BR112018001633B1 - DISPLACEMENT CONTROL METHOD AND DISPLACEMENT CONTROL APPARATUS - Google Patents

Abstract

The present invention relates to a displacement control method performed by a displacement control apparatus (100). The displacement control apparatus comprises a first detector (110) configured to detect an obstacle around a vehicle in question traveling in a first lane and a second detector (110) configured to detect a second lane adjacent to the first lane. The displacement control apparatus sets a first lane at a target position for lane change in the second lane. The first swath has a size equal to or greater than a size that the vehicle in question occupies on a road surface. The displacement control apparatus detects a track in the second track as a second track. The lane in the second lane is on one side of the vehicle in question, and the obstacle is absent from the lane in the second lane. The displacement control apparatus allows the vehicle in question to change lanes when the second lane includes the first lane. The displacement control method comprises a first step of determining a displacement scene of the vehicle in question based on a vehicle displacement state (...).

Description

FIELD OF TECHNIQUE

[001] The present invention relates to a displacement control method and a displacement control apparatus for controlling the displacement of a vehicle in question.

TECHNICAL BACKGROUND

[002] Displacement control apparatus for automatically performing lane changing of a vehicle has been conventionally known. Such a displacement control apparatus can use a known technique to determine whether or not there is a lane change space in a lane adjacent to the lane in which the vehicle in question is traveling and execute the lane change when the lane change space exists. in the adjacent lane (e.g. Patent Document 1).

PRIOR ART DOCUMENTS PATENT DOCUMENT PATENT DOCUMENT 1 WO2010/082353 SUMMARY OF THE INVENTION PROBLEMS TO BE SOLVED BY THE INVENTION

[003] In the above conventional technique, even in a displacement scene in which the lane change need level is high, the vehicle in question is not allowed to change lanes until a lane change space is found in the lane adjacent. As a consequence, an uncomfortable feeling can be generated for the driver.

[004] A problem to be solved by the present invention is to provide a displacement control method and a displacement control apparatus that can properly determine whether the lane change should be performed.

WAYS TO SOLVE PROBLEMS

[005] According to an aspect of the present invention, the above problem is solved by providing a displacement control method performed by a displacement control apparatus. The displacement control apparatus comprises a first detector configured to detect an obstacle around a vehicle in question traveling in a first lane and a second detector configured to detect a second lane adjacent to the first lane. The displacement control apparatus sets a first lane at a target position for the lane change in the second lane. The first swath has a size equal to or greater than a size that the vehicle in question occupies on a road/road surface. The displacement control apparatus detects a track in the second track as a second track. The lane in the second lane is on one side of the vehicle in question, and the obstacle is absent from the lane in the second lane. The displacement control apparatus allows the vehicle in question to change lanes when the second lane includes the first lane. The displacement control method includes: reducing the first lane or increasing the second lane when a lane change need level in a given vehicle displacement scene is greater than or equal to a predetermined value, as compared to when the level requirement is less than the predetermined value.

EFFECT OF THE INVENTION

[006] According to the present invention, when the level of need for a lane change in the scene of the vehicle in question is high, the lane change can be readily allowed, and a determination as to whether the lane change should be carried out can be properly performed according to the displacement scene.

BRIEF DESCRIPTION OF THE DRAWINGS

[007] Figure 1 is a block diagram illustrating the configuration of a displacement control apparatus according to one or more embodiments of the present invention.

[008] Figure 2 is a view that illustrates an example of a table used to determine a displacement scene.

[009] Figure 3 is a flowchart (part 1) illustrating a track change control process according to the first embodiment of the present invention.

[010] Figure 4 is a flowchart (part 2) illustrating the lane change control process according to the first embodiment of the present invention.

[011] Figure 5 is a flowchart (part 3) illustrating the lane change control process according to the first embodiment of the present invention.

[012] Figure 6A is a set of views (part 1) to describe the detection methods of an object range.

[013] Figure 6B is a set of views (part 2) to describe methods of detecting an object track.

[014] Figure 6C is a set of views (part 3) to describe methods of detecting an object track.

[015] Figure 7 is a view to describe a method of defining a target position for changing lanes.

[016] Figure 8 is a set of views to describe a method of estimating the position of another vehicle after a predetermined time.

[017] Figure 9 is a set of views to describe a method of determining whether an object range becomes small or not.

[018] Figure 10 illustrates an example of a screen displayed on the display of a warning device.

[019] Figure 11 is a set of views to describe a method of correction of a required lane based on a level of lane change need.

[020] Figure 12 is a set of views to describe a method of correction of a required lane based on a situation of a next adjacent lane.

[021] Figure 13A is a set of views to describe methods of correction of a required lane based on an offset position of an adjacent vehicle in the direction of road width.

[022] Figure 13B is a set of views to describe methods of correction of a required lane based on an offset position of an adjacent vehicle in the direction of road width.

[023] Figure 14A is a set of views to describe methods of correcting a required range based on an adjacent vehicle's turn signal lighting status.

[024] Figure 14B is a set of views to describe methods of correcting a required range based on an adjacent vehicle's turn signal lighting status.

[025] Figure 15 is a view to describe a method of correction of an object track based on a level of track change need.

[026] Figure 16 is a view to describe a correction method of an object track based on a situation of a next adjacent track.

[027] Figure 17A is a set of views to describe correction methods of an object lane based on an offset position of an adjacent vehicle in the road width direction.

[028] Figure 17B is a set of views to describe correction methods of an object lane based on an offset position of an adjacent vehicle in the road width direction.

[029] Figure 18A is a set of views to describe correction methods of an object range based on an adjacent vehicle's blinker lighting status.

[030] Figure 18B is a set of views to describe correction methods of an object range based on an adjacent vehicle's blinker lighting status.

[031] Figure 19 is a set of views to describe a method of determining whether the lane change should be performed or not.

[032] Figure 20 is a set of views to describe the positional relationship between the object lane markings and the vehicle in question in the road width direction.

[033] Figure 21 is a flowchart illustrating a lane change control process according to a second embodiment of the present invention.

MODES FOR CARRYING OUT THE INVENTION

[034] Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. In the embodiments, a displacement control apparatus equipped in a vehicle will be exemplified and described.

«FIRST MODALITY»

[035] Figure 1 is a block diagram illustrating the configuration of a displacement control apparatus 100 according to the present embodiment. As illustrated in Figure 1, the displacement control apparatus 100 according to the present embodiment has a set of sensors 110, a vehicle position detection device in question 120, a map database 130, integrated equipment 140, a warning device 150, an input device 160, a communication device 170, a drive control device 180 and a control device 190. These devices are connected to each other via a controller area network (CAN) or other LAN in the vehicle to mutually exchange information.

[036] The sensors 110 detect a state of displacement of the vehicle in question. Examples of sensors 110 include a front camera that captures images ahead of the vehicle in question, a rear camera that captures images behind the vehicle in question, a front radar that detects obstacles ahead of the vehicle in question, a rear radar that detects obstacles behind the vehicle in question, side radars that detect existing obstacles on the sides of the vehicle in question, a vehicle speed sensor that detects the vehicle speed of the vehicle in question, and an in-vehicle camera that captures images of the driver. Sensors 110 may be represented by one of the various sensors described above or may also be configured with a combination of two or more sensors. Detection results from sensors 110 are output to control device 190.

[037] The vehicle position detection device in question 120 is composed of a GPS unit, a gyroscope sensor, a vehicle speed sensor and other necessary components. The subject vehicle position detection device 120 detects radio waves transmitted from a plurality of communication satellites with the use of the GPS unit to periodically acquire positional information of a target vehicle (subject vehicle) and detects the position current of the target vehicle based on the positional information acquired from the target vehicle, angle variation information acquired from the gyro sensor, and the vehicle speed acquired from the vehicle speed sensor. The positional information of the target vehicle detected by the concerned vehicle position detection device 120 is output to the control device 190.

[038] The map database 130 stores map information that includes positional information of various facilities and specific points. Specifically, the map database 130 stores positional information of confluence points, branch points, toll booths, positions where the number of lanes decreases, service areas (SA)/parking areas (PA), etc. together with the map information. Control device 190 may refer to map information stored in the map database.

[039] The integrated equipment 140 includes several modules equipped in the vehicle and can be operated by the driver. Examples of such integrated equipment include a steering wheel, an accelerator pedal, a brake pedal, a navigation device, an audio device, an air conditioner, a hands-free switch, electric windows, wipers, lights, turn signals and a horn. When the driver operates the integrated equipment 140, his information is output to the control device 190.

[040] The warning device 150 can be, for example, a device such as a display of a navigation device, a display incorporated in a rear view mirror, a display incorporated in a measuring unit, a head-up display designed on a windshield and a speaker of an audio device. The warning device 150 announces warning information, which will be described later, to the driver under the control of the controlling device 190.

[041] The input device 160 can be, for example, a device such as a dial switch and a touch panel arranged on a display screen that allows input through the driver's hand operation and a microphone that allows entry through the driver's voice. In the present embodiment, the driver can operate the input device 160 to thereby input response information in response to the warning information that is announced by the warning device 150. For example, in the present embodiment, turn signal switches or other integrated devices can also be used as the input device 160. More specifically, the input device 160 can be configured such that the driver turns on the switch of a turn signal to thereby enter the lane change permit. /track in response to a query about whether or not to automatically perform lane change. Response information entered via input device 160 is output to control device 190.

[042] The communication device 170 performs communication with the communication equipment located outside the vehicle. For example, the communication device 170 performs vehicle-to-vehicle communication with another vehicle, performs road-to-vehicle communication with equipment provided at a roadside, or performs wireless communication with an information server provided outside the vehicle and can thereby , acquire various items of information from the external equipment. Information acquired by the communication device is output to control device 190.

[043] The drive control device 180 controls the displacement of the vehicle in question. For example, when the vehicle in question follows a preceding vehicle (this operation is called "following displacement control", hereinafter), the drive control device 180 controls the operation of a drive mechanism (which includes the operation of a an internal combustion engine in the case of a motor car and the operation of an electric motor in the case of an electric car and further includes torque distribution for an internal combustion engine and electric motor in the case of a hybrid car) and the braking operation to achieve vehicle acceleration, deceleration and speed so that the distance between the vehicle in question and the preceding vehicle can be maintained at a constant distance. When the vehicle in question performs a lane change, such as overtaking a preceding vehicle (this operation is called "lane change control" hereinafter), the drive control device 180 controls the operation of a steering actuator to control wheel operation and thereby perform steering control of the vehicle in question. The drive control device 180 controls the displacement of the vehicle in question in accordance with commands from the control device 190, which will be described later. Other well known methods can also be used as a method of controlling displacement by drive control device 180.

[044] The control device 190 consists of a read-only memory (ROM) that stores programs to control the movement of the vehicle in question, a central processing unit (CPU) that executes the programs stored in the ROM, and a memory random access memory (RAM) that serves as an accessible storage device. A replacement or addition to the CPU, a microprocessing unit (MPU), digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or similar may also be used.

[045] The control device 190 executes the programs stored in the ROM with the use of the CPU to thereby obtain a displacement information acquisition function for acquiring information referring to a displacement state of the vehicle in question, a displacement scene determination function to determine the displacement scene of the vehicle in question, a displacement control function to control the displacement of the vehicle in question, and a lane change control function to control the lane change through a determination as to whether or not to proceed with the lane change. Each function of control device 190 will be described below.

