JP2002342900A - Travel supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel supporting device enabling a traffic lane to be changed adequately depending on a condition of a road. SOLUTION: The travel supporting device for supporting driving operation of a driver of a vehicle A which changes a traffic lane detects a distance LR to a curve 10a when the curve 10a is ahead on a road 10, and sets an allowable vehicle speed Vs on the basis of the distance LR. When an actual vehicle speed VA is faster than the allowable vehicle speed Vs, the device supports the driving operation of the driver so as to reduce a speed of the vehicle A so as to reduce the vehicle speed VA below the allowable vehicle speed Vs thereby preventing the destabilization of a behavior of the vehicle can be.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving support device for supporting a driving operation of a vehicle.

[0002]

2. Description of the Related Art Conventionally, as a device for assisting a driving operation of a vehicle, as described in Japanese Patent Application Laid-Open No. 9-301210, a device for automatically driving a vehicle is provided. A running control device for performing the operation is known. This traveling control device recognizes the white line that separates the lane on the road, performs automatic traveling by lane following control, and controls the steering angle as a time function of sine and cosine when the lateral risk is lower than the forward risk. One-cycle sine steering control is performed in order to smoothly and stably execute the lane change.

[0003]

However, in this travel control device, there is a possibility that the vehicle cannot change lanes appropriately. For example, when changing lanes, the front of the road may be curved. In this case, if the lane change is performed without considering the curve, the yaw moment due to the lane change and the yaw moment due to the curve traveling are superimposed on each other and the vehicle may be unstable.

The present invention has been made in order to solve such a problem, and an object of the present invention is to provide a driving support device that can appropriately change lanes in accordance with road conditions.

[0005]

That is, a driving assistance device according to the present invention is a driving assistance device for assisting a driver of a vehicle changing lanes when the vehicle has a curve ahead of a road. And a support means for supporting a driver's driving operation when changing lanes based on the allowable vehicle control amount based on the allowable vehicle control amount.

[0006] A driving support device according to the present invention is characterized in that the above-mentioned support means performs vehicle acceleration / deceleration control based on an allowable vehicle control amount. Further, the driving support device according to the present invention is characterized in that the support means sets an allowable vehicle speed as an allowable vehicle control amount, and performs acceleration / deceleration control so that the vehicle speed of the vehicle is lower than the allowable vehicle speed. Further, the driving support device according to the present invention is characterized in that the support means sets an allowable acceleration as an allowable vehicle control amount and performs acceleration / deceleration control so that the acceleration of the vehicle does not become larger than the allowable acceleration.

[0007] Further, the driving support device according to the present invention is characterized in that the above-mentioned supporting means gives a driver an acceleration / deceleration operation instruction based on the permissible vehicle control amount. Further, the driving assistance device according to the present invention is characterized in that the assistance means sets an allowable vehicle speed as an allowable vehicle control amount and gives an acceleration / deceleration operation instruction to the driver so that the vehicle speed of the vehicle is lower than the allowable vehicle speed. And Further, the driving support device according to the present invention is characterized in that the support means sets an allowable acceleration as an allowable vehicle control amount, and gives an acceleration / deceleration operation instruction to the driver so that the vehicle acceleration does not become larger than the allowable acceleration. And

[0008] Further, the driving support device according to the present invention is characterized in that the support means controls the steering speed of the vehicle based on the allowable vehicle control amount. Further, the driving assistance device according to the present invention is characterized in that the assistance means sets an allowable steering speed as an allowable vehicle control amount, and performs a steering speed control such that the operation speed of the vehicle is lower than the allowable steering speed. I do.

[0009] Further, the driving support device according to the present invention is characterized in that the above-mentioned supporting means gives a steering operation instruction to the driver based on the allowable vehicle control amount. Further, in the driving assistance device according to the present invention, the assistance means may set an allowable steering speed as an allowable vehicle control amount, and give a driver a steering operation instruction so that the vehicle steering speed is lower than the allowable steering speed. It is characterized by.

Further, the driving support device according to the present invention is characterized in that the smaller the radius of curvature of the curve, the smaller the allowable vehicle control amount is set.

