

  As a result, the CPU 71 has a side end (first side end) opposite to the adjacent lane of the exit road where the traffic jam of the host vehicle 1 is occurring with respect to the adjacent lane where the traffic jam is occurring. Adjacent traffic congestion of the host vehicle 1 by continuing automatic driving so that it is almost overlapped with the opposite lane boundary and slightly inside the opposite lane boundary, for example, about 20 cm inside Control is performed so that the vehicle travels in the own vehicle lane in the state farthest from the lane. Accordingly, the host vehicle 1 can continue the automatic driving without giving the driver anxiety even if the adjacent lane of the exit path adjacent to the host vehicle traveling lane is congested.

  In addition, during the automatic driving, the CPU 41, when the adjacent lane on the exit road adjacent to the own vehicle traveling lane is congested and is following the preceding vehicle within X (m) ahead of the own vehicle, When it is determined that there is no local rule to overtake and overtake when there is traffic on the adjacent lane of the exit road adjacent to the own vehicle lane, or the preceding vehicle does not run out of the vehicle lane Sets the first travel route or the second travel route as the travel route of the host vehicle 1.

  The second travel route is a route that travels in the center between the position of the lane boundary line (white line) opposite to the adjacent lane and the position on the own vehicle travel lane of the side edge on the adjacent lane side of the preceding vehicle. It is. As a result, even if the adjacent lane is congested, the own vehicle 1 can follow the preceding vehicle that travels away from the congested adjacent lane, and can travel in the own vehicle lane. Automatic driving can be continued without giving anxiety.

  In addition, during the automatic driving, the CPU 41, when the adjacent lane on the exit road adjacent to the own vehicle traveling lane is congested and is following the preceding vehicle within X (m) ahead of the own vehicle, When it is determined that it is local rule to overtake and overtake when there is a traffic jam in the adjacent lane of the exit road adjacent to the own vehicle lane, or when the preceding vehicle is running outside the own vehicle lane Sets the third travel route or the fourth travel route as the travel route of the host vehicle 1.

  The third travel route is such that the side end (fourth side end) on the adjacent lane where the own vehicle 1 is congested is the travel position on the own vehicle travel lane at the side end on the adjacent lane where the preceding vehicle is congested. It is a route which runs along. The fourth travel route is a route in which the center in the left-right width direction of the host vehicle 1 travels along the lane boundary line on the opposite side to the adjacent lane where the host vehicle travel lane is congested. Thus, even when the adjacent lane is congested, the own vehicle 1 can follow the preceding vehicle that travels away from the congested adjacent lane, and can run out of the own vehicle lane. It is possible to continue the automatic driving without feeling uneasy. Moreover, the protrusion of the own vehicle 1 from the own vehicle lane can be reduced to 1/2 or less of the left and right vehicle widths of the own vehicle 1, and the automatic driving can be continued without giving the driver anxiety. It becomes.

  Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention. In the embodiment of the present invention, the vehicle control ECU 3 does not depend on the driver's operation to control all the operations of the accelerator operation, the brake operation, and the steering wheel operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle. It has been described as automatic operation. However, the automatic driving that does not depend on the driver's operation means that the vehicle control ECU 3 controls at least one of the accelerator operation, the brake operation, and the steering wheel operation, which is an operation related to the behavior of the vehicle among the vehicle operations. Good.

  Moreover, although the embodiment which actualized the driving support device according to the present invention has been described above, the driving support device can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
The travel route setting means determines whether or not the second-side end portion of the preceding vehicle exceeds a lane boundary line on the opposite side to the adjacent lane on the own vehicle traveling lane. And the second side end portion of the preceding vehicle does not exceed the lane boundary line on the opposite side to the adjacent lane on the own vehicle traveling lane through the preceding vehicle protrusion determination unit. If it is determined, the travel route setting means includes a third side end portion on the adjacent lane side of the preceding vehicle and a lane boundary line on the opposite side to the adjacent lane on the own vehicle travel lane. A route in which the center of the vehicle travels in the center is set as the second travel route.
According to the driving support device having the above-described configuration, when the preceding vehicle does not protrude from the own vehicle traveling lane to the opposite side with respect to the adjacent lane, the own vehicle is the third side on the adjacent lane side of the preceding vehicle. It is possible to travel along the center between the end portion and the lane boundary line on the opposite side with respect to the adjacent lane on the own vehicle travel lane. This makes it possible for the vehicle to travel in the vehicle lane following the preceding vehicle, and to continue automatic driving without giving the driver anxiety even if the adjacent lane is congested. It becomes.

