CN110053610A - Travel controlling system and travel control method - Google Patents

Abstract

The present invention relates to a kind of travel controlling system and travel control methods.The external condition of travel controlling system (12) obtains the side barrier (602) that mechanism (170) detection is present in the side of this vehicle (10).In addition, when the side barrier (602) of state Chong Die with this vehicle (10) in the width direction of this vehicle lane (612b) has carried out defined close movement to this vehicle lane (612b), external condition obtains mechanism (170) and is determined as that side barrier (602) has started to jump a queue to this vehicle lane (612b).Accordingly, it can rationally and effectively be coped with being present in even if near this vehicle in the case that other vehicles of the side of this vehicle are jumped a queue to this vehicle lane.

Description

Travel controlling system and travel control method

Technical field

The present invention relates to a kind of travel controlling system and travel control methods.

Background technique

In Japanese invention patent Publication special open 2016-134093, it is intended that providing one kind can be improved The travel controlling system ([0006], abstract) of the selection of traveling ahead vehicle/non-selected stability vehicle.In order to realize this Purpose, the travel controlling system 10 of Japanese invention patent Publication special open No. 2016-134093 (abstract) be suitable for equipped with The vehicle of filming apparatus 21.Travel controlling system 10 jumps a queue with white line recognition portion 11 and other vehicles and leaves determination unit 12.

White line recognition portion 11 identifies white line according to the image got by filming apparatus 21, and the white line is as this vehicle of division Traveling lane lane boundary.Other vehicles jump a queue to leave determination unit 12 and execute other vehicles and jump a queue and leave judgement.? Other vehicles, which are jumped a queue, to be left in judgement, will be according to the relative position in the vehicle width direction of the front vehicles on the basis of white line What the front vehicles travelled on adjacent lane were judged to jumping a queue to this lane jump a queue vehicle.In addition, will travel on this lane Front vehicles are determined as that leaves from this lane leaves vehicle.

Other vehicles of vehicle of determining to jump a queue jump a queue and leave determination unit 12 from the object (mesh detected by object detection mechanism Mark object) in, determine vehicle of jumping a queue jumped a queue to this lane etc. and the vehicle that leaves that is left from this lane (other vehicles, which are jumped a queue, to be left Determine) ([0018]).So-called object detection mechanism constitutes ([0012], Fig. 1) by filming apparatus 21 and radar installations 22 herein.

Filming apparatus 21 is set near the upper end of such as front windshield of this vehicle, shooting court centered on shooting axis The range ([0013]) being unfolded to vehicle front with the range of defined shooting angle δ 1.Radar installations 22 is installed in this vehicle Front, by radar signal to centered on optical axis towards vehicle front cover as defined in radar angular δ 2 (2 < δ 1 of δ) model The range enclosed and be unfolded is scanned ([0014]).Also, electromagnetic wave is sent to receiving back wave according to vehicle front Time ranging data is made, and the manufactured ranging data is sequentially output to travel controlling system 10.

In addition, other vehicles, which are jumped a queue, leaves determination unit 12 with the 1st decision mechanism and the 2nd decision mechanism ([0021]).? Front vehicles 51 are present in the range of the identification distance for recognizing white line 61 by the filming apparatus 21 for being equipped on this vehicle 50 In the case of (S103: yes of Fig. 4), the 1st decision mechanism determines that other vehicles are jumped a queue and leave ([0022], [0036], Fig. 4 S104).Specifically, the 1st decision mechanism according to it is on the basis of the white line (identification dividing line) recognized by filming apparatus 21, Relative position in the vehicle width direction of front vehicles come determine other vehicles jump a queue and leave ([0021], [0024], [0037]~ [0041], Fig. 5).

In addition, (Fig. 4 outside the range that front vehicles 51 are present in the identification distance for recognizing white line 61 by filming apparatus 21 S103: it is no), in the case where not being available white line 61, the 2nd decision mechanism determine other vehicles jump a queue and leave ([0028], [0035], the S105 of Fig. 4).So-called herein " being recognized outside the range of identification distance of white line 61 by filming apparatus 21 " assumes Front vehicles 51 are present in the case where position remoter than the position of white line recognition processing ([0057]).Specifically, the 2nd deteminate machine It is left to determine that other vehicles are jumped a queue relative position in the vehicle width direction of front vehicles of the structure on the basis of by this vehicle ([0021], [0028]~[0031], Fig. 3).

Summary of the invention

As described above, filming apparatus 21 is set to this in Japanese invention patent Publication special open 2016-134093 Near the upper end of such as front windshield of vehicle, shooting is centered on shooting axis towards vehicle front with defined shooting angle The range ([0013]) of the range expansion of δ 1.It was found that it does not illustrate what kind of value shooting angle δ 1 in this is.In addition, Japanese 2nd decision mechanism of patent of invention Publication special open 2016-134093 is used for front vehicles 51 and is present in than white line knowledge The case where remote position in position of other places reason ([0057]).Therefore, it is construed to Japanese invention patent Publication special open 2016- No. 134093 the 1st decision mechanisms and the 2nd decision mechanism are present in other of this vehicle side without imagination near this vehicle (especially this vehicle and other vehicles is just at low speed for the case where vehicle (or side barrier) is jumped a queue to this vehicle lane The case where).

The present invention considers technical problem as described above and completes, it is intended that providing a kind of when in this vehicle The travel controlling system and travel control method that neighbouring side barrier can be coped with rationally and effectively when jumping a queue to this vehicle lane.

There is travel controlling system according to the present invention external condition to obtain mechanism and traveling control mechanism, wherein

The external condition obtains the external condition that mechanism obtains this vehicle；

The traveling control mechanism obtains the external condition that mechanism is got according to the external condition to carry out described The traveling of vehicle controls,

The travel controlling system is characterized in that,

The external condition obtains the side barrier that mechanism detection is present in the side of described vehicle,

When the side of state Chong Die with described vehicle in the width direction in this vehicle lane of described vehicle driving When barrier has carried out defined close movement to described vehicle lane, the external condition obtains mechanism and is determined as the side Barrier has started to jump a queue to described vehicle lane.

According to the present invention, when the side barrier of state Chong Die with this vehicle in the width direction in this vehicle lane is to institute State this vehicle lane carried out it is defined close to movement when, be determined as that side barrier has started to jump a queue to this vehicle lane.According to This, even if in the case where the side barrier for being located at adjacent lane etc. is located near this vehicle in the side of this vehicle, traveling Control mechanism, which is also able to carry out, have been started the case where jumping a queue to this vehicle lane corresponding traveling with the side barrier and has controlled.

Following at least one is such as able to use close to action example as defined in described.

In the width direction in this vehicle lane a part of the side barrier of the state Chong Die with this vehicle crossed over or Just cross over the Lane Mark in this vehicle lane

Side barrier is lower than width direction distance threshold relative to the distance of the width direction base position in this vehicle lane

The speed of the width direction towards this vehicle lane of side barrier is more than width direction threshold speed

The acceleration of the width direction towards this vehicle lane of side barrier is more than width direction acceleration rate threshold

The external condition obtains mechanism and can also identify the side barrier and provide the lane in described vehicle lane Tag line.Alternatively, it is also possible to are as follows: described in state Chong Die with described vehicle in the width direction in described vehicle lane When a part of side barrier has crossed over or to be ready crossing over the Lane Mark in described vehicle lane, the external condition It obtains mechanism and is determined as that the side barrier has started to jump a queue to described vehicle lane.

According to the present invention, when the one of the side barrier of state Chong Die with this vehicle in the width direction in this vehicle lane When part has been crossed over or to be ready crossing over the Lane Mark in this vehicle lane, it is determined as that side barrier is carried out to this vehicle lane It jumps a queue.Accordingly, even if being located at the situation near this vehicle in the side of this vehicle in the side barrier for being located at adjacent lane etc. Under, traveling control mechanism is also able to carry out the case where jumping a queue with the side barrier to this vehicle lane corresponding traveling and controls.

The external condition obtains the side identification mechanism that mechanism also can have the side of described vehicle of identification.When by When the side identification mechanism recognizes the side barrier, the external condition, which obtains mechanism, can also monitor the side The moving condition of barrier.The traveling control mechanism can also carry out described according to the side barrier of monitored state Traveling control.

Hereby it is possible to by side barrier before being determined as that side barrier has started to be jumped a queue to this vehicle lane State is reflected in traveling control.Therefore, with until being determined as that side barrier has started to jump a queue to this vehicle lane not by side The state of square barrier be reflected in traveling control the case where compare, jumping a queue for side barrier can be quickly responded to.

The traveling control mechanism can also change before the side barrier starts to jump a queue and after starting to jump a queue The mode of the traveling control.Hereby it is possible to rationally and effectively carry out the traveling control based on side barrier.

The travel controlling system also can have target degree of approach set mechanism, target degree of approach set mechanism setting The target degree of approach relative to periphery barrier.The traveling control mechanism can also the traveling control according to relative to The target degree of approach of the side barrier sets target vehicle speed or target acceleration-deceleration.In addition, the traveling control The side barrier can also be started the target vehicle speed after being jumped a queue and is set to than starting to be added by mechanism processed The target vehicle speed before plug is small, or the side barrier is started to the target acceleration-deceleration after being jumped a queue It is set to bigger than starting the target acceleration-deceleration before being jumped a queue.Hereby it is possible to carry out corresponding with the presence or absence of jumping a queue Suitable deceleration.