According to these inventions, the driving operation for changing lanes is supported in consideration of the distance to the curve of the road, so that the speed, acceleration, steering speed, etc. of the vehicle immediately before the curve or during the curve traveling can be obtained. It can be kept low and changes in vehicle behavior due to lane changes can be reduced. For this reason, instability of the vehicle behavior due to the influence of both the lane change and the curve running can be suppressed.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Various embodiments of the present invention will be described below with reference to the accompanying drawings. In each of the drawings, the same elements are denoted by the same reference numerals, and redundant description will be omitted. Also, the dimensional ratios in the drawings do not always match those described.

(First Embodiment) FIG. 1 shows a configuration diagram of a driving support device according to this embodiment.

As shown in FIG. 1, a driving support device 1 according to the present embodiment is a device mounted on a vehicle and supporting a driving operation of a driver who drives the vehicle. The driving support device 1 includes an electronic control unit (ECU) (Electronic Control).
Unit 2). The ECU 2 controls the entire apparatus, and includes, for example, a CPU, a ROM, a RAM, an input signal circuit, an output signal circuit, a power supply circuit, and stores various control routines including a driving support control routine. .

The traveling support device 1 is provided with a vehicle speed sensor 3. The vehicle speed sensor 3 is a vehicle speed detecting means for detecting the speed of the vehicle driven by the driver. For example, a wheel speed sensor is used. The vehicle speed sensor 3 is connected to the ECU 2 and outputs an output signal to the ECU 2. ECU2
Then, the speed of the own vehicle, that is, the vehicle speed VA is calculated based on the output signal of the vehicle speed sensor 3.

In addition to the vehicle speed sensor 3, the own vehicle speed detecting means for detecting the vehicle speed VA of the own vehicle may be one which calculates the own vehicle speed VA by differentiating the position data of the own vehicle.

The travel support device 1 is provided with a vehicle detection sensor 4. The vehicle detection sensor 4 is another vehicle information detecting means for acquiring a relative position and a relative speed with respect to the own vehicle with respect to another vehicle running near the own vehicle,
For example, a camera, a laser radar, a radio radar, or the like is used. When a camera is used as the vehicle detection sensor 4, a relative position and a relative distance to the own vehicle are calculated based on image data of another vehicle. And
By differentiating the relative position, a relative speed with respect to the host vehicle is calculated.

When a laser radar is used,
A relative distance to another vehicle is calculated based on the output signal of the radar. Then, the relative position of another vehicle is calculated based on the relative distance, and the relative speed with respect to the own vehicle is calculated by differentiating the relative position.

Further, when a radio wave radar is used, the relative speed of another vehicle is calculated based on the output signal of the radar. Then, by integrating the relative speed, the relative distance and the relative position of another vehicle are calculated.

As the other vehicle information detecting means, a camera, a laser radar, a laser radar, and the like can be used as long as the relative position and relative speed of the other vehicle with respect to the own vehicle can be obtained by calculation or the like.
It may be other than a radio wave radar.

The driving support device 1 is provided with a road condition detection sensor 9. The road condition detecting sensor 9 is a road condition detecting means for detecting the condition of the road on which the vehicle travels. For example, a camera for photographing the road ahead is used.
In this case, the road condition detection sensor 9 captures an image of the front of the road on which the vehicle travels, and the presence of a curve ahead of the road and the curvature radius R of the curve are determined based on the captured image data.
Is detected. Then, based on the captured image data, the distance from the current position of the own vehicle to the curve start position on the road,
That is, the distance LR to the curve is calculated.

The road condition detecting sensor 9 may be any other than a camera as long as it can detect the radius of curvature of the curve and the distance to the curve. It is desirable that the road condition detection sensor 9 shares the camera used as the vehicle detection sensor 4 from the viewpoint of reducing the cost of the device.

The driving support device 1 is provided with an HMI (Human Machine Interface) 5. H
The MI5 includes a switch or the like used for operation input of a device user such as a driver and an LE used for output of the device 1.
D, LCD, speaker, etc. are applicable.

Further, the driving support device 1 is provided with a support switch 5a as a part of the HMI 5. The support switch 5a is a switch for starting or canceling the driving support mode when changing lanes. When the support switch 5a is turned on, the lane change support start condition is satisfied, and the vehicle enters the support mode of the lane change driving operation. When the support switch 5a is turned off,
The lane change support release condition is satisfied, and the support mode of the driving operation of the vehicle for changing lanes is released.