[046] The control device 190 uses the displacement information acquisition function to acquire the displacement information that refers to the displacement state of the vehicle in question. For example, the control device 190 can use the displacement information acquisition function to acquire the external image information around the vehicle captured by the front camera and rear camera and/or the detection results by means of the front radar, radar rear and side radars as the displacement information. The control device 190 may also use the displacement information acquisition function to acquire the vehicle speed information of the vehicle in question detected by the vehicle speed sensor and/or the driver face image information captured by the camera on the vehicle and displacement information.

[047] The control device 190 can use the displacement information acquisition function further to acquire information about the current position of the vehicle in question from the vehicle position detection device in question 120 as the displacement information and also to acquire positional information of confluence points, branch points, toll booths, positions where the number of lanes decreases, service areas (SA) / parking areas (PA), etc. from the map database 130 as the displacement information. Furthermore, the control device 190 can use the displacement information acquisition function to acquire information about the operation of the integrated equipment 140 by the driver from the integrated equipment 140 as the displacement information.

[048] The control device 190 uses the displacement scene determination function to refer to a table stored in the ROM of the control device 190 to determine the displacement scene in which the vehicle in question is traveling. Figure 2 is a view illustrating an example of the table used to determine the displacement scene. As illustrated in Figure 2, the table stores a shift scene suitable for changing lanes and its determining condition for each shift scene. Control device 190 uses the shift scene determination function to refer to the table illustrated in Figure 2 to determine whether the shift scene of the vehicle in question is a shift scene suitable for changing lanes or not.

[049] For example, in the example illustrated in Figure 2, a determination condition for a “previous vehicle approach scene” is defined by four conditions: a condition to “detect a previous vehicle ahead”, a condition “from the vehicle speed of the previous vehicle < the vehicle speed of the vehicle in question”, a condition to “catch up with the previous vehicle within a predetermined time”, and a condition where “the lane change direction is not under a lane change condition”. lane change ban. The control device 190 uses the displacement scene determination function to determine whether the vehicle in question satisfies the above conditions, for example, based on detection results via the front camera and/or front radar, vehicle speed of the vehicle in question detected by the vehicle speed sensor, in the positional information of the vehicle in question, etc. When the above conditions are satisfied, the displacement scene determination function is used to determine that the vehicle in question is in the “previous vehicle approach scene”. Similarly, for all other displacement scenes registered in the scene determination table, the displacement scene determination function is used to determine whether or not each determination condition is satisfied.

[050] Examples of the prohibited lane change condition include a condition that “the vehicle in question is traveling in a prohibited lane change area”, a condition where “there is an obstacle in the direction of the lane change”. ”, a condition where “the vehicle in question will cross a center line (road center line)”, and a condition where “the vehicle in question will enter a shoulder or cross an end of road”. On a road where emergency stopping is permitted on a shoulder or similar in an “emergency evacuation scene”, the condition that “the vehicle in question will enter a shoulder or cross an end of road” may be permitted in the “emergency evacuation scene”. In the table illustrated in Figure 2, the lane change need level, the time limit, and the lane change direction will be further described.

[051] When the displacement scene of the vehicle in question corresponds to a plurality of displacement scenes, the control device 190 can use the displacement scene determination function to determine a displacement scene that has a level of need to change higher than the vehicle displacement scene in question. For example, it is assumed that, in the example illustrated in Figure 2, the scene of the vehicle in question corresponds to “scene of approach of a previous vehicle” and a “scene of lane transfer towards a destination”. It is also assumed that in that case where the X1 lane change requirement level in the “previous vehicle approach scene” is lower than the X8 lane change requirement level in the “lane transfer scene towards a destination” (X1<X8). In this case, the control device 190 can use the shift scene determination function to determine the "track transfer scene towards a destination" with the lane change need level higher than the track shift scene. vehicle in question.

[052] The control device 190 uses the displacement control function to control the displacement of the vehicle in question. For example, the control device 190 uses the displacement control function to detect lane markings of a lane in which the vehicle in question travels (also called a "vehicle in question lane", hereinafter) based on the results detecting sensors 110 and performing lane keeping control to control a shifting position of the vehicle in question in the road width direction. In that case, the control device 190 can use the displacement control function to allow the drive control device 180 to control the operation of the steering actuator and the like so that the vehicle in question travels in a suitable displacement position. . Additionally or alternatively, the control device 190 can use the displacement control function to perform follow displacement control to automatically follow a preceding vehicle at a certain distance from the preceding vehicle. In that case, the control device 190 can use the travel control function to allow the drive control device 180 to control the operation of the drive mechanism, such as an engine and brake, so that the vehicle in question travels with a constant distance between the vehicle in question and the previous vehicle. In the following description, automatic ride control will be described as including lane keeping control and follow ride control.

[053] The control device 190 uses the lane change control function to determine whether or not to perform the lane change based on the scene of the vehicle in question and/or information about existing obstacles around the vehicle in question question. When a determination is made to perform the lane shift, control device 190 may use the lane shift control function to allow drive control device 180 to control the operation of the steering actuator. Details of a method for controlling the track shift using the track shift control function will be described later.

[054] A lane change control process according to the first embodiment will now be described with reference to Figure 3 to Figure 5. Figure 3 to Figure 5 are flowcharts illustrating the lane change control process according to the first modality. As will be understood, the track change control process described below is performed by the control device 190. The description will be made below assuming that the control device 190 uses the displacement control function to perform displacement control of accompaniment for the vehicle in question to accompany a previous vehicle.

[055] First, in step S101, the control device 190 uses the displacement information acquisition function to acquire the displacement information related to the displacement state of the vehicle in question. In step S102, the control device 190 uses the displacement scene determination function to determine the displacement scene of the vehicle in question based on the acquired displacement information in step S101.

[056] In step S103, the control device 190 uses the shift scene determination function to determine whether the shift scene of the vehicle in question determined in step S102 is a shift scene suitable for changing lanes or not. Specifically, when the vehicle displacement scene in question is any of the displacement scenes illustrated in Figure 2, the displacement scene determination function is used to determine that the vehicle displacement scene in question is a suitable displacement scene. for lane change. When the shifting scene of the vehicle in question is not a shifting scene suitable for lane changing, the routine returns to step S101 from which the shifting scene determination is repeated. When the shift scene of the vehicle in question is a shift scene suitable for changing lanes, the routine proceeds to step S104.

[057] In step S104, the control device 190 uses the track shift control function to detect an object track. In the present embodiment, the control device 190 uses the lane change control function to detect existing obstacles around the vehicle in question based on external image information around the vehicle captured by the front camera and rear camera and/or by the displacement information that includes the results of detection by the front radar, rear radar and side cameras. Control device 190 uses the lane change control function to detect a lane that lies to one side of the vehicle in question and in which no obstacles exist, such as the object lane. The object range refers to a relative range with reference to the traveling position when the vehicle in question is traveling at the current speed. When another vehicle existing around the vehicle in question moves forward at the same speed as the vehicle in question, therefore, the object range does not vary. The "side of the vehicle in question" refers to a range in which the position on the side of the vehicle in question can be taken as a target position for changing lanes when the vehicle in question changes lanes (this target position is also a relative position with reference to the displacement position when the vehicle in question is traveling at the current speed), and this range (such as direction, size and angle) can be defined accordingly. Methods for detecting an object track will be described below with reference to Figure 6A to Figure 6C. Figure 6A to Figure 6C are views to depict object tracks.

[058] In the exemplary scene illustrated in Figure 6A(A), no other vehicle, such as obstacles, exists in a lane adjacent to the vehicle lane in question. Control device 190 can therefore use the track shift control function to detect the adjacent track as an object track. As will be understood, shoulders are excluded from the object swath because shoulders are basically within swaths in which a lane change cannot be performed. However, when the scene of movement of the vehicle in question is an “emergency evacuation scene” on a road where emergency stop or similar is allowed on a shoulder, the shoulder may be included in the object range (hereinafter ).

[059] In the exemplary scene illustrated in Figure 6A(B), other vehicles, such as obstacles, exist in a lane adjacent to the vehicle lane in question. However, there is a lane in which no other vehicles exist between the other vehicle situated in front of the vehicle in question and the other vehicle situated behind the vehicle in question. Control device 190 can therefore use the track shift control function to detect this track as an object track. In the exemplary scene illustrated in Figure 6A(C), the adjacent lane includes a lane in which no other vehicles exist, as in the scene illustrated in Figure 6A(B), and also in the next lane adjacent to the adjacent lane (also called a " next adjacent lane”, hereinafter), there is a lane in which no vehicle exists between the vehicle ahead and the vehicle behind. In that case, the control device 190 can use the lane change control function to detect the lane in which no other vehicles exist in the adjacent lane and the lane in which no other vehicles exist in the next adjacent lane as object lanes.

[060] Additionally or alternatively, the control device 190 can use the track shift control function to detect a swath of object excluding a swath, such as a section of construction as illustrated in Figure 6B(D) , in which the vehicle in question cannot move, from the object lane. Examples of such a lane in which the vehicle in question cannot travel include a lane in which another vehicle parks or stops, and a lane in which vehicles are prohibited from moving due to traffic regulation, etc., in addition to a section of construction. When, as illustrated in Figure 6B(D), the lane in which the vehicle in question cannot travel due to the fact that a section of construction or similar occupies half or more of the adjacent lane (half or more in the width direction of road), for example, the remainder smaller than half of the swath may not be detected as an object swath.

[061] When, as illustrated in Figure 6B(E), other vehicles are moving in series in the adjacent lane and no lane change space exists in the adjacent lane, the control device 190 can use the lane change control function lane to determine that an object lane cannot be detected.

[062] The exemplary illustrative scene in Figure 6C(F) is a scene in which the vehicle in question is moving on a road in which changing lanes from the adjacent lane to the next adjacent lane is prohibited. On such a road, the control device 190 uses the lane change control function to detect a lane in which no obstacles exist in the lane adjacent which lane changing is possible, such as a lane of object. That is, in this case, the next track adjacent to which track switching cannot be performed cannot be performed cannot be performed is not detected as an object track. The exemplary illustrative scene in Figure 6C(G) is a scene in which the vehicle in question is traveling on a road that has oncoming lanes. On such a road, the control device 190 uses the lane change control function to detect a swath of object only in a lane in the same direction as the direction of travel of the vehicle in question. That is, in this case, an object lane is not detected in the oncoming lanes.

[063] In the present embodiment, the control device 190 uses the lane change control function to detect an object lane in one direction, between right and left directions, which is suitable for lane change in the vehicle shift scene in question. In the present embodiment, the proper direction for lane change in each shifting scene is preliminarily stored in the table illustrated in Figure 2. The control device 190 uses the lane change control function to refer to the table illustrated in Figure 2 to acquire information about the “lane change direction” in the scene of displacement of the vehicle in question. For example, when the vehicle shift scene in question is a "previous vehicle approach scene", control device 190 uses the lane change control function to refer to the table in Figure 2 to acquire a " direction facing the passing lane side" as the "lane change direction". Then, the control device 190 uses the track shift control function to detect a swath of object in the "track shift direction". For example, when the vehicle travel scene in question is a "previous vehicle approach scene", control device 190 uses the lane change control function to detect a swath of object in the "downward facing direction". passing lane side”, i.e. in the direction facing a lane where the displacement of an overtaking vehicle is recommended (for example the right direction in the examples illustrated in Figure 6A to Figure 6D (Figure 6C)). In this way, the lane change control function can be used to detect a lane of object in the appropriate lane change direction for the given vehicle travel scene.

[064] Additionally or alternatively, the control device 190 can use the lane change control function to detect an object lane on one side of the vehicle in question. For example, even when a lane is detected in which no obstacles exist in the adjacent lane, if the lane is separated from the current position of the vehicle in question by a certain distance or more and situated behind or in front of the vehicle in question, it may be difficult perform the lane change to such a lane which is therefore not detected as an object lane.