The external condition, which obtains mechanism, also can detecte the front obstacle for being present in the front of described vehicle.It is described Traveling control mechanism can also be set using the target degree of approach relative to the preceding object in traveling control The temporary target vehicle speed or temporary target acceleration-deceleration of object and the side barrier.In addition, the traveling control mechanism Can choose in the temporary target vehicle speed or the temporary target acceleration-deceleration most inhibit close to the front obstacle with The value of the side barrier is as the target vehicle speed or the target acceleration-deceleration.Also, the traveling control machine Structure can also control the acceleration and deceleration of described vehicle according to the target vehicle speed or the target acceleration-deceleration.

According to the present invention, there are front obstacle and side barrier, hinder according to front is respectively relative to Hinder most inhibition in the temporary target vehicle speed or temporary target acceleration-deceleration of object and side barrier close to front obstacle and The value of side barrier controls the acceleration and deceleration of this vehicle.For example, respectively according to front obstacle and side barrier Relationship and in the case where needing deceleration, this vehicle deceleration is made according to the maximum value of deceleration.In addition, in basis respectively and front The relationship of barrier and side barrier and in the case where needing acceleration, accelerate this vehicle according to the smallest value of acceleration. Accordingly, this vehicle can rationally and effectively be controlled there are in the case where front obstacle and side barrier around this vehicle Acceleration and deceleration.

When the speed of described vehicle be lower than the 1st speed threshold value in the state of be determined as that the side barrier has started When being jumped a queue to described vehicle lane, the traveling control mechanism can also start the deceleration of described vehicle.Accordingly, even if There is side barrier to jump a queue also in the case where the speed of this vehicle is relatively low to cope with.

The external condition, which obtains mechanism, can also be present in described vehicle lane in the detection of the front of described vehicle The front obstacle of adjacent lane.The traveling control mechanism can also be more than the 2nd speed threshold value in the speed of described vehicle In the state of, when in the inclined of the front obstacle for being present in the adjacent lane and the Lane Mark in described vehicle lane When moving distance lower than distance threshold, it is determined as that the front obstacle has started to carry out lane change to described vehicle lane.Separately Outside, the traveling control mechanism can also be by the relationship with the front obstacle for having started the lane change to control State the acceleration and deceleration of this vehicle.It accordingly, can be in the front obstacle of adjacent lane in the case where the speed of this vehicle is relatively high The degree of closeness with front obstacle is adjusted before across the Lane Mark in this vehicle lane.

Travel control method according to the present invention has external condition obtaining step and traveling rate-determining steps, wherein

In the external condition obtaining step, mechanism is obtained by external condition to obtain the external condition of this vehicle；

In the traveling rate-determining steps, traveling control mechanism obtains the outside that mechanism detects according to the external condition Situation controls to carry out the traveling of described vehicle,

The travel control method is characterized in that,

In the external condition obtaining step,

Detection is present in the side barrier of the side of described vehicle,

When the side of state Chong Die with described vehicle in the width direction in this vehicle lane of described vehicle driving When barrier has carried out defined close movement to described vehicle lane, it is determined as the side barrier to the Ben Cheche It jumps a queue in road.

According to the present invention, even if other vehicles for being present in the side of this vehicle near this vehicle are jumped a queue to this vehicle lane In the case where be also able to carry out reply.

According to the explanation carried out referring to attached drawing to following implementation, above-mentioned objects, features and advantages should be easy to be managed Solution.

Detailed description of the invention

Fig. 1 be indicate include the outline structure of the vehicle of travel controlling system involved in an embodiment of the present invention frame Figure.

Fig. 2 is the figure for indicating the detection range of extraneous sensor of the embodiment.

Fig. 3 is the figure for indicating each portion of the arithmetic unit of the travel controlling system of the embodiment.

Fig. 4 is to indicate this vehicle in said embodiment and the feelings that the 1st front vehicles as front obstacle are travelling The figure of shape.

Fig. 5 is to indicate described in said embodiment vehicle, as the 2nd front vehicles of the front obstacle and the 3rd The figure for the situation that front vehicles are travelling.

Fig. 6 is to indicate described in said embodiment vehicle, as the 4th front vehicles of the front obstacle and conduct The figure for the situation that the side vehicle of side barrier is travelling.

Fig. 7 is the flow chart of the adaptive learning algorithms (ACC) in the embodiment.

Fig. 8 is the flow chart (details of the S1111 of Fig. 7) of the lane change determination processing of the embodiment.

Fig. 9 is the flow chart (details of the S1112 of Fig. 7) of the determination processing of jumping a queue of the embodiment.

Figure 10 is the flow chart (figure for calculating the temporary target acceleration-deceleration relative to each periphery barrier in said embodiment The details of 7 S17).

Specific embodiment

A. an embodiment

< A-1. structure >

[A-1-1. overall structure]

Fig. 1 be indicate include the outline structure of the vehicle 10 of travel controlling system 12 involved in an embodiment of the present invention frame Figure.Travel controlling system 12 has navigation device 20, extraneous sensor 22, car body behavior sensor 24, driver behavior sensor 26, communication device 28, man-machine interface 30 (hereinafter referred to as " HMI30 ".), driving force generating mechanism 32, brake apparatus 34, steering dress Set 36 and traveling electronic control unit 38 (hereinafter referred to as " traveling ECU38 " or " ECU38 ".).

[A-1-2. navigation device 20]

Navigation device 20 carries out vehicle 10 (below also known as " this vehicle 10 ".) to target location Pgoal along predefined paths The Route guiding of Rv.Navigation device 20 has Global Positioning System Sensor Unit 40 (hereinafter referred to as " GPS sensor 40 ".) and map Database 42 (hereinafter referred to as " map DB42 ".).The current location Pgps of the detection vehicle 10 of GPS sensor 40.In map DB42 In be stored with the information (cartographic information Imap) of road-map.

[external world A-1-3. sensor 22]

Fig. 2 is the figure for indicating the detection range of extraneous sensor 22 of present embodiment.The extraneous detection of sensor 22 and vehicle 10 The related information in external world's (external condition) (below also known as " external information Ie ".).As depicted in figs. 1 and 2, it is sensed in the external world It include the outer camera 50 (shoot part) of multiple vehicles, laser radar 52 and multiple ultrasonic sensors 54 in device 22.In addition, in Fig. 1 In only describe outer camera 50 and 1 ultrasonic sensor 54 of 1 vehicle.

The outer camera 50 of multiple vehicles is (below also known as " camera 50 ".) it include front camera 50a and shooting vehicle 10 Rear rear camera 50b (referring to Fig. 2).Front camera 50a is used to shoot the front of vehicle 10, has detection range 500.Front camera 50a is for example configured near the upper end of front windshield or preceding grid periphery.Rear camera 50b For shooting the rear of vehicle 10, there is detection range 502.Rear camera 50b is for example configured in rear bumper or lifts Carry on the back tail-gate.The side images F that the periphery of camera 50a, 50b output and shooting vehicle 10 obtains (is also known as " camera figure below As F " or " image F ".) related image information Iimage.

Laser radar 52 exports radar information Iradar, and radar information Iradar is indicated relative to being sent to vehicle 10 The back wave of the electromagnetic wave in front.Laser radar 52 has detection range 510.

Ultrasonic sensor 54 output ultrasonic wave information Isonar, ultrasound information Isonar are indicated relative to being sent to The back wave of the ultrasonic wave on the periphery (left diagonally forward, right diagonally forward, left rear ramp and right rear ramp) of vehicle 10.Supersonic sensing Ultrasonic sensor 54a in device 54 has the detection range 520fl of left diagonally forward.Ultrasonic sensor 54b have it is right tiltedly before The detection range 520fr of side.Ultrasonic sensor 54c has the detection range 520rl of left rear ramp.Ultrasonic sensor 54d Detection range 520rr with right rear ramp.

Other than camera 50, laser radar 52 and ultrasonic sensor 54, LIDAR (Light can also be set Detection And Ranging；Light detection and ranging).LIDAR is continually transmitted laser, and root to the comprehensive of vehicle 10 It is exported according to the three-dimensional position of its back wave measurement reflection point as three-dimensional information.

[A-1-4. car body behavior sensor 24]

Car body behavior sensor 24 detects information (car body behavioural information Ib) related with the behavior of vehicle 10 (especially car body). It include vehicle speed sensor 60, acceleration transducer 62 and yawrate sensor 64 in car body behavior sensor 24.Speed The vehicle velocity V [km/h] and direction of travel of the detection vehicle 10 of sensor 60.The acceleration G of the detection vehicle 10 of acceleration transducer 62 [m/s²].Acceleration G includes that fore-aft acceleration a, lateral acceleration G lat and upper and lower acceleration Gv (can also make it be one Divide the acceleration G on direction.).The yawrate Yr [rad/s] of the detection vehicle 10 of yawrate sensor 64.