The lane change support start condition may be, in addition to the case where the support switch 5a is turned on, other operations such as a blinker operation, a driver's voice input, an instruction, or an operation of a vehicle-mounted device. The lane change support canceling condition may be, in addition to the case where the support switch 5a is turned off, a turn-off of the turn signal, other operations such as a driver's voice input, an instruction, or an operation of a vehicle-mounted device.

A drive control unit 6 is connected to the ECU 2. The drive control unit 6 is drive control means for controlling the driving power of the vehicle, and receives a control signal from the ECU 2 to operate an electronic throttle or the like to control the drive of the vehicle. The drive control unit 6 includes, for example, a drive control EC mounted on a vehicle.
U is used.

The ECU 2 is connected to a braking control unit 7. The braking control unit 7 is a braking control unit that controls a braking amount of the vehicle, and performs a braking control of the vehicle by operating a braking actuator or the like in response to a control signal from the ECU 2. As the braking control unit 7, for example, a braking control ECU mounted on a vehicle is used.

A steering control unit 8 is connected to the ECU 2. The steering control unit 8 is a steering control unit that controls the amount of steering of the vehicle, and receives a control signal from the ECU 2 to operate a steering actuator or the like to perform steering control of the vehicle. As the steering control unit 8, for example, a steering control ECU mounted on a vehicle is used.

Next, the operation of the driving support device according to this embodiment will be described.

FIG. 2 shows a driving support device 1 according to this embodiment.
FIG. 7 is a diagram illustrating a relationship between the host vehicle and another vehicle in driving assistance for changing lanes according to the embodiment. FIG. 3 is a flowchart of a lane change process in the driving support device 1.

As shown in FIG. 2, the driving support device 1 is configured such that a vehicle A traveling on a road 10 having a plurality of lanes (travel lanes) is interrupted between other vehicles B and C traveling on other lanes. When changing lanes, make a curve 10 ahead of the road 10
When there is a, the driving operation of the driver of the vehicle A is supported in consideration of the curve 10a.

Here, the vehicle speed of the vehicle A, which is the host vehicle, is V
A, the vehicle speed of the other vehicle B is VB, the vehicle speed of the other vehicle C is VC, the relative speed of the vehicle B to the vehicle A is VAB,
The relative speed of the vehicle C with respect to the vehicle A is VAC, the relative speed of the vehicle C with respect to the vehicle B is VBC, the distance between the vehicles A and B is LAB, the distance between the vehicles A and C is LAC, and the vehicles B and C
Is LBC. Further, it is assumed that the vehicle B is traveling ahead of the vehicle C.

As shown in FIG. 3, in S10, it is determined whether or not the lane change support start condition is satisfied. The establishment of the lane change support start condition is determined based on whether or not the support switch 5a is turned on. When the support switch 5a is turned on and it is determined that the lane change support start condition is satisfied, the process proceeds to S12. Meanwhile, the support switch 5
When it is determined that a is not turned on and the lane change support start condition is not satisfied, the control process ends.

At S12, vehicle distance detection is performed. The distance detection of the vehicle is performed based on an output signal of a vehicle detection sensor 4 such as a radar or a camera. By this vehicle distance detection, distance LAB between vehicle A and vehicle B and distance LAC between vehicle A and vehicle C are detected.

Next, the flow shifts to S14, in which the vehicle speed V of the vehicle A is calculated.
A is detected. The vehicle speed VA is detected based on an output signal of the vehicle speed sensor 3.

Then, the flow shifts to S16, where the calculation of the distance LBC and the relative speed VBC are performed. The distance LBC between the vehicles B and C is
It is calculated based on the sum of the distance LAB and the distance LAC detected earlier. Further, the relative speed VBC is calculated based on the relative speeds VAB and VAC.

Then, the flow shifts to S18, where it is determined whether the distance LBC between the vehicle B and the vehicle C traveling in another lane is longer than a predetermined distance LTH. The distance LTH is determined in advance by the ECU 2
Is set in consideration of whether or not the vehicle A can interrupt the vehicle B and the vehicle C to change lanes. For example, assuming that k1 is a coefficient and the total length La of the vehicle A is LTH, the distance LTH is set to LTH = k1 · La.