[065] In step S105, the control device 190 uses the lane shift control function to set a target position for lane switching. For example, as illustrated in Figure 7, the control device 190 can use the track shift control function to set a position that is within the object range in the adjacent track detected in step S104 and that is shifted backwards from of the position of the vehicle in question by a small distance, as the target position for changing lanes (for example vehicle position indicated by the dashed line in Figure 7). The target position for lane change is a position relative to the position in which the vehicle in question is traveling. That is, considering that the position when the vehicle in question is traveling at the current speed without changing speed is a reference position, a position lying laterally behind the reference position by a small distance can be defined as the target position for shifting. track. This allows the vehicle in question to change lanes into the adjacent lane without accelerating the vehicle in question when the vehicle in question moves to the target position for lane change. Figure 7 is a view for describing a target position setting method for lane change.

[066] The control device 190 can use the lane change control function to set the target position for lane change taking into account the ease of lane change, such as a situation where the object range in the adjacent lane includes a lane in which the vehicle in question can move and a situation that another vehicle that may enter the object lane does not exist around the vehicle in question. For example, when another vehicle existing around the object lane lights its turn signals towards the object lane and/or moves while swerving towards the object lane side, the lane change control function may be used to determine that the other vehicle can enter the object lane. In that case, another position in an object swath that the other vehicle is less likely to enter can be set as the target position. In the example case above, the target position for lane change is set to a position situated behind the vehicle in question within the object lane in the adjacent lane. In an alternative embodiment, the target position for lane change can be set to a position lying ahead of the vehicle in question within the object lane in the adjacent lane. In an alternative embodiment, step S105 may include setting a target course for changing lanes instead of setting the target position for changing lanes.

[067] In step S106, the control device 190 uses the lane change control function to estimate a required time T1 for lane change. For example, the control device 190 can use the lane change control function to estimate a time required for the vehicle in question to move from the current position to the target position for lane change as the required time T1 based on the vehicle speed and/or acceleration of the vehicle in question.

[068] In step S107, the control device 190 uses the track shift control function to estimate an object track after the predetermined time T1 estimated in step S106. Specifically, the control device 190 uses the lane change control function to estimate the displacement position after the predetermined time T1 of another vehicle existing around the vehicle in question based on the vehicle speed and acceleration of the other vehicle. For example, the control device 190 uses the lane change control function to repeatedly sense the positional information of the other vehicle to thereby measure the velocity vector v0, acceleration vector a0, a positional vector p0 of the other vehicle , as illustrated in Figure 8(A).

[069] As illustrated in Figure 8(A), when the direction of travel of the vehicle in question occurs along the X axis and the road width direction occurs along the Y axis, the velocity vector v0 of the other vehicle is represented by the following equation (1): v0=vx0i+vy0j . ..(1)

[070] where vx0 represents a velocity component in the X axis direction of the velocity vector of the other vehicle and vy0 represents a velocity component in the Y axis direction of the velocity vector of the other vehicle. In the above equation (1), i represents a unit vector in the X axis direction and j represents a unit vector in the Y axis direction (the same applies to the following equations (2), (3) and (6) ).

[071] The acceleration vector a0 of the other vehicle can be obtained as represented by the following equation (2) while the positional vector p0 of the other vehicle can be obtained as represented by the following equation (3). a0=ax0i+ay0j .(2) p0=px0i+py0j . ..(3)

[072] In the above equation (2), ax0 represents an acceleration component in the X axis direction of the acceleration vector of the other vehicle and ay0 represents an acceleration component in the Y axis direction of the acceleration vector of the other vehicle. In the above equation (3), px0 represents a positional component in the X axis direction of the positional vector of the other vehicle and py0 represents a positional component in the Y axis direction of the positional vector of the other vehicle.

[073] Then, the control device 190 uses the lane change control function to calculate a positional vector pT1 after the predetermined time T1 of the other vehicle, as illustrated in Figure 8(B). Specifically, the control device 190 uses the lane change control function to calculate the positional vector pT1 after the predetermined time T1 of the other vehicle based on the following equations (4) to (6). pxT1=px0+vx0T1+1/2 (ax0T1)2 .(4) pyT1=py0+vy0T1+1/2 (ay0T1)2 .(5) pT1=pxT1i+pyT1j .(6)

[074] In the above equations (4) and (5), pxT1 represents a positional component in the X axis direction of the positional vector pT1 after the predetermined time T1 of the other vehicle, pyT1 represents a positional component in the Y axis direction of the positional vector pT1 after the predetermined time T1 of the other vehicle, vx0T1 represents a moving velocity in the X axis direction of the other vehicle after the predetermined time T1, vy0T1 represents a moving velocity in the Y axis direction of the other vehicle after the predetermined time T1, ax0T1 represents the acceleration in the X axis direction of the other vehicle after the predetermined time T1, and ay0T1 represents the acceleration in the Y axis direction of the other vehicle after the predetermined time T1.

[075] The control device 190 uses the lane change control function to estimate positions after the predetermined time T1 of all other existing vehicles around the vehicle in question. Then, the control device 190 uses the lane change control function to estimate an object lane after the predetermined time T1 based on the positions after the predetermined time T1 of the other vehicles. The control device 190 can use the lane change control function to estimate the object range after the predetermined time T1 taking into account the situation of lane regulation after the predetermined time T1, existence of obstacles on the road, presence or no obstruction in adjacent lane and existence of a section, such as a construction section, in which the vehicle in question cannot move. Control device 190 can use track shift control function to estimate an object track after predetermined time T1 as in step S104.

[076] At step S108, the control device 190 uses the lane shift control function to estimate whether or not the object swath becomes small in the adjacent lane after the predetermined time T1 based on the current object swath detected in the step S104 and into the object range after the estimated predetermined time T1 in step S107. Figure 9 is a set of views to describe a method of determining whether the object swath becomes small or not.

[077] In the example illustrated in Figure 9, it is assumed, for example, that the current object track is an object track illustrated in (A) while the object track after the predetermined time T1 is an object track illustrated in (B). In this case, the control device 190 uses the track shift control function to compare the current object track from (A) and the object track after the predetermined time T1 from (B) to determine whether the object track in the adjacent lane becomes small after predetermined time T1. Specifically, the control device 190 uses the track shift control function to superimpose the current object track of (A) and the object track after the predetermined time T1 of (B) and estimate that the object track will become small in the adjacent lane when the current object swath size in the adjacent lane is larger than the object swath size after the predetermined time T1 in the adjacent lane. Then, when it is estimated that the swath of objects in the adjacent lane becomes small after the predetermined time T1, the routine proceeds to step S109 where warning information is announced that the swath of objects becomes small after the predetermined time T1 . For example, the control device 190 can use the track change control function to announce an alarm that the object range will become small after the predetermined time T1, with the use of the display and/or speaker of the warning device 150.

[078] In step S108, the control device 190 also uses the track shift control function to compare the current object range of (A) and the object track after the predetermined time T1 of (B) to specify ranges of disappearance. Fading tracks refer to tracks that will disappear from the object track after the predetermined time T1 as illustrated in Figure 9(C), i.e. tracks that are included in the current object track of (A), but will not be included in the object range after the predetermined time T1 of (B). Furthermore, the control device 190 uses the track shift control function to compare the current object range of (A) and the object track after the predetermined time T1 of (B) to specify an additional range. The additional track refers to a track that will be added to the object track after the predetermined time T1 as illustrated in Figure 9(C), i.e. a track that is not included in the current object track of (A), but will be included in the object range after the predetermined time T1 of (B).

[079] Then, when a disappearing lane or an additional lane is specified, the controlling device 190 can use the lane change control function in step S109 to announce the warning information, which includes information in the disappearing lane or additional lane for the driver. For example, in the scene illustrated in Figure 9(C), the control device 190 can use the lane shift control function to display the disappearing lanes and the additional lane on the display of the warning device 150 in different display ways. , as illustrated in Figure 10. This allows the driver to properly perceive the disappearing lanes and the additional lane. Figure 10 is a view illustrating an example of warning information displayed on the display of warning device 150.

[080] The control device 190 can use the track shift control function to announce the warning information that the object swath will become small only when the object swath size becomes small after the predetermined time T1 to a predetermined range or greater. Additionally or alternatively, the control device 190 can use the lane change control function to announce the disappearing lane and/or the additional lane when the size of the disappearing lane and/or the additional lane is not less than one default size. Additionally or alternatively, the control device 190 can use the track shift control function to change the way of displaying the fading track or the way of displaying the track of object after the predetermined time T1 according to the size of the disappearing band. For example, the control device 190 can use the track change control function to change the display way of the fading track or the way to display the object track after the predetermined time T1 between a case where the size of the disappearing range is a predetermined range or more and a case where the size of the disappearing range is smaller than the predetermined range. In an example, the control device 190 can use the track shift control function to display the disappearing strip or the object strip after the predetermined time T1 in green or similar color when the size of the disappearing strip is less than a predetermined range and display the disappearing range or the object range after the predetermined time T1 in red or similar color in an emphasized manner when the size of the disappearing range is the predetermined range or larger. Additionally or alternatively, the control device 190 can use the track shift control function to display the disappearing strip or the object strip after the predetermined time T1 in an intermittent manner when the size of the disappearing strip is a predetermined range or greater. Additionally or alternatively, when the size of the fading range is a predetermined range or greater, an alarm lamp provided in an indicator can be set to illuminate. Additionally or alternatively, provided that the warning device 150 includes a loudspeaker, the loudspeaker may be configured to emit sound of a pitch and/or volume level that obtains the driver's attention when the size of the disappearance is a predetermined range or greater, as compared to when the size of the disappearing range is less than the predetermined range. Additionally or alternatively, the control device 190 can use the track shift control function to change the way the fading track is displayed in accordance with the rate at which the object track becomes smaller. For example, when the rate at which the object swath becomes small is a predetermined rate or greater, the control device 190 can use the lane change control function to display the disappearing swath or the object swath after the predetermined time T1 in an emphasized manner, such as in red color and in a flashing manner.

[081] In step S110, the control device 190 uses the lane shift control function to acquire information about a required lane. Required swath refers to a swath that has a size necessary for the vehicle in question to change lanes, or a swath that has a size that is at least equal to or greater than a swath that the vehicle in question occupies on a surface. by road. Although details are described later, in the present embodiment, when the required swath is defined at the target position for lane change and the swath of object in the adjacent lane includes the required swath, a determination is made that a space corresponding to the swath required exists within the object lane in the adjacent lane, and a lane change is permitted. In the present embodiment, the control device memory 190 stores information including the format and size of the required track, and the lane shift control function may be used to acquire the information on the required track from the control device memory. 190.

[082] In step S111, the control device 190 uses the track shift control function to correct the required range acquired in step S110. The lane shift control function can be used to correct the required range based on any of the conditions described below or based on a combination of two or more of these conditions.