The second configuration is as follows.
When the host vehicle travels according to the second travel route, it is determined whether or not the first side end portion of the host vehicle exceeds a lane boundary line on the opposite side to the adjacent lane on the host vehicle travel lane. The vehicle's own vehicle overhang determining means, and the first side end of the own vehicle crosses the lane boundary line on the opposite side of the adjacent lane on the own vehicle traveling lane through the own vehicle overrun determining means. When it is determined that, the travel route setting means sets the first travel route instead of the second travel route.
According to the driving support apparatus having the above-described configuration, when the preceding vehicle does not protrude from the own vehicle traveling lane to the opposite side with respect to the adjacent lane, the own vehicle does not protrude from the adjacent lane to the opposite side. Thus, it becomes possible to travel following the preceding vehicle. Therefore, even when the adjacent lane is congested, the host vehicle can continue the automatic driving without giving the driver anxiety.

The third configuration is as follows.
When it is determined that the second side end portion of the preceding vehicle exceeds the opposite lane boundary line with respect to the adjacent lane on the own vehicle traveling lane through the preceding vehicle protrusion determination unit. The travel route setting means includes a third travel route on which the fourth side end of the own vehicle on the adjacent lane side travels along the travel position of the third side end of the preceding vehicle. It is characterized by setting as two travel routes.
According to the driving support apparatus having the above configuration, when the preceding vehicle protrudes from the own vehicle traveling lane to the opposite side of the adjacent lane where traffic is congested, the own vehicle is the fourth side on the adjacent lane side of the own vehicle. The end portion follows the preceding vehicle and travels along the traveling position of the third side end portion on the adjacent lane side of the preceding vehicle. As a result, the host vehicle can travel outside the third side end on the adjacent lane side of the preceding vehicle following the preceding vehicle, and the driver feels uneasy even if the adjacent lane is congested. Automatic operation can be continued without giving

The fourth configuration is as follows.
When the host vehicle travels according to the third travel route, the center of the host vehicle protrudes to determine whether the host vehicle center exceeds the lane boundary line on the opposite side of the adjacent lane on the host vehicle travel lane. When the vehicle center is determined not to exceed the opposite lane boundary line with respect to the adjacent lane on the vehicle traveling lane through the vehicle center overhang determination unit, The travel route setting means sets the third travel route as the second travel route, and the own vehicle center is opposite to the adjacent lane on the own vehicle travel lane via the own vehicle center protrusion judging means. When it is determined that the vehicle has exceeded the lane boundary on the side, the travel route setting means is opposite to the adjacent lane on the own vehicle travel lane in place of the third travel route. Traveling along the lane boundary on the side A travel route and sets as said second travel path.
According to the driving support device having the above-described configuration, when it is determined that the center of the host vehicle does not exceed the lane boundary line on the opposite side with respect to the adjacent lane on the host vehicle travel lane, The vehicle travels following the preceding vehicle so that the fourth side end portion on the adjacent lane side follows the traveling position of the third side end portion on the adjacent lane side of the preceding vehicle. On the other hand, if it is determined that the center of the vehicle exceeds the lane boundary on the opposite side of the adjacent lane on the own vehicle lane, the own vehicle center becomes the adjacent lane on the own vehicle lane. On the other hand, the vehicle follows the preceding vehicle along the opposite lane boundary. Therefore, even if the preceding vehicle is traveling beyond the lane boundary on the opposite side to the adjacent lane on the own vehicle lane, the own vehicle is centered on the adjacent lane on the own vehicle lane. It is possible to travel following the preceding vehicle so as to be located inside from the opposite lane boundary line. Thereby, even if the adjacent lane is congested, the host vehicle can continue the automatic driving without giving the driver anxiety.