At this time, the coefficient k1 is 1 or more, and is set as a function of the vehicle speed VA such that the coefficient becomes larger as the vehicle speed VA of the vehicle A increases. The coefficient k1 may be set as a function of all or a part of the vehicle speed VA, the vehicle speed VB of the vehicle B, the vehicle speed VC of the vehicle C, and the relative speed VBC.

At S18, vehicle B traveling on another lane
When it is determined that the distance LBC between the vehicles C is not longer than the predetermined distance LTH, the process proceeds to S20, and a notification process is performed. The notification process is a process for notifying the driver that there is no space to change lanes between the vehicles B and C and the lane cannot be changed. This notification processing includes the driver's vision,
A process is used to inform the driver that the lane cannot be changed through hearing or touch.

For example, when a display indicating that lane change is not possible is displayed on a display unit provided on the instrument panel, the driver is informed visually that lane change is not possible. In addition, by emitting a signal sound, a voice, or the like into the vehicle, the driver is informed that the lane cannot be changed through hearing. Furthermore, by giving vibration to the driver's seat, steering wheel, or the floor of the vehicle, it is notified that the lane cannot be changed through the tactile sense of the driver. Then, after the notification process in S20, the control process ends.

On the other hand, when it is determined in S18 that the distance LBC between the vehicle B and the vehicle C traveling in another lane is longer than the predetermined distance LTH, the flow shifts to S22, where the curvature of the curve 10a ahead of the road is determined. The detection of the radius R is performed. Curve 10
The curvature radius R of a is detected based on the output signal of the road condition detection sensor 9.

Then, the flow shifts to S24, where the distance from the current position of the vehicle A to the start position of the curve 10a, that is, the distance LR to the curve 10a is detected. The distance LR to the curve 10a is detected based on the output signal of the road condition detection sensor 9.

Then, the flow shifts to S26, where an allowable vehicle speed Vs is calculated. The permissible vehicle speed Vs indicates that the road 10 has a curve 1
This is the maximum vehicle speed allowed for the vehicle A traveling toward 0a, and is calculated as an allowable vehicle control amount based on the distance LR to the curve 10a. For example, as shown in FIG. 4, a map relating to the distance LR to the curve 10a and the allowable vehicle speed Vs is set in the ECU 2 in advance, and the allowable vehicle speed Vs corresponding to the distance LR to the curve 10a is calculated based on this map.

This map shows the distance L to the curve 10a.
The permissible vehicle speed Vs is set to increase as R increases. In addition, it is desirable that the map consider the radius of curvature R of the curve 10a. For example, as shown by the broken line in FIG. 4, the smaller the curvature radius R of the curve 10a is, the smaller the allowable vehicle speed V becomes.
The map is set so that s becomes slower.

After calculating the allowable vehicle speed Vs in S26, the process proceeds to S28, where the vehicle speed VA of the vehicle A is set to the allowable vehicle speed V.
It is determined whether it is later than s. When it is determined that the vehicle speed VA of the vehicle A is lower than the allowable vehicle speed Vs, the process proceeds to S30, and the calculation of the acceleration target value aA1 is performed.

The calculation of the acceleration target value aA1 is performed using the following equation (1), where K1 is the acceleration gain and y is the position of the vehicle A in the front-rear direction.

AA1 = K1 · ((LBC / 2) −y) (1) Here, the position y of the vehicle A is the coordinate origin of the position of the vehicle B or the vehicle C which is the other vehicle of the interruption destination. The distance from the origin to the vehicle A in the front-rear direction.

On the other hand, when it is determined in S28 that the vehicle speed VA of the vehicle A is not lower than the allowable vehicle speed Vs, the process proceeds to S32, and the acceleration target value aA2 is set so that the vehicle speed VA of the vehicle A becomes lower than the allowable vehicle speed Vs. Is performed.

The calculation of the acceleration target value aA2 is performed using the following equation (2), where K2 is the acceleration gain.