[083] Firstly, the control device 190 can use the lane change control function to correct the required lane according to a level of lane change need in the vehicle shift scene in question. In the present embodiment, the table illustrated in Figure 2 preliminarily stores the level of need to change lanes in each displacement scene. Control device 190 uses the lane change control function to refer to the table illustrated in Figure 2 to acquire the lane change need level in the vehicle travel scene in question. For example, in the "previous vehicle approach scene", the control device 190 can use the lane shift control function to refer to the table illustrated in Figure 2 to acquire "X1" as the level of need to shift track. Then, when the lane shift requirement level X1 is high (when the lane shift requirement level is a predetermined value or greater), the control device 190 can use the lane shift control function to reduce the length of lane required in the direction of travel of the vehicle in question compared to the case of a low lane change need level (the case where the lane change need level is less than the predetermined value) thereby reducing mode, the required range in the direction of travel of the vehicle in question. For example, in the example illustrated in Figure 11, considering that (A) represents the required range before correction, when the lane shift requirement level X1 is high (when the lane shift requirement level is a predetermined value st1 or greater), the control device 190 may use the lane shift control function to reduce the required range in the direction of travel of the vehicle in question as illustrated in (B). As will be understood, the control device 190 uses the lane change control function to correct the required lane within a lane which is not less than the lane which the vehicle in question occupies on the road surface. Additionally or alternatively, the control device 190 can use the lane change control function to reduce the required lane as the level of lane change requirement in the vehicle travel scene in question increases. Additionally or alternatively, although not illustrated, when the lane change requirement level X1 is low (when the lane change requirement level is less than a predetermined value st2 (st1>st2)), the control device 190 can use the lane change control function to increase the required range in the direction of travel of the vehicle in question compared to the required range prior to correction.

[084] Second, the control device 190 can use the lane change control function to detect a lane of object with no other vehicles in the next lane adjacent to the adjacent lane (next adjacent lane) and correct the required lane with based on the detected object track in the next adjacent track. For example, when a space (e.g., a space corresponding to the required lane) to which the other vehicle traveling in the adjacent lane (also called an “adjacent vehicle”, hereinafter) can change lanes is detected in the lane. object in the next adjacent lane, i.e. when a space at which the adjacent vehicle can change lanes can be detected in the next adjacent lane, the control device 190 can use the lane change control function to reduce the required lane. Specifically, when a space to which the adjacent vehicle can change lanes can be detected in the next adjacent lane, the control device 190 uses the lane change control function to reduce the required swath length in the direction of travel of the vehicle in issue thereby reducing the required range in the direction of travel of the vehicle in question. For example, in the example illustrated in Figure 12, assuming (A) represents the required lane before correction, when a space in which the adjacent vehicle can change lanes can be detected in the next adjacent lane, the control device 190 can use the lane change control function to reduce the required swath length in the direction of travel of the vehicle in question as illustrated in (B) thereby reducing the required swath in the direction of travel of the vehicle in question. Additionally or alternatively, the control device 190 can use the lane change control function to reduce the required range in the direction of travel of the vehicle in question as the space in which the adjacent vehicle can change lanes increases in the direction of travel. next adjacent lane.

[085] Thirdly, the control device 190 can use the lane shift control function to correct the required lane based on the position of travel in the road width direction of another vehicle traveling in the adjacent lane (vehicle adjacent). Specifically, the control device 190 uses the lane change control function to detect the position of the adjacent vehicle in the road width direction. When the offset position of the adjacent vehicle in the road width direction is closer to the side of the vehicle lane in question than the center of the adjacent lane, the control device 190 uses the lane shift control function to increase the lane length. of the required lane in the direction of travel of the vehicle in question to thereby increase the required lane. More specifically, the control device 190 uses the lane change control function to increase the required swath length in the forward direction relative to the vehicle in question when the adjacent vehicle is traveling ahead of the vehicle in question and increase the length of the required lane in the rearward direction of the vehicle in question when the adjacent vehicle is traveling behind the vehicle in question. For example, in the example illustrated in Figure 13A, assuming that (A) represents the required lane before correction, the control device 190 can use the lane change control function to increase the required lane forward when the adjacent vehicle pulls away. travels ahead of the vehicle in question and closer to the side of the lane of the vehicle in question than the center of the adjacent lane as illustrated in (B) and increasing the required lane to the rear when the adjacent vehicle travels behind the vehicle in question and more closer to the side of the vehicle lane in question than the center of the adjacent lane as shown in (C). Additionally or alternatively, the control device 190 can use the lane change control function to increase the required range in the direction of travel of the vehicle in question as the adjacent vehicle is closer to the side of the vehicle lane in question (as the distance in the road width direction from lane markings on the vehicle lane side in question of the lane adjacent to the adjacent vehicle is shorter).

[086] Additionally or alternatively, when the position of displacement of the adjacent vehicle in the road width direction is closer to the opposite side of the vehicle lane in question than the center of the adjacent lane, the control device 190 uses the function lane change control to reduce the required swath length in the direction of travel of the vehicle in question to thereby reduce the required swath. More specifically, the control device 190 uses the lane change control function to reduce the required lane from the front when the adjacent vehicle is traveling ahead of the vehicle in question and reduce the required lane from the rear when the vehicle adjacent vehicle travels behind the vehicle in question. For example, in the example illustrated in Figure 13B, assuming (A) represents the required range before correction, the control device 190 can use the lane change control function to reduce the required range from the front when the vehicle adjacent vehicle travels ahead of the vehicle in question and closer to the opposite side of the vehicle lane in question than the center of the adjacent lane as illustrated in (B) and reduce the required lane from behind when the adjacent vehicle travels behind the vehicle in question and closer to the opposite side of the vehicle lane in question than the center of the adjacent lane as shown in (C). Additionally or alternatively, the control device 190 can use the lane change control function to reduce the required range in the direction of travel of the vehicle in question as the adjacent vehicle is closer to the opposite side of the vehicle lane. concerned (as the distance in the road width direction from lane markings on the concerned vehicle lane side of the lane adjacent to the adjacent vehicle is longer).

[087] Fourth, the control device 190 can use the lane change control function to correct the required lane based on a turn signal lighting state of another vehicle traveling in the adjacent lane (adjacent vehicle ). Specifically, the control device 190 uses the lane change control function to detect the adjacent vehicle's turn signal lighting status. When the adjacent vehicle illuminates the turn signal on the side of the vehicle's lane in question, the control device 190 uses the lane change control function to increase the length of swath required in the direction of travel of the vehicle in question to thereby mode, increase the required range. More specifically, the control device 190 uses the lane shift control function to increase the required lane length in the forward direction relative to the vehicle in question when the adjacent vehicle traveling ahead of the vehicle in question illuminates the turn signals. -signals on the side of the vehicle lane in question and increases the required lane length in the rearward direction of the vehicle in question when the adjacent vehicle traveling behind the vehicle in question illuminates the indicators on the side of the vehicle lane in question. For example, in the example illustrated in Figure 14A, assuming that (A) represents the required lane before correction, the control device 190 can use the lane change control function to increase the required lane forward when the adjacent vehicle pulls away. moves ahead of the vehicle in question while illuminating the turn signals on the lane side of the vehicle in question. When the adjacent vehicle travels behind the vehicle in question while illuminating the turn signals on the side of the lane of the vehicle in question as illustrated in (C), the control device 190 can use the lane change control function to increase the track required backwards.

[088] Additionally or alternatively, when the adjacent vehicle illuminates the turn signals on the opposite side of the vehicle lane in question, the control device 190 uses the lane change control function to reduce the required swath length in the lane. direction of travel of the vehicle in question to thereby reduce the required swath. More specifically, the control device 190 uses the lane change control function to reduce the required lane from the front when the adjacent vehicle traveling ahead of the vehicle in question illuminates the turn signals on the opposite side of the lane. vehicle in question and reduce the required lane from behind when the adjacent vehicle traveling behind the vehicle in question illuminates the turn signals on the opposite side of the vehicle lane in question. For example, in the example illustrated in Figure 14B, assuming (A) represents the required range before correction, the control device 190 can use the lane change control function to reduce the required range from the front when the vehicle adjacent vehicle travels ahead of the vehicle in question while illuminating the turn signals on the opposite side of the vehicle lane in question. When the adjacent vehicle travels behind the vehicle in question while illuminating the turn signals on the opposite side of the lane of the vehicle in question as illustrated in (C), the control device 190 can use the lane change control function to reduce the required track from behind.

[089] Fifth, the control device 190 can use the lane change control function to correct the required lane based on the speed and/or acceleration of another vehicle moving in the adjacent lane (adjacent vehicle). Specifically, the control device 190 uses the lane change control function to detect the speed and acceleration of the adjacent vehicle and estimate whether or not the adjacent vehicle is moving away from the vehicle in question from the speed and acceleration of the adjacent vehicle. , for example, as illustrated in Figure 8. Then, when it estimates the adjacent vehicle is moving away from the vehicle in question, the control device 190 uses the lane change control function to reduce the required swath length in the direction of travel. of the vehicle in question to thereby reduce the required range in the direction of travel of the vehicle in question. More specifically, the control device 190 uses the lane change control function to reduce the required lane from the front when the adjacent vehicle traveling ahead of the vehicle in question moves away from the vehicle in question and to reduce the required lane. from behind when the adjacent vehicle traveling behind the vehicle in question pulls away from the vehicle in question.

[090] Additionally or alternatively, when the adjacent vehicle is estimated to be approaching the vehicle in question, the control device 190 uses the lane change control function to increase the required swath length in the vehicle's direction of travel in question to thereby increase the required range in the direction of travel of the vehicle in question. More specifically, the control device 190 uses the lane change control function to increase the required forward lane when the adjacent vehicle traveling ahead of the vehicle in question approaches the vehicle in question and increase the required lane in the rear. when the adjacent vehicle traveling behind the vehicle in question approaches the vehicle in question.

[091] In an alternate embodiment, step S111 may include object swath correction in the adjacent lane instead of the required swath correction.

[092] For example, the control device 190 can use the lane change control function to correct the object lane in the adjacent lane according to the level of need for lane change in the scene of the vehicle in question traveling as per illustrated in Figure 15 instead of using the lane change control function to correct the required lane according to the level of lane change need in the vehicle travel scene in question as illustrated in Figure 11. Specifically, when the lane shift requirement level is higher (when the lane shift requirement level is a predetermined value or higher), the control device 190 can use the lane shift control function to increase the lane length of objects in the adjacent lane in the direction of travel of the vehicle in question compared to the case of a low lane change need level (the case where the lane change need level is less than the predetermined value), reducing , therefore, the lane of objects in the adjacent lane in the direction of travel of the vehicle in question. For example, in the example illustrated in Figure 15, considering that (A) represents the swath of object in the adjacent lane before correction, when the lane change need level is high (when the lane change need level is a predetermined value or higher), the control device 190 can use the lane change control function to increase the range of objects in the adjacent lane in the direction of travel of the vehicle in question as illustrated in (B). Additionally or alternatively, the control device 190 can use the lane shift control function to increase the object swath in the adjacent lane as the level of lane shift requirement in the vehicle travel scene in question increases. .

[093] The control device 190 may use the lane change control function to correct the swath of object in the adjacent lane based on the swath of object in the next adjacent lane as illustrated in Figure 16 instead of using the control function lane change to correct the required swath based on the swath of object in the next adjacent lane as illustrated in Figure 12. For example, in the example illustrated in Figure 16, assuming that (A) represents the swath of object in the adjacent lane before the correction, when a space (e.g., a space corresponding to the required lane) in which the adjacent vehicle can change lanes can be detected in the object lane in the next adjacent lane, the control device 190 can use the speed control function lane change to increase the length of the object swath in the adjacent lane in the direction of travel of the vehicle in question as illustrated in (B) thereby increasing the swath of object in the adjacent lane in the direction of travel of the vehicle in question. Additionally or alternatively, the control device 190 can use the lane shift control function to increase the swath of objects in the adjacent lane in the direction of travel of the vehicle in question as the swath of objects in the next adjacent lane increases. .