[A-1-5. driver behavior sensor 26]

Driver behavior sensor 26 detects information (driving performance information Ido) related with the driver behavior that driver carries out.It drives Sailing in operation sensor 26 includes accelerator pedal sensor 70, brake pedal sensor 72, rotation angle sensor 74 and steering torque Sensor 76.The operating quantity θ ap [%] of the detection accelerator pedal 80 of accelerator pedal sensor 70.The detection system of brake pedal sensor 72 The operating quantity θ bp [%] of dynamic pedal 82.The rudder angle θ st [deg] of 74 detection direction disk 84 of rotation angle sensor.Steering torque sensor 76 detections are applied to the torque T st [Nm] of steering wheel 84.

[A-1-6. communication device 28]

Communication device 28 carries out the wireless communication with external equipment.For example including external clothes (not shown) in external equipment in this Business device.Further, it is assumed that the communication device 28 of present embodiment is to be carried (or fixing always) in the device of vehicle 10, but example Device as being also possible to be carried to the outside of vehicle 10 as mobile phone or smart phone.

[A-1-7.HMI30]

HMI30 accepts the operation input from occupant, and carries out various information to occupant by vision, the sense of hearing and tactile Prompt.It include that ACC switch 100 (is also known as " ACC SW100 " below in HMI30.), loudspeaker 102, touch screen 104 and wheat Gram wind 106.

ACC SW100 is to indicate adaptive learning algorithms (ACC:Adaptive Cruise for the operation by occupant Control beginning, end and the switch for setting vehicle velocity V set).In addition it is possible to pass through it other than ACC SW100 His method (voice input carried out via microphone 106 etc.) indicates beginning or end or the setting vehicle velocity V set of ACC, or Person replace ACC SW100 and by other methods (via microphone 106 carry out voice input etc.) come indicate ACC beginning or Terminate or set vehicle velocity V set.Touch screen 104 is for example including liquid crystal display panel or organic EL panel.

[A-1-8. drives force generating mechanism 32]

It drives force generating mechanism 32 that there is the engine 110 as travelling driving source, generates the traveling driving force of vehicle 10.Traveling Driving source can also be traction electric machine etc..Drive force generating mechanism 32 by travel ECU38 drive control part 174 (Fig. 3) come into Row control.

[A-1-9. brake apparatus 34]

Brake apparatus 34 has brake actuator 120 (or hydraulic mechanism), brake block etc., generates the brake force of vehicle 10. Brake apparatus 34 also can control the engine braking carried out by engine 110 and/or the regenerative braking carried out by traction electric machine. Brake apparatus 34 is controlled by travelling the brake control section 176 (Fig. 3) of ECU38.

[A-1-10. steering gear 36]

Steering gear 36 has electric power steering motor (EPS MOT) 130 etc., controls rudder angle θ st.Steering gear 36 is by travelling The steering control unit 178 (Fig. 3) of ECU38 is controlled.

[A-1-11. travels ECU38]

(summary of A-1-11-1. traveling ECU38)

In the case where the driving such as no ACC assist and carry out driver behavior by driver, traveling ECU38 is according to from car body row Come driving force generating means 32, brake apparatus 34 and steering dress for the detected value of sensor 24 and driver behavior sensor 26 Set 36.In addition, being removed in the case where ACC switch 100 is switched on and carries out driver behavior by driver while carrying out ACC Except car body behavior sensor 24 and driver behavior sensor 26, detected value of the traveling ECU38 also according to extraneous sensor 22 Come driving force generating means 32 and brake apparatus 34.

As shown in Figure 1, traveling ECU38 has input/output unit 150, arithmetic unit 152 and storage device 154.Input Output device 150 carries out the input and output with the equipment (navigation device 20, sensor 22,24,26 etc.) other than traveling ECU38.

Arithmetic unit 152 includes central processing unit (CPU), according to from navigation device 20, each sensor 22,24,26, The signal of communication device 28, HMI30 etc. carry out operation.Also, arithmetic unit 152 is according to operation result, raw pairwise communications dress Set the signal of 28, HMI30, driving force generating mechanism 32, brake apparatus 34 and steering gear 36.Referring to Fig. 3 later to operation The details of device 152 is described.

Storage device 154 stores the program and data that arithmetic unit 152 uses.Storage device 154 for example with depositing at random Access to memory (hereinafter referred to as " RAM ".).As RAM, it is non-volatile to be able to use the volatile memory such as register and flash memory etc. Memory.In addition, storage device 154 other than with RAM, can also have read-only memory (hereinafter referred to as " ROM ".).

(A-1-11-2. arithmetic unit 152)

(summary of A-1-11-2-1. arithmetic unit 152)

Fig. 3 is the figure for indicating each portion of the arithmetic unit 152 of traveling ECU38 of present embodiment.As shown in figure 3, traveling ECU38 Arithmetic unit 152 there is extraneous identification part 170, adaptive learning algorithms portion 172 (hereinafter referred to as " portion ACC 172 ".), driving Control unit 174, brake control section 176 and steering control unit 178.

In Fig. 3,1 arithmetic unit 152 has multiple each portions, but can also be respectively to included by arithmetic unit 152 Each portion's setting input/output unit 150, arithmetic unit 152 and storage device 154.It in other words, can also be respectively to arithmetic unit Each portion setting electronic control unit (ECU) for including in 152.

(external world A-1-11-2-2. identification part 170)

Around extraneous identification part 170 is identified according to the external information Ie (especially side images F) from extraneous sensor 22 Barrier or lane (or Lane Mark).As shown in figure 3, extraneous identification part 170 has lane identification portion 180, lane Presumption unit 182, front obstacle identification part 184, side obstacle recognition portion 186, rear obstacle identification part 188, barrier Position calculation part 190, lane change determination unit 192 and determination unit 194 of jumping a queue.

Lane identification portion 180 identifies Lane Mark 620 (Fig. 4~Fig. 6) according to camera image F.In addition, lane is known Other portion 180 identifies lane 612 (Fig. 4~Fig. 6) according to the Lane Mark 620 identified.

Lane Mark 620 that lane presumption unit 182 is identified according to lane identification portion 180 estimates Lane Mark Nearby side in 620 (close to the part of vehicle 10).As being learnt Fig. 2, the detection range 500 of front camera 50a It does not include the side (or oblique side) of vehicle 10.It therefore, can not in the image F of the current point in time of front camera 50a It detects in Lane Mark 620 close to the part of vehicle 10.Therefore, lane presumption unit 182 estimates vehicle according to past image F Close to the part of vehicle 10 in road tag line 620.Alternatively, lane presumption unit 182 can also according to the image F of current point in time and The yawrate Yr of vehicle 10 is estimated in Lane Mark 620 close to the part of vehicle 10.

Front obstacle identification part 184 is according to the image information Iimage and radar information Iradar of front camera 50a To identify front obstacle 600 (such as the 1st front vehicles 600d of front vehicles 600a~the 4th (Fig. 4~Fig. 6)).Side obstacle Object identification part 186 identifies side barrier 602 (such as side vehicle 602a (Fig. 6)) according to ultrasound information Isonar.Such as It is aftermentioned such, side barrier 602 can also be identified according to the information other than ultrasound information Isonar.Rear obstacle is known Believed according to the ultrasonic wave of the image information Iimage of rear camera 50b and ultrasonic sensor 54c, the 54d at rear in other portion 188 Isonar is ceased to identify rear obstacle (not shown).In front obstacle 600, side barrier 602 and rear obstacle The 1st front vehicles 600d of front vehicles 600a~the 4th, side vehicle 602a, pedestrian, bicycle for example including Fig. 4~Fig. 6, Wall, electric pole.

Obstacle Position calculation part 190 calculates the Lane Mark 620 and front obstacle that lane identification portion 180 identifies 600 relative position Prel1.In addition, Obstacle Position calculation part 190 calculates the lane markings that lane presumption unit 182 deduces The relative position Prel2 of line 620 and side barrier 602.

Change the lane change that determination unit 192 determines front obstacle 600 (front vehicles 600a~600d etc.) in lane.Add Plug determination unit 194 determines jumping a queue for side barrier 602 (side vehicle 602a etc.).In addition, so-called herein " jumping a queue " is vehicle One kind of road change.Other vehicle decelerations are forced that is, jumping a queue and referring to by carrying out lane change to the front of other vehicles Lane change.

(portion A-1-11-2-3.ACC 172)

The portion ACC 172 executes ACC.In ACC, there is no front obstacle 600 until the front of predetermined distance from this vehicle 10 In the case where (front vehicles 600a~600d), the acceleration and deceleration of vehicle 10 are controlled as target vehicle speed Vtar using fixed vehicle speed.Separately Outside, in ACC, in the case where there is front obstacle 600 until from this vehicle 10 to the front of the predetermined distance, to keep The acceleration and deceleration of vehicle 10 are controlled corresponding to the mode of vehicle velocity V and the target range Dtar of front obstacle 600.In control vehicle When 10 acceleration and deceleration, in ACC, by drive control part 174 and brake control section 176 come driving force generating means 32 With brake apparatus 34.