The fifth configuration is as follows.
The place where the traffic in the adjacent lane occurs is a place where the traffic frequently occurs, and the vehicle traveling in the own vehicle lane is opposite to the adjacent lane in order to avoid the traffic The vehicle is provided with an overtaking state determination unit that determines whether or not the vehicle is easy to travel beyond the lane boundary of the vehicle, and the place where the traffic congestion in the adjacent lane occurs via the overtaking state determination unit Judgment that it is a place that occurs frequently and that it is easy for a vehicle traveling in its own vehicle lane to travel beyond the lane boundary opposite to the adjacent lane in order to avoid the traffic congestion In this case, whether or not the second side end portion of the preceding vehicle exceeds the lane boundary line on the opposite side to the adjacent lane on the own vehicle traveling lane through the preceding vehicle protrusion determination means. It is characterized by determining.
According to the driving support apparatus having the above-described configuration, the place where the traffic congestion of the adjacent lane occurs is a place where the traffic congestion frequently occurs, and the vehicle traveling in the own vehicle lane avoids the traffic congestion. Therefore, only when it is a place where it is easy to travel beyond the lane boundary line on the opposite side to the adjacent lane, taking into account the protrusion from the lane boundary line on the opposite side to the adjacent lane of the preceding vehicle, It is possible to determine the travel route.

DESCRIPTION OF SYMBOLS 1 Own vehicle 1A, 91A, 95A, 98A Left side edge part 1B Right side edge part 1C Left-right width direction center 2 Navigation apparatus 3 Vehicle control ECU
11 Current location detection processing unit 25 Map information DB
26 Navigation map information 27 Traffic information DB
31 GPS
41, 71 CPU
42, 72 RAM
43, 73 ROM
76A Front shooting camera 77 Millimeter wave radar 79 Congestion learning table 81 Own vehicle travel lane 82 Left lane boundary 83 Right lane boundary 85 Exit route 86 Adjacent lane 87 First travel route 91, 95, 98 Predecessor vehicle 92 Second travel Route 96 Third travel route 101 Fourth travel route

Claims (8)