[094] The control device 190 can use the lane shift control function to correct the object lane on the basis of the offset position in the road width direction of another vehicle traveling in the adjacent lane (adjacent vehicle) as illustrated in Figure 17A and Figure 17B instead of using the lane shift control function to correct the required lane based on the offset position of the adjacent vehicle in the road width direction as illustrated in Figure 13A and Figure 13B. Specifically, the control device 190 uses the lane change control function to detect the position of the adjacent vehicle in the road width direction. When the offset position of the adjacent vehicle in the road width direction is closer to the side of the vehicle lane in question than the center of the adjacent lane, the control device 190 uses the lane shift control function to reduce the lane. object in the adjacent lane in the direction of travel of the vehicle in question. More specifically, the control device 190 uses the lane change control function to reduce the lane of objects in the adjacent lane from the front of the vehicle in question when the adjacent vehicle travels ahead of the vehicle in question and reduce the lane object in the adjacent lane from behind the vehicle in question when the adjacent vehicle is traveling behind the vehicle in question. For example, in the example illustrated in Figure 17A, assuming (A) represents the swath of object in the adjacent lane before correction, the control device 190 can use the lane change control function to reduce the swath of object in the lane. adjacent from the front when the adjacent vehicle travels ahead of the vehicle in question and closer to the side of the vehicle lane in question as shown in (B). When the adjacent vehicle travels behind the vehicle in question and closer to the lane side of the vehicle in question as illustrated in (C), the control device 190 can use the lane change control function to reduce the object swath in the adjacent lane from behind. Additionally or alternatively, the control device 190 can use the lane shift control function to reduce the lane of objects in the adjacent lane in the direction of travel of the vehicle in question as the adjacent vehicle is closer to the opposite side. concerned vehicle lane (as the distance in the road width direction from the lane markings on the concerned vehicle lane side of the lane adjacent to the adjacent vehicle is shorter).

[095] Additionally or alternatively, when the position of displacement of the adjacent vehicle in the road width direction is closer to the opposite side of the vehicle lane in question than the center of the adjacent lane, the control device 190 can use the lane change control function to increase the object lane in the adjacent lane in the direction of travel of the concerned vehicle. More specifically, the control device 190 uses the lane change control function to increase the forward object range relative to the vehicle in question when the adjacent vehicle is traveling ahead of the vehicle in question and to increase the object range in front of the vehicle in question. adjacent lane to the rear of the vehicle in question when the adjacent vehicle is driving behind the vehicle in question. For example, in the example illustrated in Figure 17B, assuming (A) represents the swath of object in the adjacent lane before correction, the control device 190 can use the lane change control function to increase the swath of object in the lane. adjacent vehicle moves forward when the adjacent vehicle travels ahead of the vehicle in question and closer to the opposite side of the lane of the vehicle in question as shown in (B) and increase the object lane in the adjacent lane to the rear when the adjacent vehicle moves behind the vehicle in question and closer to the side opposite the lane of the vehicle in question as shown in (C). Additionally or alternatively, the control device 190 can use the lane change control function to increase the range of objects in the adjacent lane in the direction of travel of the vehicle in question as the adjacent vehicle is closer to the opposite side. to the vehicle lane in question (as the distance in the road width direction from lane markings on the vehicle lane in question side of the lane adjacent to the adjacent vehicle is longer).

[096] The control device 190 may use the lane change control function to correct the object lane in the adjacent lane based on the adjacent vehicle's turn signal lighting state as illustrated in Figure 18A and Figure 18B instead of to use the lane shift control function to correct the required lane based on the adjacent vehicle's turn signal lighting state as illustrated in Figure 14A and Figure 14B. Specifically, when the adjacent vehicle illuminates the turn signals on the side of the vehicle lane in question, the control device 190 uses the lane change control function to reduce the length of the swath of objects in the adjacent lane in the direction of travel of the vehicle. vehicle in question to thereby reduce the object swath in the adjacent lane. More specifically, the control device 190 uses the lane change control function to reduce object swath in the adjacent lane from the front when the adjacent vehicle traveling ahead of the vehicle in question illuminates the turn signals on the opposite side. lane of the vehicle in question and narrowing the object lane in the adjacent lane from behind when the adjacent vehicle traveling behind the vehicle in question illuminates the turn signals on the side of the lane of the vehicle in question. For example, in the example illustrated in Figure 18A, assuming (A) represents the swath of object in the adjacent lane before correction, the control device 190 can use the lane shift control function to reduce the swath of object in the lane. adjacent from the front when the adjacent vehicle is traveling in front of the vehicle in question while illuminating the turn signals on the side of the lane of the vehicle in question as shown in (B). When the adjacent vehicle travels behind the vehicle in question while illuminating the turn signals on the side of the lane of the vehicle in question as illustrated in (C), the control device 190 can use the lane change control function to reduce the Track object in adjacent lane from behind.

[097] Additionally or alternatively, when the adjacent vehicle illuminates the turn signals on the opposite side of the vehicle lane in question, the control device 190 uses the lane change control function to increase the lane of objects in the lane adjacent in the direction of travel of the vehicle in question. More specifically, the control device 190 uses the lane shift control function to increase the lane of objects in the adjacent lane forward when the adjacent vehicle traveling ahead of the vehicle in question illuminates the turn signals on the opposite side of the lane. lane of the vehicle in question and increasing the object lane to the rear when the adjacent vehicle traveling behind the vehicle in question illuminates the turn signals on the side opposite the lane of the vehicle in question. For example, in the example illustrated in Figure 18B, assuming that (A) represents the swath of object in the adjacent lane before correction, the control device 190 can use the lane shift control function to increase the swath of object in the lane. adjacent vehicle forward when the adjacent vehicle travels ahead of the vehicle in question while illuminating the turn signals on the opposite side of the vehicle lane in question as shown in (B). When the adjacent vehicle travels behind the vehicle in question while illuminating the turn signals on the opposite side of the lane of the vehicle in question as illustrated in (C), the control device 190 can use the lane change control function to increase track the object in the adjacent lane to the back.

[098] Control device 190 may use the lane shift control function to correct the lane of objects in the adjacent lane based on the speed and/or acceleration of the adjacent vehicle instead of using the lane shift control function to correct the required lane based on the speed and/or acceleration of the adjacent vehicle. Specifically, the control device 190 uses the lane change control function to estimate whether or not the adjacent vehicle is moving away from the vehicle in question from the speed and acceleration of the adjacent vehicle. When the adjacent vehicle is estimated to be moving away from the vehicle in question, the control device 190 uses the lane change control function to increase the length of the object swath in the adjacent lane in the direction of travel of the vehicle in question to increase, therefore, the object track in the adjacent lane. More specifically, the control device 190 uses the lane change control function to increase the range of objects in the adjacent lane forward when the adjacent vehicle traveling ahead of the vehicle in question moves away from the vehicle in question and increase the lane of object in adjacent lane backwards when the adjacent vehicle traveling behind the vehicle in question pulls away from the vehicle in question.

[099] Additionally or alternatively, when the adjacent vehicle approaches the vehicle in question, the control device 190 uses the lane change control function to reduce the length of the object swath in the adjacent lane in the direction of travel of the vehicle. vehicle in question to thereby reduce the object swath in the adjacent lane in the direction of travel of the vehicle in question. More specifically, the control device 190 uses the lane change control function to reduce the object swath in the adjacent lane from the front when the adjacent vehicle traveling ahead of the vehicle in question approaches the vehicle in question and reduce the object lane in the adjacent lane from behind when the adjacent vehicle traveling behind the vehicle in question approaches the vehicle in question.

[0100] The following process will be described assuming that the required range is corrected in step S111.

[0101] At step S112, the control device 190 uses the track shift control function to determine whether or not there is a gap within the object lane in the adjacent track after the predetermined time T1. The gap corresponds to the corrected required range in step S111. The object track in the adjacent lane after the predetermined time T1 is estimated in step S107. Specifically, as illustrated in Fig. 19(A), the control device 190 uses the track shift control function to adjust the corrected required range at the target position for track shift which is set at step S105. Then, the control device 190 uses the lane change control function to determine whether or not the object swath in the adjacent lane after the predetermined time T1 includes the corrected required swath. For example, in the example illustrated in Figure 19(A), the object swath in the adjacent lane after the predetermined time T1 does not include the corrected required swath. Therefore, the control device 190 uses the lane change control function to determine that there is not a gap corresponding to the corrected required lane within the object lane in the adjacent lane after the predetermined time T1. On the other hand, when the object lane in the adjacent lane after the predetermined time T1 includes the corrected required lane, the control device 190 uses the lane change control function to determine that there is a space corresponding to the corrected required lane within the lane. object track in adjacent track after predetermined time T1. When there is a gap corresponding to the corrected required lane within the object lane in the adjacent lane after the predetermined time T1, the routine proceeds to step S114 illustrated in Fig. 4 while when there is no gap, the routine proceeds to step S113.

[0102] In step S113, it has been determined that the object swath in the adjacent lane after the predetermined time T1 does not include the corrected required swath and a gap cannot be detected to match the required swath within the object swath in the adjacent lane after the predetermined time T1. Therefore, at step S113, the control device 190 uses the track shift control function to change the target position for track shift. Specifically, the control device 190 uses the track shift control function to readjust the target position for track shift so that the object track in the adjacent track after the predetermined time T1 includes the corrected required track. For example, when the front portion of the required swath is not included in the swath of objects in the adjacent lane after the predetermined time T1 as illustrated in Figure 19(A), the target position for swath change is shifted backwards. This allows the corrected required swath to be included in the object swath in the adjacent lane after the predetermined time T1 as illustrated in Figure 19(B), and it is determined that a gap can be detected to match the required swath within the object swath in the adjacent lane. adjacent lane after the predetermined time T1. Step S113 is followed by step S106 from which object range detection and the like are performed again.

[0103] On the other hand, when, at step S112, it is determined that the object lane in the adjacent lane after the predetermined time T1 includes the corrected required lane, the routine proceeds to step S114 illustrated in Figure 4. At step S114, the control device 190 uses the lane change control function to perform an inquiry process for the lane change control. The lane change control refers to the control to execute the lane change. In step S114, an inquiry to determine whether or not lane change control should be performed is made to the driver before the lane change is actually performed. Then, in step S115, a determination is made as to whether or not the driver allows the lane change in response to the query of step S114. When the handler allows the lane change, the routine proceeds to step S116 while when the handler does not allow the lane change, the routine returns to step S101.

[0104] For example, at step S104, the control device 190 may use the lane change control function to display a message “Which action should be selected for the preceding vehicle?” together with query information on the display of the warning device 150. The query information may include “Follow” and “Change lanes for overtaking” options. In response to this, the driver may select any of the options via input device 160. For example, when the driver selects the option to "Change lanes for overtaking", the lane change control function is used in step S115 to determine that the handler allows the lane change, and the routine proceeds to step S116. On the other hand, when the handler selects the “Follow” option, the lane change control function is used in step S115 to determine that the handler does not allow the lane change, and the routine returns to step S101.

[0105] Control device 190 may also use the lane change control function to display a message “Which action should be selected for the preceding vehicle?” along with “Follow” and “Change lanes for overtaking” options as query information and communicate the query information to the driver such that the query information additionally includes a message “Selection will be automatically performed unless a switch button is pressed. selection is pressed within X seconds”. In that case, when the driver does not select any of the options within a certain period of time, the control device 190 can use the lane change control function to automatically select a predetermined default option from the “Follow” and “Follow” options. “Change lanes for overtaking”. The default option can be a specific option or it can also be an option that can be variably adjusted. For example, when the object range becomes small in the given period of time until the default option is selected, the control device 190 can use the track shift control function to set “Follow” as the default option while when the object range becomes large, the control device 190 can use the lane change control function to set “Switch lanes for overtaking” as the default option. Control device 190 may also use the lane shift control function to set an option that the driver has previously selected many times as the default option based on the driver's history of selecting options. When the driver selects the option of “Change lanes for overtaking” within the given period of time, the routine proceeds to step S116 while when the driver selects the option of “Follow” within the given period of time, the routine returns to step S101.