As shown in figure 3, the portion ACC 172 has target range configuration part 200 and driving control portion 202.Target range configuration part 200 (target degree of approach set mechanisms) are set relative to periphery barrier (especially front obstacle 600 and side barrier 602) target range Dtar (the target degree of approach).Driving control portion 202 follows this vehicle 10 outside according to target range Dtar Front vehicles 600b that boundary identification part 170 detects etc. and travel.

(A-1-11-2-4. drive control part 174, brake control section 176 and steering control unit 178)

Drive control part 174 is according to the operating quantity θ ap of accelerator pedal 80 or the instruction control at other positions from traveling ECU38 Engine 110 processed adjusts the traveling driving force of vehicle 10.Brake control section 176 according to the operating quantity θ bp of brake pedal 82 or The instruction at other positions of the person from traveling ECU38 makes brake actuator 120 etc. be operable to control the braking of vehicle 10 Power.

The operation that steering control unit 178 carries out steering wheel 84 according to driver or other portions from traveling ECU38 The instruction of position controls EPS motor 130, to control rudder angle θ st or the steering of vehicle 10.

The ACC > of < A-2. present embodiment

[summary of A-2-1.ACC]

Then, the adaptive learning algorithms of present embodiment (ACC) are illustrated.As described above, in ACC, according to target The front obstacle 600 (front vehicles 600b of Fig. 5 etc.) that distance Dtar makes this vehicle 10 that extraneous identification part 170 be followed to detect To travel.

Fig. 4 is to indicate this vehicle 10 in the present embodiment and the 1st front vehicles 600a as front obstacle 600 just In the figure of the situation of traveling.Fig. 5 is to indicate this vehicle 10, the 2nd front vehicle as front obstacle 600 in the present embodiment The figure for the situation that 600b and the 3rd front vehicles 600c are being travelled.Fig. 6 is to indicate this vehicle 10, work in the present embodiment The feelings that the 4th front vehicles 600d for front obstacle 600 and the side vehicle 602a as side barrier 602 are being travelled The figure of shape.

In Fig. 4~Fig. 6, the road 610 that this vehicle 10 etc. is travelling is unilateral 3 lanes, has 3 lanes 612 (612a,612b,612c).In the following, the lane 612b that this vehicle 10 travels also is known as this vehicle lane 612b, it will be with this vehicle lane 612b adjacent lane 612a, 612c is known as adjacent lane 612a, 612c.

Each lane 612a, 612b, 612c are provided by 2 Lane Marks 620 (620a~620d).That is, lane 612a It is provided by Lane Mark 620a, 620b.Lane 612b is provided by Lane Mark 620b, 620c.Lane 612c is by vehicle Road tag line 620c, 620d are provided.

In Fig. 4, the 1st front vehicles 600a is about to () and carries out lane from adjacent lane 612c to this vehicle lane 612b It changes (or jumping a queue) and is moved to the front of this vehicle 10.In Fig. 5, the 3rd front vehicles 600c is about to from adjacent lane 612a carries out lane change (or jumping a queue) to this vehicle lane 612b and moves to the front of this vehicle 10 and the 2nd front vehicles 600b It is dynamic.In Fig. 6, side vehicle 602a be about to from adjacent lane 612a to this vehicle lane 612b carry out lane change and to this vehicle It jumps a queue between 10 and the 4th front vehicles 600d.

In Fig. 4, the 1st front vehicles 600a includes in the detection range 500 of front camera 50a.Therefore, it travels ECU38 can determine the lane change of the 1st front vehicles 600a according to camera image F.Equally, in Fig. 5, the 2nd front Vehicle 600b and the 3rd front vehicles 600c includes in the detection range 500 of front camera 50a.Therefore, ECU38 energy is travelled Enough lane changes that the 3rd front vehicles 600c is determined according to camera image F.

On the other hand, in Fig. 6, side vehicle 602a is not comprised in the detection range 500 of front camera 50a. Therefore, traveling ECU38 cannot determine jumping a queue for side vehicle 602a according to camera image F.Alternatively, side vehicle 602a is included in the detection range 520fl of ultrasonic sensor 54.That is, even if in the width direction of this vehicle lane 612b, In the state that side vehicle 602a is Chong Die with this vehicle 10, ultrasonic sensor 54 is also able to detect side vehicle 602a.Therefore, Traveling ECU38 can determine jumping a queue for side vehicle 602a according to ultrasound information Isonar.

Therefore, any vehicle in the ACC of present embodiment, in front vehicles 600a, 600c and side vehicle 602a To this vehicle lane 612b carry out lane change (or jumping a queue) in the case where, if recognizing the situation, all in accordance with identification tie Fruit controls the acceleration and deceleration of this vehicle 10.But in the case where the example of Fig. 5, the 2nd front vehicles 600b is present in than the 3rd Position of the front vehicles 600c near this vehicle 10, therefore, compared with the change of the lane of the 3rd front vehicles 600c, along with The deceleration of 2nd front vehicles 600b of the lane change of the 3rd front vehicles 600c more influences the acceleration and deceleration of this vehicle 10.

In addition, here, being imaged for ease of understanding by front vehicles 600a~600d and side vehicle 602a, with front The relationship of the detection range 500 of head 50a is illustrated.It is noted, however, that in addition to front camera 50a detection range 500 it Outside, additionally it is possible to which front vehicles 600a~600d and side vehicle are determined by the relationship of the detection range 502 with laser radar 52 The movement of 602a.

[overall flow of A-2-2.ACC]

Fig. 7 is the flow chart of the ACC in present embodiment.In step s 11, the portion ACC 172 determines whether ACC switch 100 connects It is logical.If ACC switch 100 connects (S11: true), S12 is entered step.If ACC switch 100 disconnects (S11: pseudo-), repeat Step S11.

In step s 12, the portion ACC 172 determines whether to be recognized the lane of this vehicle lane 612b etc. by lane identification portion 180 Tag line 620.In the case where recognizing Lane Mark 620 (S12: true), S13 is entered step.

In step s 13, whether the portion ACC 172 determines the vehicle velocity V of this vehicle 10 below speed threshold value THv.Speed threshold value THv is the threshold value for determining whether to carry out aftermentioned side obstacle recognition processing, such as is set as 10~30km/h of speed per hour In any one fixed value.In vehicle velocity V in speed threshold value THv situation below (S13: true), S14 is entered step.

In step S14, obstacle recognition processing in periphery is (following also known as " to know when low speed when the portion ACC 172 carries out low speed Other places reason ".).Identifying processing is identification periphery barrier (the especially front obstacle when this vehicle 10 is run at a low speed when low speed 600 and side barrier 602) processing.As shown in fig. 7, identifying processing includes front obstacle identifying processing when low speed (S111) and side obstacle recognition handles (S112).Front obstacle identifying processing (S111) includes lane change determination processing (S1111).Side obstacle recognition processing (S112) includes jumping a queue determination processing (S1112).When later to low speed at identification The details of reason is described.

In vehicle velocity V not in speed threshold value THv situation below (S13: pseudo-), S15 is entered step.In step S15, The portion ACC 172 carries out obstacle recognition processing in periphery when high speed and (is also known as " identifying processing when high speed " below.).It is identified when high speed Processing is that the processing of periphery barrier (especially front obstacle 600) is identified when this vehicle 10 is run at high speed.Such as Fig. 7 institute Show, identifying processing includes front obstacle identifying processing (S111) the same preceding object with identifying processing when low speed when high speed Object identifying processing (S121).Front obstacle identifying processing (S121) includes lane change determination processing (S1211).It is right later The details of identifying processing is described when high speed.

In step s 16, the result of 172 determination step S14 or S15 of the portion ACC whether there is periphery barrier (especially Front obstacle 600 or side barrier 602 etc.).There are periphery barrier (S16: true), in step S17 In, the portion ACC 172 calculates the temporary target acceleration-deceleration atarp relative to each periphery barrier.0 later to step referring to Fig.1 The details of S17 is described.

In step S18, the portion ACC 172 selection by the calculated temporary target acceleration-deceleration atarp of step S17 most Small value is used as target acceleration-deceleration atar.There was only 1 feelings by the calculated temporary target acceleration-deceleration atarp of step S17 Under condition, the temporary target acceleration-deceleration atarp is directly selected as target acceleration-deceleration atar.

Return step S16 enters step S19 in the case where periphery barrier is not present (S16: pseudo-).In step S19 In, the vehicle velocity V that the portion ACC 172 is detected according to the setting vehicle velocity V set and vehicle speed sensor 60 that input via ACC switch 100 is (real Border vehicle velocity V) deviation delta V calculate target acceleration-deceleration atar.In the case where the value that deviation delta V is positive, the portion ACC 172 subtracts Small object acceleration-deceleration atar.In the case where the value that deviation delta V is negative, the portion ACC 172 increases target acceleration-deceleration atar.

In step S20, the portion ACC 172 is according to selection or calculated target acceleration and deceleration in step S18 or S19 Atar is spent to control the acceleration and deceleration of vehicle 10.For example, the portion ACC 172 calculates target acceleration-deceleration atar and acceleration transducer 62 The deviation delta a of the fore-aft acceleration a detected.In the case where deviation delta a is positive, the portion ACC 172 passes through driving force generating mechanism 32 increase the acceleration-deceleration a of vehicle 10.In addition, the portion ACC 172 is generated by driving force and is filled in the case where deviation delta a is negative Set 32 and/or brake apparatus 34 reduce the acceleration-deceleration a (or increase deceleration) of vehicle 10.In order to reduce acceleration-deceleration a, Such as the output of engine 110 can be reduced or engine braking is made to work.Can also in addition to the method described above and By make brake apparatus 34 be operable to reduce acceleration-deceleration a, or replace the above method and by make brake apparatus 34 into Row work reduces acceleration-deceleration a.