During automatic driving, boundary detection means for detecting left and right lane boundary lines on the own vehicle traveling lane in which the host vehicle is traveling,
Preceding vehicle detection means for detecting a preceding vehicle located in front of the host vehicle on the host vehicle traveling lane;
A traffic jam judging means for judging whether or not an adjacent lane adjacent to the host vehicle traveling lane is jammed in front of the own vehicle;
If it is determined that an adjacent lane adjacent to the host vehicle lane is congested in front of the host vehicle and the preceding vehicle is not detected in front of the host vehicle on the host vehicle lane, the host vehicle The vehicle travels in the host vehicle lane in a state where the lane boundary line on the opposite side to the adjacent lane on the line and the first side end opposite to the adjacent lane of the host vehicle substantially overlap each other. Set one driving route,
When it is determined that the adjacent lane adjacent to the host vehicle traveling lane is congested in front of the host vehicle and the preceding vehicle is detected in front of the host vehicle on the host vehicle traveling lane, A second travel route on which the host vehicle travels based on a positional relationship between a second side end opposite to the adjacent lane and a lane boundary on the opposite side of the adjacent lane on the host vehicle lane A travel route setting means for setting
A driving support apparatus comprising: The travel route setting means determines whether or not the second-side end portion of the preceding vehicle exceeds a lane boundary line on the opposite side to the adjacent lane on the own vehicle traveling lane. Having means,
When it is determined via the preceding vehicle overhang determination means that the second side end of the preceding vehicle does not exceed the opposite lane boundary line with respect to the adjacent lane on the own vehicle lane The travel route setting means is configured to center the vehicle between a third side end of the preceding vehicle on the adjacent lane side and a lane boundary line on the opposite side to the adjacent lane on the own vehicle lane. The driving support device according to claim 1, wherein a route on which the vehicle travels is set as the second travel route. When the host vehicle travels according to the second travel route, it is determined whether or not the first side end portion of the host vehicle exceeds a lane boundary line on the opposite side to the adjacent lane on the host vehicle travel lane. The vehicle has a protrusion judgment means,
When it is determined that the first side end portion of the own vehicle exceeds the lane boundary line on the opposite side with respect to the adjacent lane on the own vehicle traveling lane through the own vehicle overrun determining means, The driving support device according to claim 2, wherein the travel route setting means sets the first travel route instead of the second travel route.   When it is determined that the second side end portion of the preceding vehicle exceeds the opposite lane boundary line with respect to the adjacent lane on the own vehicle traveling lane through the preceding vehicle protrusion determination unit. The travel route setting means includes a third travel route on which the fourth side end of the own vehicle on the adjacent lane side travels along the travel position of the third side end of the preceding vehicle. The driving support device according to claim 2, wherein the driving support device is set as a two-travel route. When the host vehicle travels according to the third travel route, the center of the host vehicle protrudes to determine whether the host vehicle center exceeds the lane boundary line on the opposite side of the adjacent lane on the host vehicle travel lane. A determination means,
When it is determined that the vehicle center does not exceed the opposite lane boundary line with respect to the adjacent lane on the host vehicle lane through the host vehicle center protrusion determination unit, the travel route setting unit Sets the third travel route as the second travel route,
When it is determined that the vehicle center exceeds the lane boundary line on the opposite side of the adjacent lane on the vehicle lane through the vehicle center protrusion determination unit, the travel route setting unit Instead of the third travel route, the fourth travel route in which the host vehicle travels along the lane boundary opposite to the adjacent lane on the own vehicle travel lane is set as the second travel route. The driving support apparatus according to claim 4, wherein: The place where the traffic in the adjacent lane occurs is a place where the traffic frequently occurs, and the vehicle traveling in the own vehicle lane is opposite to the adjacent lane in order to avoid the traffic Overtaking state determination means for determining whether or not it is a place where it is easy to travel beyond the lane boundary line,
The place where the traffic jam occurs in the adjacent lane through the overtaking state determination means is a place where the traffic jam occurs frequently, and a vehicle traveling in the own vehicle lane avoids the traffic jam. When the vehicle is determined to be a place where it is easy to travel beyond the lane boundary on the opposite side to the adjacent lane, the second vehicle side end portion of the preceding vehicle is The driving support device according to claim 2, wherein it is determined whether or not a lane boundary line opposite to the adjacent lane on the host vehicle lane is exceeded. During automatic driving, a boundary detection step for detecting left and right lane boundary lines on the host vehicle lane in which the host vehicle is traveling,
A preceding vehicle detection step of detecting a preceding vehicle located in front of the host vehicle on the host vehicle traveling lane;
A traffic jam judging step for judging whether or not an adjacent lane adjacent to the car traveling lane is jammed in front of the car;
When it is determined that the adjacent lane is congested in front of the host vehicle in the traffic jam determining step, and the preceding vehicle is not detected in front of the host vehicle in the preceding vehicle detecting step, the A first travel route that travels in the own vehicle travel lane in a state where the lane boundary line on the opposite side to the adjacent lane and the first side end on the opposite side to the adjacent lane of the own vehicle substantially overlap each other. Set
When it is determined that the adjacent lane adjacent to the host vehicle traveling lane is congested in front of the host vehicle in the traffic jam determination step, and the preceding vehicle is detected in front of the host vehicle in the preceding vehicle detection step, The host vehicle travels based on the positional relationship between the second side end opposite to the adjacent lane of the preceding vehicle and the lane boundary line opposite to the adjacent lane on the host vehicle lane. A travel route setting step for setting a second travel route;
A driving support method comprising: During automatic driving, boundary detection means for detecting left and right lane boundary lines on the own vehicle traveling lane in which the host vehicle is traveling,
Preceding vehicle detection means for detecting a preceding vehicle located in front of the host vehicle on the host vehicle traveling lane;
On a computer with
During automatic driving, a boundary detection step for detecting left and right lane boundary lines on the host vehicle lane in which the host vehicle is traveling,
A preceding vehicle detection step of detecting a preceding vehicle located in front of the host vehicle on the host vehicle traveling lane;
A traffic jam judging step for judging whether or not an adjacent lane adjacent to the car traveling lane is jammed in front of the car;
When it is determined that the adjacent lane is congested in front of the host vehicle in the traffic jam determining step, and the preceding vehicle is not detected in front of the host vehicle in the preceding vehicle detecting step, the A first travel route that travels in the own vehicle travel lane in a state where the lane boundary line on the opposite side to the adjacent lane and the first side end on the opposite side to the adjacent lane of the own vehicle substantially overlap each other. Set
When it is determined that the adjacent lane adjacent to the host vehicle traveling lane is congested in front of the host vehicle in the traffic jam determination step, and the preceding vehicle is detected in front of the host vehicle in the preceding vehicle detection step, The host vehicle travels based on the positional relationship between the second side end opposite to the adjacent lane of the preceding vehicle and the lane boundary line opposite to the adjacent lane on the host vehicle lane. A travel route setting step for setting a second travel route;
A program for running

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