[0106] The control device 190 can also use the lane change control function to communicate messages such as “Change lanes now to overtake the previous vehicle” and “Please press the cancel button if the lane change is discontinued ”, along with query information including a “Cancel” button to cancel the lane change for the driver via the warning device 150. In that case, it is assumed that after the query information is communicated at step S114, the conductor allows lane change at step S115, and the routine proceeds to step S117. Then, in step S117, lane change control is started. When the handler presses the “Cancel” button, the lane change control is canceled and the routine returns to step S101.

[0107] In step S116, the control device 190 uses the lane change control function to acquire the lane change time limit. In the present embodiment, as illustrated in Figure 2, the table stores the time that the vehicle in question takes to approach a point where changing lanes is difficult in each displacement scene, as the time limit. The control device 190 uses the lane change control function to refer to the table illustrated in Figure 2 to acquire the time limit (Z) in the scene of travel of the vehicle in question. For example, in the “previous vehicle approach scene” among the examples illustrated in Figure 2, the time limit is stored as (time for contact with the previous vehicle - α) seconds. In this case, the control device 190 uses the displacement control function to refer to the table illustrated in Figure 2 to calculate the time to contact (TTC) with the preceding vehicle and acquire (the calculated time to contact (TTC) with the previous vehicle - α) seconds as the time limit. The constant α is a few seconds (eg 5 seconds) and can be adjusted accordingly for each shifting scene. For example, when the time to contact (TTC) with the preceding vehicle is 30 seconds and α is 5 seconds, the lane change time limit is 25 seconds.

[0108] In step S117, the control device 190 uses the lane change control function to initiate lane change control. Specifically, the control device 190 uses the lane change control function to allow the steering control device 180 to initiate control of the steering actuator operation so that the vehicle in question moves to the target position for track shift set in step S105 or step S113.

[0109] In steps S118 to S122, as in steps S104 and S106 to S109, the current object range and the object range after a necessary time T2 for the vehicle in question to move to the target position are detected (steps S118 to S120) and an estimate is made to determine whether the object range becomes small after the predetermined time T2 (step S121). When the object swath is estimated to become small after the predetermined time T2 (step S121 = Yes), the warning information that the object swath will become small is communicated to the driver (step S122).

[0110] Then, at step S123, the control device 190 uses the lane shift control function to determine whether or not there is a gap within the object lane in the adjacent lane after the predetermined time T2. The gap corresponds to the corrected required range in step S111. The object track in the adjacent lane after the predetermined time T2 is estimated in step S120. Control device 190 uses the track shift control function to set the corrected required range at the target position for track shift. When the swath of objects in the adjacent lane after the predetermined time T2 includes the corrected required swath, the control device 190 uses the lane change control function to determine that there is a space corresponding to the required swath within the swath of objects in the lane. adjacent after the predetermined time S124 and the routine proceeds to step S124. On the other hand, when a determination is made that there is no space corresponding to the required lane within the object lane in the adjacent lane after the predetermined time T2, the routine proceeds to step S128.

[0111] In step S124, the control device 190 uses the lane change control function to determine whether or not the Z time limit acquired in step S117 has been exceeded after starting the lane change control in step S116. When the elapsed time S1 after starting track shift control exceeds the Z time limit, the routine proceeds to step S127 whereas when the elapsed time S1 after starting the track shift control does not exceed the Z time limit, the routine proceeds to step S125.

[0112] In step S125, the control device 190 uses the lane change control function to determine whether or not the vehicle in question has reached the target position for lane change. When the vehicle in question reaches the lane change target position, the lane change control is completed at step S126 to complete the lane change control process. In this way, the lane change of the vehicle in question is completed. On the other hand, when the vehicle in question does not reach the lane change target position, the routine returns to step S118 to continue the lane change control.

[0113] When, in step S124, the elapsed time S1 after starting the lane change control exceeds the Z time limit, that is, when the vehicle in question does not reach the target position for lane change even after the limit time Z is passed after initiating lane change control, the routine proceeds to step S127. At step S127, the control device 190 uses the lane change control function to perform a discontinuing process for lane change control. Specifically, control device 190 uses the lane change control function to communicate information that lane change control will be discontinued to the driver. For example, the control device 190 can use the lane change control function to communicate a "lane change will be discontinued due to time out" message to the driver via the warning device 150. Thereafter, the control function lane change is completed in step S126 and the routine returns to step S101. In the process of discontinuing the lane change control, the control device 190 may use the lane change control function to leave the traveling position of the vehicle in question in the road width direction at the position when control is completed. change lane control or recover the offset position to the position when lane change control is initiated. When the offset position is restored to the position when lane change control is initiated, a message such as “Original position will be restored due to timeout” can be communicated to the driver.

[0114] In the process of discontinuing the lane change control, the control device 190 may use the lane change control function to determine whether the driver wishes to continue the lane change while maintaining the current state of travel. When the driver wishes to continue the lane change, the Z time limit can be extended. For example, the control device 190 can use the lane change control function to present some warning information to the driver. Warning information may include a message “Continue changing lanes despite timeout?” and “Discontinue” and “Continue” options. When the handler selects the "Continue" option, the control device 190 uses the lane change control function to extend the Z time limit, and the routine returns to step S118. When the driver selects the “Discontinue” option, lane change control is completed at step S126.

[0115] Control device 190 may use the lane change control function to provide a response time when it is determined whether the driver wishes to continue the lane change and automatically execute the default option if the driver does not respond within of response time. For example, query information can be communicated to the driver, including a message “Selection will be automatically performed unless a select button is pressed within XX seconds” plus a message “Continue changing lanes despite timeout ?” and “Discontinue” and “Continue” options. Response time and default option can be a specific time and a specific option or it can also be variably adjusted. In an example where the response time and default option are variably adjusted, the response time can be reduced or “Discontinue” can be set as the default option when the object range becomes small. Additionally or alternatively, the driver selection history can be used to reduce the response time for an option that the driver has selected a few times previously or set an option that the driver has selected many times before as the default option. When the “Continue” option is selected, the Z time limit is extended and the routine then returns to step S118 whereas when the “Discontinue” option is selected, track change control is completed at step S118. S126.

[0116] In the process of discontinuing the lane change control, the control device 190 may also use the lane change control function to automatically continue the lane change and communicate a lane change discontinuation method to the driver. For example, control device 190 can use the lane change control function to communicate messages such as "lane change will be continued despite time out" and "Please press cancel button if lane change is discontinued" , along with warning information including a "Cancel" button to cancel the lane change for the driver via the warning device 150. In that case, when the "Cancel" button is not pressed, the time limit Z is extended and the routine then returns to step S118. When the “Cancel” button is pressed, lane change control is completed at step S126.

[0117] In the process of discontinuing the lane change control, when the Z time limit is extended to continue the lane change, the Z time limit is extended within a time in which the lane change can be continued. For example, provided the vehicle travel scene in question is a “converge point approach scene”, when the time to reach the confluence point is 10 seconds, but the Z time limit is 7 seconds, that is, when the time to reach the confluence point exceeds the Z time limit, the control device 190 can use the lane change control function to extend the Z time limit, for example, up to 9 seconds to continue the lane change. In this case, if the extended time limit Z (9 seconds) is exceeded, the lane change control will be completed.

[0118] In this way, when the elapsed time S1 after starting the lane change control exceeds the Z time limit, the process of discontinuing the lane change control can be carried out, thus effectively preventing the uncomfortable feeling transmitted to the driver. This will be more specifically described. For example, if the lane change is not performed even when the Z time limit is exceeded after starting the lane change control, the driver's intention to change lanes may disappear. In that case, the uncomfortable feeling can be transmitted to the driver if the lane change is performed after the driver decides not to change lanes or if the lane change is performed when the driver forgets to do so. The process of discontinuing lane change control can mitigate this uncomfortable feeling transmitted to the driver.

[0119] In step S123, when a determination is made that there is no space corresponding to the required lane within the object lane in the adjacent lane after the predetermined time T2, the routine proceeds to step S128. That is, when there is a space corresponding to the required range within the object range in the adjacent lane at the time point of step S112 of starting lane shift control, but there is no space corresponding to the required range within the object range in the adjacent lane after initiating lane change control, the routine proceeds to step S128. At step S123, also when the object swath in the adjacent lane at the time point of step S112 of starting track shift control becomes small at the time point of step S123, the routine can proceed to step S128. At step S128, detection is performed for the positional relationship in the road width direction between the vehicle in question and the lane markings that the vehicle in question will cross when changing lanes (called "object lane markings", more later in this document).

[0120] For example, Figure 20 exemplifies a scene in which the vehicle in question changes lanes in the direction represented by the arrows in the figure (change of lane from the lane on the left side to the lane on the right side in the figure). In that case, the control device 190 uses the lane change control function to determine any one of a state in which no part of the vehicle in question crosses the marks on the object track as illustrated in Figure 20(A), a state in which a part of the vehicle in question crosses the marks in the object track, however the centerline of the vehicle in question does not cross the marks in the object track as illustrated in Figure 20(B), a state in which the entire vehicle in question does not completely cross the marks in the object track, but the centerline of the vehicle in question crosses the marks in the object track as illustrated in Figure 20(C), and a state in which the entire vehicle in question crosses the marks in the object track object as illustrated in Figure 20(D).

[0121] In step S129, the control device 190 uses the lane change control function to carry out the control process to discontinue or continue the lane change, based on the positional relationship in the road width direction between the marks in the object track and the vehicle in question determined in step S128. Specifically, control device 190 uses the lane change control function to determine (a) a method of presenting information to the driver when the lane change is discontinued or continued, (b) control after discontinuing or continuing the lane change , and (c) an offset position of the vehicle in question when the lane change is discontinued or continued, based on the positional relationship in the road width direction between the marks in the object lane and the vehicle in question.

[0122] For example, the control device 190 can use the lane change control function to perform any of four methods such as method (a) of presenting information to the driver when the lane change is discontinued or continued: ( a1) a method that includes displaying information to allow the handler to select between options to discontinue and continue the lane change without a time limit and, when the handler selects either option, executing the option (discontinue or continue the lane change ) selected by the driver; (a2) a method including displaying information to allow the driver to select between the options to discontinue and continue the time-limited lane change and, when the driver selects either option within the time limit, (discontinue and continue lane change) selected by the driver; (a2) a method including displaying information to allow the handler to select between discontinue and continue time-limited lane change options and, when the handler selects either option within the time limit, executes the option (discontinue or continue lane change) selected by the handler or, when the handler fails to select both options within the time limit, executes control (default control) of a predetermined option between discontinue and continue lane change; (a3) a method that includes automatically executing the discontinuation or continuation of the lane change and expressly providing the driver with a method to cancel the discontinuation or continuation of the lane change that is automatically executed; and (a4) a method that includes automatically executing the discontinuation or continuation of the lane change without expressly providing the driver with a method of canceling the discontinuation or continuation of the lane change that is automatically executed.

[0123] The control device 190 may also use the lane change control function to perform any of the following three schemes as (b) control contents after discontinuing or continuing the lane change: (b1) a scheme including discontinue lane change and also discontinue automatic cruise control; (b2) a scheme that includes discontinuing lane change control only and continuing automatic cruise control; and (b3) a scheme including suspending lane change control in a hold state until a space corresponding to the required swath is detected again within range of object in the adjacent lane and resuming lane change control when a matching gap to the required lane is detected again within range of an object in the adjacent lane.