In the step s 21, the portion ACC 172 determines whether the condition, that is, ACC termination condition for terminating ACC is true.It is tied as ACC Beam condition is for example using the disconnection of ACC switch 100.(S21: pseudo-), return step in the case where ACC termination condition is invalid S12.In the case where ACC termination condition is set up (S21: true), terminate current processing.

Return step S12, in the case where not recognizing Lane Mark 620 (S12: pseudo-), in step S22, ACC Portion 172 carries out wrong output and terminates current ACC.It is exported as mistake, for example, the portion ACC 172 makes the meaning that can not carry out ACC The voice of think of is exported from microphone 106.The portion ACC 172 shows the information for the meaning that can not carry out ACC in addition to the method described above In touch screen 104, or replaces the above method and the information for the meaning that can not carry out ACC is made to be shown in touch screen 104.Alternatively, In the case where not recognizing Lane Mark 620, ACC can also be continued according to the information of front vehicles 600b etc..

[periphery obstacle recognition is handled when A-2-3. low speed]

(summary that periphery obstacle recognition is handled when A-2-3-1. low speed)

In low speed in identifying processing (S14 of Fig. 7), front obstacle identifying processing (S111) and side obstacle recognition are carried out It handles (S112), wherein according to front camera 50a and laser radar 52 in the front obstacle identifying processing (S111) Testing result identify front obstacle 600；In side obstacle recognition processing (S112), according to supersonic sensing The testing result of device 54 identifies side barrier 602.

It is carried out the following processing in front obstacle identifying processing.That is, lane identification portion 180 according to camera image F come Identify Lane Mark 620.Then, lane 612 is identified according to Lane Mark 620.184 basis of front obstacle identification part Image information Iimage and radar information Iradar come identify front obstacle 600 (including only by image information Iimage or Radar information Iradar is come the case where identifying front obstacle 600.).In addition, carrying out lane in front obstacle identifying processing Determination processing is changed, lane change determination processing refers to the front obstacle 600 determined in adjacent lane 612a or 612c The processing of lane change is carried out to this vehicle lane 612b.The lane 612 identified in front obstacle identifying processing and front The information such as position, the lane change of barrier 600 are (below also known as " front information If ".) be used for Fig. 7 step S16, S17。

It is carried out the following processing in the processing of side obstacle recognition.That is, lane presumption unit 182 is according to lane identification portion 180 The moving direction of the Lane Mark 620, this vehicle 10 that identify in the past and moving distance estimate the vehicle near this vehicle 10 Road tag line 620.The Lane Mark 620 (hereinafter referred to as " presumption Lane Mark 620e " deduced.) it is to be present in front Lane Mark outside the detection range 500 of camera 50a.Alternatively, lane presumption unit 182 can also be according to current point in time The yawrate Yr of image F and vehicle 10 is estimated in Lane Mark 620 close to the part of vehicle 10.

In addition, side obstacle recognition portion 186 identifies side barrier 602 according to ultrasound information Isonar.Also, Side obstacle recognition processing in carry out determination processing of jumping a queue, the determination processing of jumping a queue refer to determine adjacent lane 612a or The processing that side barrier 602 in 612c is jumped a queue to this vehicle lane 612b.It is identified in the processing of side obstacle recognition The position of side barrier 602 out, the information such as jump a queue are (below also known as " side information Is ".) the step of being used for Fig. 7 S16、S17。

(changing determination processing in the lane A-2-3-2.)

Fig. 8 is the flow chart (details of the S1111 of Fig. 7) of the lane change determination processing of present embodiment.Lane change determines Processing can be used as multiple processes and execute side by side.That is, in the case where 1 adjacent lane 612a, 612c are not present or even if In the case that at least front obstacle 600 is also not present in 1 adjacent lane 612a, 612c, vehicle is executed as 1 process Change determination processing in road.In addition, being held at least 1 adjacent lane 612a, 612c there are in the case where front obstacle 600 Process (1st process) of the hand-manipulating of needle to the front obstacle 600.In addition to this, hinder as the front for next newly detecting Hinder the lane of the process (the 2nd process) of object 600 to change determination processing to execute side by side with the 1st process.Therefore, lane change determines Portion 192 executes vehicle to add 1 obtained quantity in the quantity for the front obstacle 600 for being present in adjacent lane 612a, 612c The process of road change determination processing.

In the step S31 of Fig. 8, lane changes determination unit 192 and obtains front information from Obstacle Position calculation part 190 If.As described above, front information If includes the information of the relative position Prel1 of front obstacle 600 and Lane Mark 620. Front information If is calculated according to image information Iimage and radar information Iradar.

In step s 32, lane change determination unit 192 determines on adjacent lane 612a, 612c according to front information If With the presence or absence of new front obstacle 600.The case where as step S32 being pseudo- (FALSE), is for example including 180 nothing of lane identification portion Method recognizes that the case where lane 612, there is no the feelings of direction of travel adjacent lane 612a, 612c identical with this vehicle lane 612b Condition and on all adjacent lane 612a, 612c be not present front obstacle 600 the case where.There are new preceding objects In the case where object 600 (S32: true), in step S33, lane, which changes determination unit 192 and changes lane, indicates that FLG1 is set as 0.

Lane change mark FLG1 (following also known as " mark FLG1 ".) indicate that the front of adjacent lane 612a, 612c hinder Hinder whether object 600 is carrying out lane change.In the case where indicating FLG1 is 0, indicate indicating without carrying out lane change In the case that FLG1 is 1, expression is carrying out lane change.Mark FLG1 is used for the step S17 of Fig. 7 according to the regulation period Deng.

In step S34, lane change determination unit 192 obtains new front information If from Obstacle Position calculation part 190 To update front information If.In step s 35, change determination unit 192 in lane determines whether lane change mark FLG1 is 0.? In the case that lane change mark FLG1 is 0 (S35: true), S36 is entered step.The case where mark FLG1 is not 0 is changed in lane Under (S35: pseudo-), that is, lane change mark FLG1 is 1, in the case where carrying out lane change, enters step S39.

In step S36, whether the front obstacle 600 of the lane change judgement of determination unit 192 adjacent lane 612a, 612c Lane change is started.Lane change start for example according in front obstacle 600 near the position of this vehicle lane side 612b With in the Lane Mark 620 of this vehicle lane 612b close to the side of front obstacle 600 position offset distance Do whether Determine below distance threshold THdo.

(S36: pseudo-) in the case that lane is changed is not started in the front obstacle 600 of adjacent lane 612a, 612c, In step S37, lane change determination unit 192 determines whether the front obstacle 600 of adjacent lane 612a, 612c disappear.Herein The case where so-called " disappearance of front obstacle 600 ", refers to front obstacle 600 departing from front supervision object range.Front prison Regarding object range for example can be to be combined with the detection range 500 of front camera 50a and the detection range 502 of laser radar 52 Range.

(S37: pseudo-), return step in the case where the front obstacle 600 of adjacent lane 612a, 612c still have S34.In the case where the front obstacle 600 of adjacent lane 612a, 612c disappear (S37: true), terminate current lane change Determination processing (process).

Return step S36, in the case where the front obstacle 600 of adjacent lane 612a, 612c have started lane change (S36: true), at step S38, lane, which changes determination unit 192 and changes lane, indicates that FLG1 is set as 1.After setting change Lane change mark FLG1 is used for step S17 of Fig. 7 etc..

In step S39, lane change determination unit 192 determines whether the lane change of front obstacle 600 terminates.In vehicle In the case that road change terminates (S39: true), terminate current lane change determination processing (process).In lane, change is not tied (S39: pseudo-), return step S34 in the case where beam.

" end " of so-called lane change herein include front obstacle 600 complete the movement to this vehicle lane 612b, The movement to this vehicle lane 612b is not completed with front obstacle 600 and is interrupted lane change and (in other words, is continued adjacent It is travelled in lane 612a, 612c).

Mobile completion from front obstacle 600 to this vehicle lane 612b for example by determining that front obstacle 600 is whole It completes Lane Mark 620b, 620c across this vehicle lane 612b and carries out.In addition, the lane that front obstacle 600 carries out Even if since the interruption of change be more than for example the 1st time threshold by the time starting lane change, front obstacle 600 is still It is present in adjacent lane 612a, 612c to determine.

(A-2-3-3. jump a queue determination processing)

Fig. 9 is the flow chart (details of the S1112 of Fig. 7) of the determination processing of jumping a queue of present embodiment.Determination processing of jumping a queue can be made It is executed side by side for multiple processes.That is, in the case where being not present 1 adjacent lane 612a, 612c or even if depositing In the case where at least side barrier 602 is also not present in 1 adjacent lane 612a, 612c, executes and jump a queue as 1 process Determination processing.In addition, there are in the case where side barrier 602, execution is directed at least 1 adjacent lane 612a, 612c The process (the 1st process) of the side barrier 602.In addition to this, as the side barrier 602 for next newly detecting The determination processing of jumping a queue of process (the 2nd process) executed side by side with the 1st process.Therefore, determination unit 194 is jumped a queue to be present in The work for determination processing of jumping a queue is executed in the quantity of the side barrier 602 of adjacent lane 612a, 612c plus 1 obtained quantity Sequence.

In the step S51 of Fig. 9, determination unit 194 of jumping a queue obtains side information Is from Obstacle Position calculation part 190.Such as Upper described, side information Is includes the information for estimating the relative position Prel2 of Lane Mark 620e and side barrier 602. Side information Is is calculated according to image information Iimage and ultrasound information Isonar.

In step S52, determination unit 194 of jumping a queue determined according to side information Is be on adjacent lane 612a, 612c It is no that there are new side barriers 602.The case where step S52 is pseudo- (FALSE) can not identify for example including lane identification portion 180 The case where to lane 612, the Lane Mark 620 identified according to lane identification portion 180, can not deduce the presumption of nearby side The case where Lane Mark 620e, there is no the feelings of direction of travel adjacent lane 612a, 612c identical with this vehicle lane 612b Condition and on all adjacent lane 612a, 612c be not present side barrier 602 the case where.There are new side obstacles In the case where object 602 (S52: true), in step S53, determination unit 194 of jumping a queue, which will jump a queue, indicates that FLG2 is set as 0.

It jumps a queue and indicates FLG2 (following also known as " mark FLG2 ".) indicate adjacent lane 612a, 612c side barrier Whether 602 jumping a queue.In the case where indicating FLG2 is 0, expression is not jumped a queue, the feelings for being 1 in mark FLG2 Under condition, expression is being jumped a queue.Mark FLG2 is used for the step S17 etc. of Fig. 7 according to the regulation period.

In step S54, determination unit 194 of jumping a queue, which obtains new side information Is from Obstacle Position calculation part 190, to be come more New side information Is.In step S55, determination unit 194 of jumping a queue judgement, which is jumped a queue, indicates whether FLG2 is 0.Indicate FLG2 jumping a queue In the case where being 0 (S55: true), S56 is entered step.In the case where jumping a queue that indicate FLG2 not be 0 (S55: pseudo-), that is, jumping a queue Indicate that FLG2 is 1, in the case where being jumped a queue, enters step S59.

In step S56, determination unit 194 of jumping a queue determines whether the side barrier 602 of adjacent lane 612a, 612c have been opened Beginning jumps a queue.The beginning jumped a queue for example is able to use Chong Die with this vehicle 10 state in the width direction of this vehicle lane 612b A part of side barrier 602 has crossed over or to be ready making across Lane Mark 620b, 620c of this vehicle lane 612b For condition.

A part of side barrier 602 crossed over or be about to across this vehicle lane 612b Lane Mark 620b, The case where 620c by comparing the side barrier 602 based on ultrasound information Iradar position and presumption Lane Mark Position (in other words, Prel2 depending on the relative position) Lai Jinhang of 620e.In addition to this, it also can be used close to presumption lane mark Know the speed or acceleration of the side barrier 602 on the direction of line 620e.

In the case where the side barrier 602 of adjacent lane 612a, 612c do not start to jump a queue (S56: pseudo-), into step Rapid S57.In step S57, determination unit 194 of jumping a queue determines whether the side barrier 602 of adjacent lane 612a, 612c disappear. The case where so-called herein " disappearance of side barrier 602 ", refers to side barrier 602 departing from side supervision object range.Side Square supervision object range for example can be to be combined with the range of detection range 520fl, 520fr of ultrasonic sensor 54a, 54b.

(S57: pseudo-), return step in the case where the side barrier 602 of adjacent lane 612a, 612c still have S54.In the case where the side barrier 602 of adjacent lane 612a, 612c disappear (S57: true), terminate current judgement of jumping a queue It handles (process).

Return step S56, in the case where the side barrier 602 of adjacent lane 612a, 612c have started to jump a queue (S56: Very), in step S58, determination unit 194 of jumping a queue, which will jump a queue, indicates that FLG2 is set as 1.Jumping a queue after setting change indicates FLG2 quilt Step S17 etc. for Fig. 7.

In step S59, determination unit 194 of jumping a queue determines whether jumping a queue for side barrier 602 terminates.In end of jumping a queue In the case of (S59: true), terminate current determination processing of jumping a queue (process).Jump a queue be not in the case where (S59: pseudo-), return Return step S54.

So-called " end " jumped a queue herein includes that side barrier 602 completes movement and side to this vehicle lane 612b Square barrier 602 do not complete the movement to this vehicle lane 612b and interrupt and jump a queue (in other words, continue adjacent lane 612a, It is travelled in 612c).

Mobile completion from side barrier 602 to this vehicle lane 612b for example by determining that side barrier 602 is whole It completes to carry out across Lane Mark 620b, 620c of this vehicle lane 612b.In addition, the progress of side barrier 602 is jumped a queue Even if interruption be more than for example the 2nd time threshold by the time since starting to jump a queue, side barrier 602 is still in phase Adjacent lane 612a, 612c determine.

[periphery obstacle recognition is handled when A-2-4. high speed]

Front obstacle identifying processing (S121) is carried out in identifying processing (S15 of Fig. 7) in high speed, wherein the front obstacle Identifying processing (S121), which refers to according to the testing result of front camera 50a and laser radar 52, identifies front obstacle 600 Processing.The front obstacle identifying processing (S121) of identifying processing and the front obstacle of identifying processing when low speed are known when high speed It is same that (S111) is managed in other places.But it is also possible to carry out the beginning of lane change with the condition different from identifying processing when low speed Determine (S36 of Fig. 8), terminate to determine (S39) etc..

[calculating (S17 of Fig. 7) of the A-2-5. relative to the temporary target acceleration-deceleration atarp of each periphery barrier]

Figure 10 is the flow chart for calculating the temporary target acceleration-deceleration atarp relative to each periphery barrier in the present embodiment (details of the S17 of Fig. 7).In step S71, the portion ACC 172 sets this vehicle 10 and each periphery barrier (front obstacle 600 With side barrier 602) target range Dtar.

For example, the portion ACC 172 sets target range Dtar according to the vehicle velocity V of this vehicle 10.Specifically, vehicle velocity V is faster Then make target range Dtar longer, the vehicle velocity V the slow, keeps target range Dtar shorter.In addition, the portion ACC 172 is according to preceding object The difference of object 600 and side barrier 602 changes target range Dtar.Specifically, by the target of side barrier 602 away from It is set to from Dtar shorter than front obstacle 600.Hereby it is possible to carry out the deceleration according to actual driving condition.

Also, even if will also carry out lane change in the front obstacle 600 positioned at adjacent lane 612a, 612c The target range Dtar of front obstacle 600 more is set to longer than no front obstacle 600 for carrying out lane change.According to This, can carry out the deceleration relative to the front obstacle 600 for carrying out lane change in advance.Equally, even if hindering in side Hinder in object 602, the target range Dtar for the side barrier 602 jumped a queue also is set to the side obstacle than not jumping a queue Object 602 is long.Hereby it is possible to carry out the deceleration relative to the side barrier 602 jumped a queue in advance.

In step S72, the portion ACC 172 obtains the reality of this vehicle 10 Yu each periphery barrier from extraneous identification part 170 Distance D and relative velocity Vrel.Relative velocity Vrel is positive with the direction of this vehicle 10 close to periphery barrier, with this vehicle 10 Direction far from periphery barrier is negative.In step S73, the portion ACC 172 calculates the inclined of target range Dtar and actual range D Poor Δ D (Δ D=Dtar-D).

In step S74, the portion ACC 172 calculates temporary target according to deviation delta D (S73) and relative velocity Vrel (S72) Acceleration-deceleration atarp.Specifically, the positive deviation delta D the big, make temporary target acceleration-deceleration atarp is bigger (to make acceleration It is bigger).In addition, the absolute value of negative deviation delta D the big, make temporary target acceleration-deceleration atarp it is smaller (make deceleration more Greatly).

Also, the relative velocity Vrel the big, makes temporary target acceleration-deceleration atarp is smaller (to keep acceleration smaller or make Deceleration is bigger).In addition, relative velocity Vrel is smaller, make temporary target acceleration-deceleration atarp it is bigger (keep acceleration bigger or Person keeps deceleration smaller).

In the present embodiment, by the combination for defining deviation delta D and relative velocity Vrel and temporary target acceleration-deceleration The mapping of the relationship of atarp is pre-stored within storage device 154.Also, the portion ACC 172 is read and deviation delta D and phase from mapping Temporary target acceleration-deceleration atarp corresponding to the combination of speed Vrel come using.