[0124] The control device 190 can additionally use the lane change control function to perform any of the following three positional adjustment schemes for the displacement position (c) of the vehicle in question when the lane change control is discontinued or continued: (c1) a scheme that includes restoring the position of the vehicle in question to the original position before initiating the lane change; (c2) a scheme that includes moving the vehicle in question to a position in the vicinity of the marks on the object track in the lane in which the vehicle in question moved before initiating the lane change; and (c3) a scheme that includes maintaining the current position.

[0125] The control device 190 can use the lane change control function to perform the control process to discontinue or continue the lane change by properly combining two or more of method (a) of presenting information to the driver when the lane change is discontinued or continued, (b) control contents after discontinuing or continuing the lane change, and (c) a displacement position of the vehicle in question when the lane change is discontinued or continued, based on positional relationship in the road width direction between the marks on the object track and the vehicle in question.

[0126] For example, when no part of the vehicle in question crosses the marks on the object lane as illustrated in Figure 20(A), the control device 190 can use the lane change control function to carry out the method (a4 ) which includes automatically executing the lane change discontinuation without expressly providing the driver with a method of canceling the lane change discontinuation. In that case, the control device 190 can use the lane change control function to carry out the scheme (b1) which includes discontinuing the lane change and also discontinuing the automatic displacement control and the scheme (c1) which includes recovering the position of the vehicle in question to the original position before initiating the lane change. In that case, the control device 190 can use the lane change control function to communicate the control contents that will be performed from that moment on to the driver, such as “The position will be recovered to the original position, as the space for change track may be insufficient” and “Automatic displacement control will be canceled after recovery of the original position”. In that case, the process proceeds to step S126 to complete lane change control.

[0127] When a part of the vehicle in question crosses the marks on the object track, but the centerline of the vehicle in question does not cross the marks of the object track as illustrated in Figure 20(B), the control device 190 can use the lane change control function to carry out method (A3) which includes automatically executing the lane change discontinuation and expressly providing the driver with a method of canceling the lane change discontinuation. In that case, the control device 190 can use the lane change control function to carry out the scheme (c2) which includes moving the vehicle in question to a position in the vicinity of the marks in the object lane in the lane in which the vehicle in question question shifted before initiating the lane change and then perform scheme (b2) which includes discontinuing only lane change control and continuing automatic shift control. In that case, the control device 190 can use the lane change control function to communicate the control contents that will be performed from that moment on to the driver, such as “The position will be recovered to the original lane, as the space for change track may be insufficient” and “The previous automatic displacement control will be continued after the original position recovery”. Additionally or alternatively, the control device 190 can use the lane change control function to display a message "Please press the button below if the lane change is to be continued" along with a button to continue the lane change. When the driver presses the button to continue the lane change, the process proceeds to step S130 while when the driver does not press the button to continue the lane change, the process returns to step S126.

[0128] When the entire vehicle in question does not completely cross the marks on the object track, but the centerline of the vehicle in question crosses the marks on the object track, for example, as illustrated in Figure 20(C), the Control 190 may use the lane change control function to perform method (a4) which includes automatically executing lane change continuation without expressly providing the driver with a method of canceling lane change continuation. In that case, the control device 190 can use the lane change control function to carry out scheme (c3) which includes waiting while maintaining the traveling position of the vehicle in question at the current position and scheme (b3) which includes suspending lane change control until a space matching the required swath is detected again within the object swath in the adjacent lane, and resume lane change control when a gap matching the required swath is detected again within the object swath in the adjacent lane . In this case, for example, the control device 190 can use the lane change control function to communicate the control contents that will be performed from that moment on to the driver, such as “A hold will be conducted at the current position, as the space for lane change may be insufficient” and “lane change control will resume if a lane change space is found”. In that case, the process proceeds to step S130.

[0129] When the entire vehicle in question crosses the marks on the object lane, for example, as illustrated in Figure 20(D), the control device 190 can use the lane change control function to carry out the method (a4 ) which includes automatically executing the lane change discontinuation without expressly providing the driver with a method of canceling the lane change discontinuation. In that case, the control device 190 can use the lane change control function to carry out scheme (c3) which includes keeping the traveling position of the vehicle in question at the current position and scheme (b2) which includes discontinuing only the lane shift control and continue auto shift control. In this case, for example, the control device 190 can use the lane change control function to communicate the control contents that will be performed from that moment on to the driver, such as “A hold will be conducted at the current position, as the space for changing lanes may be insufficient” and “The previous automatic cruise control will be discontinued”. In that case, the process proceeds to step S126 to complete lane change control.

[0130] The positional relationship in the road width direction between the marks on the object track and the vehicle in question is not limited to the four scenes illustrated in Figure 20(A) to (D) and five or more or three or less scenes possible can be used. The combination of control schemes for each positional relationship is not limited to the combinations described above. Any combination is possible between two or more of the method (a) of presenting information to the driver when the lane change is discontinued or continued, (b) control content after discontinuing or continuing the lane change, and (c) a position of displacement of the vehicle in question when the lane change is discontinued or continued.

[0131] A description will then be made for a case where lane change continuation is performed in step S129. Step S129 of initiating the lane change continuation is followed by step S130. At step S130, the control device 190 uses the track shift control function to measure an elapsed time S2 after the track shift control enters a wait state at step S129. That is, in the present embodiment, when lane switching is continued at step S129, lane switching is suspended and the lane switching control enters a waiting state until a gap corresponding to the required lane is detected again in the lane. object in the adjacent lane. In step S130, the elapsed time S2 after starting the lane shift control delay in this manner is measured.

[0132] In step S131, the control device 190 uses the lane change control function to estimate a necessary time T3 for the vehicle in question to move from the current position to the target position for lane change. The required time T3 can be estimated as in step S106.

[0133] In step S132, the control device 190 uses the lane change control function to determine whether the total time (S2+T3) of the elapsed time S2 measured in step S130 and the estimated required time T3 in step S131 exceed or not the Z time limit acquired in step S118. When the total time (S2+T3) exceeds the Z time limit, the routine proceeds to step S133 where the control device 190 uses the track shift control function to cancel the shift control wait state. lane and moves the vehicle in question to the position of the vehicle in question before initiating the lane change. Step S133 is followed by step S126 where lane change control is completed. On the other hand, when the total time (S2+T3) does not exceed the Z time limit, the routine proceeds to step S134.

[0134] In step S134, the controlling device 190 uses the lane shift control function to continue the lane shift control waiting state. Step S134 is followed by steps S135 to S138 in which, as in steps S104 and S106 to S109, the current object range and the object range after the required time T3 are detected (steps S135 to S136) and an estimate is made to determine whether or not the object range becomes small after the predetermined time T3 (step S137). When the object swath is estimated to become small after the predetermined time T3 (step S137 = Yes), the warning information that the object swath will become small is communicated to the driver (step S138).

[0135] In step S139, as in step S123, a determination is made to check whether or not there is a space within the object lane in the adjacent lane after the predetermined time T3. The gap corresponds to the corrected required range in step S111. The object track in the adjacent lane after the predetermined time T3 is estimated in step S136. Control device 190 uses the lane change control function to set the corrected required range at the target position for lane change. When the swath of objects in the adjacent lane after the predetermined time T3 includes the corrected required swath, the control device 190 uses the lane change control function to determine that there is a space corresponding to the required swath within the swath of objects in the lane. adjacent after predetermined time T3, and the routine proceeds to step S124. At step S140, the control device 190 uses the lane change control function to cancel the lane change control hold state and resume lane change control, as a space corresponding to the required lane is detected within the lane change control. track object in adjacent lane. The process then returns to step S118. On the other hand, when a determination is made that there is no space corresponding to the required lane within the object lane in the adjacent lane after the predetermined time T3, the routine proceeds to step S141 where the lane change control wait state track is continued, and the routine then returns to step S130.

[0136] As described above, when it is determined whether or not to allow the lane change, the displacement control apparatus 100 according to the present embodiment defines a lane as a required lane at a target position for lane switching. The lane has a size equal to or greater than the size of a lane that the vehicle in question occupies on a road surface. The displacement control apparatus 100 also detects a lane in which there are no obstacles at the time when the vehicle in question completes the lane change, such as an object lane. Then, when the lane of object in the adjacent lane includes the required lane, the displacement control apparatus 100 determines that there is a space in which the vehicle in question can change lanes in the adjacent lane, and allows the lane change. Thus, in the present embodiment, the object lane in which there are no obstacles at the time the vehicle in question completes the lane change and the required lane necessary for the vehicle in question to change lanes are compared to thus allow a determination is adequately made as to whether or not the lane change should be carried out.

[0137] Furthermore, in the present embodiment, when the object swath in the adjacent lane and the required swath are compared to detect a gap that corresponds to the required swath within the object swath in the adjacent lane, correction is performed to reduce the swath required or increase the object lane in the adjacent lane, as illustrated in Figure 11, in a case where the lane change requirement level in the vehicle shift scene in question is high (the lane change requirement level is a predetermined value st1 or higher) as compared to a case where the lane change need level in the given vehicle travel scene is low (the lane change need level is less than the predetermined value st1) . Although this operation, when the shifting scene of the vehicle in question is a shifting scene that is suitable for changing lanes, changing lanes can readily be allowed. In this way, a determination whether the lane change should be performed can be properly performed according to the vehicle's shifting scene in question.

[0138] Furthermore, in the present embodiment, when a space corresponding to the required range is detected within the object range in the adjacent lane, correction is performed to increase the required range or reduce the object range in the adjacent lane in a case in which the lane change requirement level in the vehicle shift scene in question is low (the lane change requirement level is less than a predetermined value st2 (st1>st2)) compared to a case where the Lane Change Necessity Level in the relevant vehicle travel scene is high (Lane Change Necessity Level is the default value of st2 or higher). Although in this operation, when the vehicle in question approaches the adjacent vehicle during a lane change in a scene where the lane change need level is low, the lane change is brought under control. In this way, a determination whether the lane change should be performed can be properly performed according to the displacement scene.

[0139] In the present embodiment, as illustrated in Figure 2, the table for determining the displacement scene preliminarily stores the determination conditions for displacement scenes that are suitable for changing lanes and the level of need to change lanes in each scene of displacement. Through this configuration, in the present embodiment, it is possible to determine the displacement scene of the vehicle in question with reference to the table illustrated in Figure 2 and properly acquire the level of need to change lane in the displacement scene of the vehicle in question.

«SECOND MODALITY»

[0140] Next, the displacement control apparatus according to the second embodiment of the present invention will be described. The displacement control apparatus 100 according to the second embodiment has the same configuration as the displacement control apparatus 100 according to the first embodiment and operates in the same manner as in the first embodiment except that the displacement control apparatus 100 operates as described below. Specifically, in the second embodiment, the displacement control apparatus 100 performs a lane change control process illustrated in Figure 21 as a substitute for the lane change control process illustrated in Figure 5.

[0141] This will be more specifically described. When, at step S123 illustrated in Figure 4, a determination is made that a space corresponding to the required lane cannot be detected within the lane of objects in the adjacent lane after the predetermined time T2, the routine proceeds to step S201 illustrated in Figure 21 At step S201, the control device 190 uses the lane change control function to initiate a lane change request control to slowly bring the vehicle in question closer to the target position for lane change. Lane Change Request Control is a control that includes slowly bringing the vehicle in question closer to the target lane change position so that the driver of another vehicle entering the lane of object in the adjacent lane will perceive that the vehicle in question will change lanes, prompting the driver of the other vehicle to provide a lane change space that includes the target lane change position, and allowing the vehicle in question to change lanes. In lane change request control, the control device 190 uses the lane change control function to move the vehicle in question in the road width direction at a slower speed than that when the lane change is performed. normal track. For example, the control device 190 can use the lane change control function to move the vehicle in question in the road width direction at half speed compared to the lane change case to thus approach the vehicle in issue of target position for lane change.