The effect > of < A-3. present embodiment

As described above, according to the present embodiment, when state Chong Die with this vehicle 10 in the width direction in this vehicle lane 612b Side barrier 602 to this vehicle lane 612b carried out it is defined close to movement (a part of side barrier 602 has been crossed over Or be about to the movement across Lane Mark 620b, 620c of this vehicle lane 612b) when (S56 of Fig. 9: true), be determined as side Square barrier 602 has started to be jumped a queue (S58) to this vehicle lane 612b.Accordingly, even if being located at adjacent lane 612a, 612c Deng side barrier 602 in the case where the side of this vehicle 10 is located near this vehicle 10, traveling ECU38 (traveling control Mechanism) it is also able to carry out and has started the case where jumping a queue to this vehicle lane 612b corresponding ACC (traveling with the side barrier 602 Control).

In the present embodiment, extraneous identification part 170 (external condition acquisition mechanism) has the side of identification this vehicle 10 Side obstacle recognition portion 186 (side identification mechanism) (Fig. 3).In addition, when recognizing side by side obstacle recognition portion 186 When square barrier 602 (S52 of Fig. 9: true), extraneous identification part 170 monitors the moving condition (S54 of Fig. 9 of side barrier 602 ~S59).Also, traveling ECU38 (traveling control mechanism) carries out ACC (traveling according to the side barrier 602 of monitored state Control) (S20 of Fig. 7).

Hereby it is possible to by side obstacle before being determined as that side barrier 602 has started to jump a queue to this vehicle lane 612b The state of object 602 is reflected in ACC.Therefore, and until being determined as that side barrier 602 has started to jump a queue to this vehicle lane 612b The case where state of side barrier 602 is not reflected in ACC compares, and can quickly respond to side barrier 602 It jumps a queue.

In the present embodiment, travel ECU38 (traveling control mechanism) side barrier 602 jump a queue start before and plus Plug changes the mode (Fig. 7~Fig. 9) of ACC (traveling control) after starting.Hereby it is possible to rationally and effectively carry out based on side obstacle The ACC of object 602.

Travelling ECU38 has target range configuration part 200 (target degree of approach set mechanism), the target range configuration part The target range Dtar for the periphery barrier that 200 settings are detected relative to extraneous sensor 22 (nearby vehicle testing agency) (the target degree of approach) (Fig. 3).ECU38 (traveling control mechanism) is travelled in ACC (traveling control), according to relative to side obstacle The target range Dtar of object 602 sets target acceleration-deceleration atar (S17, S18, Figure 10 of Fig. 7).In addition, traveling ECU38 will The temporary target acceleration-deceleration atarp after starting that jumps a queue be set to than side barrier 602 jump a queue start before it is big (Fig. 7's S17).Hereby it is possible to carry out and corresponding suitable deceleration of the presence or absence of jumping a queue.

In the present embodiment, before extraneous identification part 170 (external condition acquisition mechanism) detection is present in this vehicle 10 The front obstacle 600 (the front obstacle identification part 184 of Fig. 3) of side.ECU38 (traveling control mechanism) is travelled in ACC (traveling Control) in, it is set using target range Dtar (the target degree of approach) relative to front obstacle 600 and side barrier 602 Temporary target acceleration-deceleration atarp (S17 of Fig. 7).In addition, traveling ECU38 is selected in temporary target acceleration-deceleration atarp Most inhibit close to front obstacle 600 and the value of side barrier 602 as target acceleration-deceleration atar (S18).Also, row Sail ECU38 and control according to target acceleration-deceleration atar the acceleration and deceleration (S20) of this vehicle 10.

According to the present embodiment, there are front obstacle 600 and side barrier 602, according to phase respectively For the most inhibition in the temporary target acceleration-deceleration atarp of front obstacle 600 and side barrier 602 close to preceding object The value of object 600 and side barrier 602 controls the acceleration and deceleration of this vehicle 10.For example, according to respectively with front obstacle 600 In the case where needing deceleration, this vehicle 10 is made to slow down according to the maximum value of deceleration with the relationship of side barrier 602.Separately Outside, according to acceleration is needed with front obstacle 600 and the relationship of side barrier 602 respectively, according to acceleration The smallest value is spent accelerate this vehicle 10.Accordingly, there are front obstacles 600 and side barrier around this vehicle 10 In the case where 602, the acceleration and deceleration of this vehicle 10 can be rationally and effectively controlled.

In the present embodiment, in state (figure of the vehicle velocity V of this vehicle 10 lower than speed threshold value THv (the 1st speed threshold value) 7 S13: true) under, in the case where being determined as that side barrier 602 has started to be jumped a queue to this vehicle lane 612b (Fig. 9's S56: true), traveling ECU38 (traveling control mechanism) is subtracted by increasing the target range Dtar relative to side barrier 602 Small temporary target acceleration-deceleration atarp (S17, Figure 10 of Fig. 7).

As a result, in the smallest situation of temporary target acceleration-deceleration atarp for the side barrier 602 jumped a queue, Start the deceleration (S18, S20 of Fig. 7) of this vehicle 10.Accordingly, in the case where the vehicle velocity V of this vehicle 10 is relatively low, even if having Side barrier 602 is jumped a queue and is also coped with.

In the present embodiment, travelling ECU38 (traveling control mechanism) in the vehicle velocity V of this vehicle 10 is more than speed threshold value In the state of THv (the 2nd speed threshold value) (S13 of Fig. 7: pseudo-), in the offset distance of front obstacle 600 and Lane Mark 620 From Do lower than (S36 of Fig. 8: true) in the case where distance threshold THdo, it is determined as that front obstacle 600 has started to this vehicle lane 612b carries out lane change (S38 of Fig. 8).In addition, traveling ECU38 is being determined as that front obstacle 600 started to Ben Cheche Road 612b is carried out in the case where the change of lane (S36 of Fig. 8: true), traveling ECU38 (traveling control mechanism) by increase relative to The target range Dtar of front obstacle 600 reduces temporary target acceleration-deceleration atarp (S17, Figure 10 of Fig. 7).

As a result, the temporary target acceleration-deceleration atarp in the front obstacle 600 for carrying out lane change is the smallest In the case of, start the deceleration (S18, S20 of Fig. 7) of this vehicle 10.In other words, according to started lane change preceding object The relationship of object 600 controls the acceleration and deceleration of this vehicle 10.Accordingly, in the case where the vehicle velocity V of this vehicle 10 is relatively high, Neng Gou Front obstacle 600 crosses over Lane Mark 620b, the 620c adjustment before of this vehicle lane 612b and connecing for front obstacle 600 Short range degree.

B. variation

In addition, can be used certainly according to the contents of this specification each the present invention is not limited to above embodiment Kind structure.For example, structure as shown below can be used.

The structure > of < B-1. vehicle 10

In the above-described embodiment, software used in arithmetic unit 152 is recorded in advance in storage device 154, but not It is defined in this.For example, software can also be from external (for example, the external server that can be communicated by public network) come under It carries, or to be not accompanied by the so-called ASP of downloading (Application Service Provider；Application service provider) type To execute.

In the above-described embodiment, using ultrasonic sensor 54 as detection this vehicle 10 side (or tiltedly before Extraneous sensor 22 (Fig. 1 and Fig. 2) just).However, for example, if from detection this vehicle 10 side (or diagonally forward) sight Point sets out, then it's not limited to that.For example, it is also possible to be arranged detection this vehicle 10 side side camera or side swash Optical radar or LIDAR come using.

< B-2. controls >

[the B-2-1. target degree of approach]

In the above-described embodiment, the plus-minus of this vehicle 10 is controlled using the deviation delta D of target range Dtar and actual range D Fast (S74 of S17, Figure 10 of Fig. 7).However, for example, if being controlled from the target degree of approach used relative to periphery barrier From the perspective of the acceleration and deceleration of this vehicle 10, then it's not limited to that.For example, deviation delta D can also be replaced and use TTC (Time To Collision)。

[target value that B-2-2. controls the acceleration and deceleration of this vehicle 10]

In the ACC of above embodiment, using target acceleration-deceleration atar as the mesh of the acceleration and deceleration of control this vehicle 10 Scale value (S18 of Fig. 7).However, for example, it's not limited to that as the target value of acceleration and deceleration of control this vehicle 10.For example, also Target vehicle speed Vtar is able to use to control the acceleration and deceleration of this vehicle 10.In this case, if there is multiple periphery barriers are (preceding Square barrier 600, side barrier 602), then ECU38 is travelled to each periphery barrier to calculate temporary target vehicle speed Vtarp.Also, it travels ECU38 to select to inhibit the value close to periphery barrier most in multiple temporary target vehicle speed Vtarp to make For target vehicle speed Vtar.

[when B-2-3. low speed identifying processing and when high speed identifying processing switching]

It in the above-described embodiment, whether is speed threshold value THv come knowledge when identifying processing when switching low speed and high speed according to vehicle velocity V Manage (S13~S15 of Fig. 7) in other places.However, can also then make the 1st speed threshold value THv1 and for example, if consider hysteresis characteristic 2 speed threshold value THv2 are different, wherein when identifying processing is switched to low speed when the 1st speed threshold value THv1 is for from high speed The threshold speed of identifying processing；Identification when identifying processing is switched to high speed when the 2nd speed threshold value THv2 is for from low speed The threshold speed of processing.In this case, the 1st speed threshold value THv1 is set to the value lower than the 2nd speed threshold value THv2.

[processing of the side B-2-4. obstacle recognition]

In the above-described embodiment, only in vehicle velocity V, (S13: true) is carried out according to ultrasonic wave in speed threshold value THv situation below The testing result of sensor 54 (side identification mechanism) come identify side barrier 602 side obstacle recognition processing (Fig. 7's S112).However, according to identification side barrier 602 side identification mechanism specification, additionally it is possible to not the limitation of vehicle velocity V and Carry out the processing of side obstacle recognition.But substantially, it may be said that when running at high speed, jump a queue from the side of this vehicle 10 Probability of happening it is low.On the other hand, when running at a low speed, it is also possible to which there are following situations: the evacuation such as side vehicle 602a occurs It is sent out in the necessity for the barrier (stopping vehicle etc.) that adjacent lane 612a stops or in the interflow place in a plurality of lane 612 From birth from the necessity that the jumping a queue for side of this vehicle 10 needs to avoid side vehicle 602a etc. the case where.Therefore, only at this Vehicle 10 is applicable in the processing of side obstacle recognition when being in low speed more preferable.

[judgement of the lane change of the front obstacle 600 of B-2-5. adjacent lane 612a, 612c]

In the above-described embodiment, in order to determine the front obstacle 600 for being present in adjacent lane 612a, 612c lane change Start and uses offset distance Do (S36 of Fig. 8).However, for example, if since determine lane change, then It's not limited to that.For example, it is also possible to determine that lane becomes by the same method of judgement (S56 of Fig. 9) with beginning of jumping a queue Beginning more.

Alternatively, for example, if from the viewpoint for controlling the acceleration and deceleration of this vehicle 10 according to the relationship with multiple periphery barriers It sets out, then the temporary target vehicle speed Vtarp of calculating or the temporary mesh being present in the periphery barrier of adjacent lane 612a, 612c The periphery that the periphery barrier of mark acceleration-deceleration atarp is not limited to start to carry out lane change to this vehicle lane 612b hinders Hinder object.

That is, the portion ACC 172, which carries out lane, changes determination processing, lane change determination processing refers to being present in adjacent vehicle Each periphery barrier of road 612a, 612c determine its processing for whether having started to carry out lane change to this vehicle lane 612b.And And temporary target vehicle speed can also be started to lane change, adjacent lane 612a, 612c periphery barrier has been started The calculating of Vtarp or temporary target acceleration-deceleration atarp.The judgement for whether having started lane change is for example able to use periphery barrier At least one in the variable quantity of the direction of travel of object, offset distance Do and offset distance Do per unit time is hindered to be sentenced It is fixed.

Using lane change determination processing, relative to this vehicle lane 612b and adjacent lane 612a, 612c The comparison of temporary target vehicle speed Vtarp or temporary target acceleration-deceleration atarp of periphery barrier can also be defined in phase During the periphery barrier of adjacent lane 612a, 612c are carrying out lane change.In this case, the end that lane is changed Decision condition for example can no longer carry out cross to carry out the periphery barrier (the 1st front vehicles 600a of Fig. 4 etc.) of lane change Mobile situation, from no longer carry out traversing dynamic the case where beginning to pass through for 1 stipulated time, from starting temporary target vehicle speed The case where comparison of Vtarp etc. began to pass through for 2 stipulated time, since no longer carry out it is traversing it is dynamic this vehicle 10 or periphery Barrier moves the case where predetermined distance.

[deceleration of B-2-6. this vehicle 10 starts]

In the above-described embodiment, in the case where side barrier 602 has started to jump a queue (S56 of Fig. 9: true), pass through reduction The target acceleration-deceleration atar of side barrier 602 can start the deceleration (S20) of this vehicle 10.However, for example, if from pressing According to side barrier 602 jump a queue beginning and make this vehicle 10 slow down from the perspective of, then it's not limited to that.For example, having Side barrier 602 starts in the case where jumping a queue, can also without temporary target acceleration-deceleration atarp comparison and start this The deceleration of vehicle 10.

Other > of < B-3.

In the above-described embodiment, using Fig. 7~process shown in Fig. 10.However, effect of the invention for example can obtained In the case where, it's not limited to that for the content (sequence of each step) of process.Such as the step S71 and step of Figure 10 can be exchanged The sequence of S72.

In the above-described embodiment, exist in the comparison of numerical value and include the case where equal sign and do not include the case where equal sign (S13 etc. of Fig. 7).However, for example, as long as no including equal sign or removing the special meaning of equal sign (in other words, can In the case where obtaining effect of the invention), in the comparison of numerical value include equal sign still do not include that equal sign can arbitrarily be set.

Under the meaning, such as can be by the vehicle velocity V of this vehicle 10 in the step S13 of Fig. 7 whether in speed threshold value THv Judgement (V≤THv) below is replaced into the judgement (V < THv) whether vehicle velocity V is lower than speed threshold value THv.

Claims (9)

1. a kind of travel controlling system obtains mechanism and traveling control mechanism with external condition, wherein

The external condition obtains the external condition that mechanism obtains this vehicle；

The traveling control mechanism obtains the external condition that mechanism is got according to the external condition to carry out described The traveling of vehicle controls,

The travel controlling system is characterized in that,

The external condition obtains the side barrier that mechanism detection is present in the side of described vehicle,

When the side of state Chong Die with described vehicle in the width direction in this vehicle lane of described vehicle driving When barrier has carried out defined close movement to described vehicle lane, the external condition obtains mechanism and is determined as the side Barrier has started to jump a queue to described vehicle lane.

2. travel controlling system according to claim 1, which is characterized in that

The external condition obtains mechanism and identifies the side barrier and provide the Lane Mark in described vehicle lane,

When one of the side barrier of state Chong Die with described vehicle in the width direction in described vehicle lane When dividing the Lane Mark for having crossed over or being about to described vehicle lane of leap, the external condition obtains mechanism and is determined as institute Side barrier is stated to have started to jump a queue to described vehicle lane.

3. travel controlling system according to claim 1, which is characterized in that

The external condition obtains the side identification mechanism that mechanism has the side of described vehicle of identification,

When recognizing the side barrier by the side identification mechanism, the external condition obtains mechanism and monitors the side The moving condition of square barrier,

The traveling control mechanism carries out the traveling control according to the side barrier of monitored state.

4. travel controlling system according to claim 1, which is characterized in that

The traveling control mechanism before the side barrier starts to be jumped a queue and changes institute after starting to be jumped a queue State the mode of traveling control.

5. travel controlling system according to claim 4, which is characterized in that

The travel controlling system has target degree of approach set mechanism, which sets relative to periphery The target degree of approach of barrier,

The traveling control mechanism is in the traveling control according to the target degree of approach relative to the side barrier Set target vehicle speed or target acceleration-deceleration,

The side barrier is started the target vehicle speed after being jumped a queue and is set to than opening by the traveling control mechanism The target vehicle speed before beginning to be jumped a queue is small, or the side barrier is started to the target after being jumped a queue Acceleration-deceleration is set to bigger than starting the target acceleration-deceleration before being jumped a queue.

6. travel controlling system according to claim 5, which is characterized in that

The external condition obtains the front obstacle that mechanism detection is present in the front of described vehicle,

The traveling control mechanism carries out following control:

It is set using the target degree of approach relative to the front obstacle and side barrier in traveling control Hinder object temporary target vehicle speed or temporary target acceleration-deceleration；

Select in the temporary target vehicle speed or the temporary target acceleration-deceleration most to inhibit close to the front obstacle with The value of the side barrier is as the target vehicle speed or the target acceleration-deceleration；

The acceleration and deceleration of described vehicle are controlled according to the target vehicle speed or the target acceleration-deceleration.

7. travel controlling system described according to claim 1~any one of 6, which is characterized in that

When the speed of described vehicle be lower than the 1st speed threshold value in the state of be determined as that the side barrier has started to institute When stating this vehicle lane and being jumped a queue, the traveling control mechanism starts the deceleration of described vehicle.

8. travel controlling system according to any one of claims 1 to 4, which is characterized in that

The external condition obtains mechanism and is present in the adjacent lane in described vehicle lane in the detection of the front of described vehicle Front obstacle,

The traveling control mechanism carries out following control:

In the state that the speed of described vehicle is more than the 2nd speed threshold value, when the front for being present in the adjacent lane When the offset distance of the Lane Mark in barrier and described vehicle lane is lower than distance threshold, it is determined as the front obstacle Start to carry out lane change to described vehicle lane；

The acceleration and deceleration of described vehicle are controlled by the relationship with the front obstacle for having started the lane change.

9. a kind of travel control method, with external condition obtaining step and traveling rate-determining steps, wherein

In the external condition obtaining step, mechanism is obtained by external condition to obtain the external condition of this vehicle；

In the traveling rate-determining steps, traveling control mechanism obtains the outside that mechanism detects according to the external condition Situation controls to carry out the traveling of described vehicle,

The travel control method is characterized in that,

In the external condition obtaining step:

Detection is present in the side barrier of the side of described vehicle,

When the side of state Chong Die with described vehicle in the width direction in this vehicle lane of described vehicle driving When barrier has carried out defined close movement to described vehicle lane, it is determined as the side barrier to the Ben Cheche It jumps a queue in road.