[0142] At step S201, the control device 190 can use the lane change control function to change the speed of movement of the vehicle in question in the road width direction taking into account a degree that the corrected required lane deviates from the target range after the predetermined time T2. For example, when the degree to which the corrected required range deviates from the object range after the predetermined time T2 is a predetermined value or greater, the control device 190 can use the track shift control function to change the speed of movement of the object. vehicle in question in the road width direction to a speed less than the speed when the grade is less than the predetermined value. When the degree to which the corrected required range deviates from the object track after the predetermined time T2 is large, another vehicle is highly likely to enter the target position for changing lane of the vehicle in question accordingly. In such a case, if the vehicle in question is placed close to the target position for lane change, the driver is likely to feel anxious. Such a driver's feeling of anxiety for another vehicle can therefore be alleviated by reducing the speed of movement of the vehicle in question in the road width direction (i.e. by bringing the vehicle in question closer to the target position more slowly). for lane change).

[0143] Additionally or alternatively, at step S201, the control device 190 can use the lane change control function to change the speed of movement of the vehicle in question in the road width direction according to the positional relationship between the object track markings and the vehicle in question detected in step S128. For example, in a state where the centerline of the vehicle in question crosses the lane markings as illustrated in Figure 20(C), the control device 190 can use the lane change control function to reduce the speed of movement. of the vehicle in question in the road width direction. This operation can mitigate the driver's feeling of anxiety even when the vehicle in question is moved to the target position for shifting in a state where the vehicle in question and another vehicle are close to each other so that they can become closer to each other. Additionally or alternatively, in a state where the centerline of the vehicle in question crosses the lane markings, the control device 190 can use the lane change control function to make the speed of movement "0", or i.e. maintain the position of the vehicle in question in the road width direction (ie, wait at the current position) rather than vary the position. This may then mitigate the driver's feeling of anxiety because the vehicle in question does not approach the other vehicle.

[0144] The processes in steps S202 to are the same as those in steps S135 to S138, so the description will be omitted. Then, at step S206, the control device 190 uses the lane change control function to determine whether the distance between the vehicle in question and the other vehicle becomes a predetermined distance or less as a result of the lane change request control. track performed in step S201 to slowly bring the vehicle in question close to the adjacent vehicle. The distance between the vehicle in question and the other vehicle as used in this case can either be a straight distance or a distance in the road width direction. When the distance between the vehicle in question and the other vehicle is greater than the predetermined distance, the routine proceeds to step S207 where the control device 190 uses the lane change control function to determine whether the vehicle in question has arrived. at the target position for lane change. When the vehicle in question has arrived at the lane change target position, the routine returns to step S202 to continue lane change request control. When the vehicle in question has arrived at the lane change target position, the routine returns to step S126 to finalize the lane change control.

[0145] When, in step S206, a determination is made that the distance between the vehicle in question and the other vehicle becomes the predetermined distance or less, the routine proceeds to step S208. In step S208, the control device 190 uses the lane change control function to cancel the lane change request control initiated in step S201, and the routine then proceeds to step S126 to cancel the lane change control. track. Even when the vehicle in question is placed close to the target position for lane change, the driver of the other vehicle cannot necessarily provide the necessary space for the lane change and the vehicle in question may approach the other vehicle to some extent. In such a case, the lane change request control can be canceled to thereby allow the vehicle in question to proceed safely.

[0146] In step S206, the control device 190 also uses the lane change control function to set the above predetermined distance according to the “lane change need level” in the scene in which the vehicle in question is displace. For example, when the "lane shift need level" in the shifting scene of the vehicle in question is high (the need level is a predetermined value or greater), the control device 190 may use the shift control function to reduce the above predetermined distance compared to a case where the “lane change need level” in the vehicle shift scene in question is low (the need level is less than the predetermined value). This allows the vehicle in question to approach the target lane change position in a shift scene where the “lane change need level” is high. Consequently, the adjacent vehicle can be informed of the intention that the vehicle in question will change lanes, and the lane change to the adjacent lane can be promptly effected.

[0147] As described above, in the second embodiment, when a space corresponding to the required lane cannot be detected in the object lane in the adjacent lane, lane change request control is performed to slowly bring the vehicle in question close to the target position for lane change. This allows the driver of the adjacent vehicle to be informed of the intended lane change of the vehicle in question even when a gap that corresponds to the required lane cannot be detected in the lane of objects in the adjacent lane. As a result, the driver of the adjacent lane can provide the necessary space for the vehicle in question to change lanes, and the lane change can thus be properly performed.

[0148] The embodiments explained so far are described to facilitate the understanding of the present invention and are not described to limit the present invention. Therefore, the elements disclosed in the above embodiments are intended to include equivalent design changes that fall within the technical scope of the present invention.

[0149] For example, in one or more embodiments described above of the present invention, a configuration is exemplified, in which the required lane is compared to the lane of objects in the adjacent lane at the time the vehicle in question completes the lane change, however, the present invention is not limited to this configuration and another configuration can also be employed, where, for example, the required swath is compared to the swath of object in the adjacent lane at the present time.

[0150] In one or more embodiments described above of the present invention, a configuration is exemplified, in which, when the displacement scene of the vehicle in question corresponds to a plurality of displacement scenes illustrated in Figure 2, the displacement scene, in that the lane change need level is higher, it is determined as the shift scene of the vehicle in question, and the lane change is performed in the "lane change direction" in the shift scene, however, the present invention does not is limited to this configuration and another configuration can also be employed, where, for example, when the displacement scene of the vehicle in question corresponds to a plurality of displacement scenes illustrated in Figure 2, the "lane change direction" in each shift scene is specified as the right direction or the left direction and the lane change is performed in the right direction if the “lane change direction” is right direction in a larger number of shift scenes while the lane change is performed in the left direction if the “lane change direction” is the left direction in a larger number of shift scenes.

[0151] In one or more embodiments described above of the present invention, a configuration is exemplified, in which the Z time limit for each displacement scene is stored in the table as illustrated in Figure 2, however, the present invention is not limited to this configuration and another configuration can also be employed, where the Z time limit is calculated, for example, based on the lane change need level stored in the table illustrated in Figure 2. In this case, the Z time limit can be longer as the lane change need level is higher. Yet another configuration can also be employed, where a specific time for each displacement scene is stored as the Z time limit in the table.

[0152] In one or more embodiments described above of the present invention, a configuration is exemplified, in which a lane without obstacles in the adjacent lane is detected as the object lane and a lane without obstacles in the next adjacent lane is also detected as the lane of object as illustrated in Figure 6A(C), however, the present invention is not limited to this configuration and another configuration can also be employed, in which, for example, the lane without obstacles in the adjacent lane is detected as a first lane of object while the unobstructed swath in the next adjacent lane is detected as a second swath of object so that the swath of object in the adjacent lane and the swath of object in the next adjacent lane are separately detected.

[0153] In one or more embodiments described above of the present invention, a configuration is exemplified, in which the required range is reduced or the range of objects in the adjacent lane is increased when the level of need to change lanes is high in the scene of displacement of the vehicle in question, however, another configuration can also be employed in which, for example, even when the level of need to change lane in the scene of displacement of the vehicle in question is high, the required range is increased or the range of object in the adjacent lane is reduced in at least one case where the adjacent lane is obstructed ahead, one case where an emergency vehicle is approaching, one case where a parked vehicle exists ahead in the adjacent lane, one case where that the vehicle speed of the adjacent vehicle traveling ahead in the adjacent lane is less than the vehicle speed of the vehicle in question, and a case where the vehicle speed of the adjacent vehicle traveling behind in the adjacent lane is higher than the vehicle speed of the vehicle in question. In such a scene which is not suitable for lane change, the required swath is increased or the swath of object in the adjacent lane is reduced, and in this way it is possible to more adequately determine whether the lane change should be performed or not, according to the displacement scene.

[0154] In the second modality described above, a configuration is exemplified in which the lane change request control is performed to slowly approach the vehicle in question to the target position for lane change, but the present invention is not limited to this configuration and another configuration may also be employed in which, for example, lane change request control is performed slowly to slowly bring the vehicle in question closer to the adjacent lane. Also, in that case, the driver of the adjacent vehicle can be informed of the lane change intention of the vehicle in question, and a necessary lane change space can thereby be secured.

[0155] The sensors 110 in the embodiments described above correspond to the first detector and the second detector of the present invention, and the control device 190 corresponds to the displacement control apparatus of the present invention. DESCRIPTION OF NUMERIC REFERENCES 100 Displacement control device 110 Sensors 120 Position detection device of concerned vehicle 130 Map database 140 Integrated equipment 150 Warning device 160 Input device 170 Communication device 180 Drive control device 190 Control device

Claims (5)

1. Method of controlling displacement performed by a displacement control apparatus (100), the displacement control apparatus (100) comprising: a first detector (110) configured to detect an obstacle around a vehicle in question that moves shifts in a first lane; and a second detector (110) configured to detect a second lane adjacent to the first lane, the displacement control apparatus (100) being configured to: set a first lane at a target position for changing lanes in the second lane, the first lane having a size equal to or greater than a size that the vehicle in question occupies on a road surface; detecting a lane in the second lane as a second lane, the second lane in the second lane being situated on one side of the vehicle in question, the obstacle being absent from the second lane in the second lane; and allowing the vehicle in question to change lanes when the second lane includes the first lane, the displacement control method comprising: a first step of determining a scene of displacement of the vehicle in question based on a state of displacement of the vehicle in question, the displacement control method being CHARACTERIZED by the fact that it additionally comprises: a second step of acquiring a lane change need level that is predetermined in the displacement scene; and a third step of performing correction to reduce the first range or increase the second range when the requirement level is greater than or equal to a first determination value as compared to when the requirement level is less than the first determination value determination. 2. Displacement control method, according to claim 1, CHARACTERIZED by the fact that the third step includes performing the correction to increase the first range or reduce the second range when the need level is less than a second determination value compared to when the requirement level is the second determination value or more, where the second determination value is less than the first determination value. 3. Displacement control method, according to claim 1, CHARACTERIZED by the fact that the displacement scene includes at least one of a driving scene to a destination, a scene in which the first lane is obstructed ahead, a scene in which an emergency vehicle is approaching, a scene in which a parked vehicle exists ahead in the first lane, and a scene of overtaking an earlier vehicle moving ahead in the first lane, and the need level is fed for each displacement scene. 4. Displacement control method, according to any one of claims 1 to 3, characterized by the fact that it comprises: estimating the second range after a predetermined time; and allowing the vehicle in question to change lanes when the second lane after the predetermined time includes the first lane. 5. Displacement control apparatus (100) comprising: a first detector (110) configured to detect an obstacle around a vehicle in question traveling in a first lane; a second detector (110) configured to detect a second track adjacent to the first track; and a controller (190) configured to: set a first lane at a target position for changing lanes in the second lane, the first lane having a size equal to or greater than a size that the vehicle in question occupies on a road surface; detecting a lane in the second lane as a second lane, the second lane in the second lane being situated on one side of the vehicle in question, the obstacle being absent in the second lane in the second lane; and allowing the vehicle in question to change lanes when the second lane includes the first lane, the controller (190) being further configured to: determine a scene of displacement of the vehicle in question based on a state of displacement of the vehicle in question, the controller (190) being FEATURED by the fact that it further comprises: acquiring a lane change need level that is predetermined in the shift scene; and performing correction to reduce the first range or increase the second range when the need level is greater than or equal to a predetermined value, as compared to when the need level is less than the predetermined value.