AA2 = K2 · (Vs−VA) (2) Here, the acceleration gain K2 is set to a positive value. When the calculated acceleration target value aA2 is a positive value, the acceleration / deceleration control is performed so that the vehicle A accelerates. When the calculated acceleration target value aA2 is a negative value, the acceleration / deceleration control is performed so that the vehicle A decelerates. The vehicle speed VA is determined at S32.
Is equal to or higher than the allowable vehicle speed Vs, the acceleration target value aA
2 is a negative value, and acceleration / deceleration control is performed so that the vehicle A decelerates.

Then, the flow shifts to S34, where acceleration / deceleration control of the vehicle A is performed based on the calculated acceleration / deceleration target value aA1 or aA2. The acceleration / deceleration control is performed by the drive control unit 6 from the ECU 2.
Alternatively, the control is performed by outputting a control signal to the braking control unit 7 and applying a driving force or a braking force to the vehicle A.

Then, the flow shifts to S36, where it is determined whether the vehicle A is located near the target position uy in the front-rear direction. For example, the position y of the vehicle A in the front-rear direction is the target position u.
It is determined whether the value is equal to or more than a value obtained by subtracting a predetermined distance α from y, and is not more than a value obtained by adding the predetermined distance α to the target position uy. The predetermined distance α is a set value set in the ECU 2 in advance.

When it is determined in S36 that the vehicle A is not located near the target position uy, the process returns to S12. On the other hand, when it is determined that the vehicle A is located near the target position uy, the process shifts to S38, and the calculation of the target movement position ux of the vehicle A in the left-right direction is performed.

Then, the flow shifts to S40, where steering control is performed so that the vehicle A moves to the calculated movement target position ux. The steering control is performed by outputting a control signal from the ECU 2 to the steering control unit 8. The steering speed in the steering control is controlled according to the distance LR to the curve 10a.
For example, an allowable steering speed is set as an allowable vehicle control amount based on the distance LR to the curve 10a, and the steering speed control is performed so that the steering speed is lower than the allowable steering speed. At this time, it is preferable that the allowable steering speed is set to be lower as the radius of curvature R of the curve 10a is smaller in consideration of the radius of curvature R of the curve 10a.

Further, it is desirable that the steering speed in the steering control is controlled so as to become slower as the vehicle speed VA is higher, taking into consideration the vehicle speed VA of the host vehicle A. Further, it is desirable that the steering speed in the steering control be controlled so as to decrease as the distance LBC between the vehicles B and C decreases.

Then, the flow shifts to S42, where it is determined whether the vehicle A is located near the target position ux in the left-right direction. For example, the position x of the vehicle A in the left-right direction is the target position u.
It is determined whether the value is equal to or greater than a value obtained by subtracting a predetermined distance β from x, and whether the position x is equal to or less than a value obtained by adding the predetermined distance β to the target position ux. Here, the predetermined distance β is a set value preset in the ECU 2.

If it is determined in S42 that the vehicle A is not located near the target position ux in the left-right direction, the process proceeds to S42.
Return to 40. On the other hand, when it is determined that the vehicle A is located near the target position ux in the left-right direction, the control processing ends.

As described above, according to the driving support device 1 according to the present embodiment, the distance L to the curve 10a of the road 10 is determined.
By supporting the driving operation for changing lanes in consideration of R, the speed, acceleration, steering speed, and the like of the vehicle A when entering the curve 10a or when traveling on the curve 10a are suppressed to be low, and the vehicle behavior due to the lane change Changes can be reduced. For this reason, instability of the vehicle behavior due to the influence of both lane change and curve running can be suppressed, and appropriate lane change according to the road condition can be performed.

The allowable vehicle speed VS is set based on the distance to the curve 10a, and acceleration / deceleration control is performed so that the vehicle speed A becomes slower than the allowable vehicle speed Vs.
Acceleration control according to the distance to 0a can be performed, so that the vehicle behavior can be appropriately destabilized due to the influence of both lane change and curve running, and excessive deceleration can be prevented to smooth road traffic.

By setting the allowable speed Vs smaller as the radius of curvature R of the curve 10a is smaller, it is possible to prevent the yawing moment from increasing due to the curve running and to stabilize the behavior of the vehicle.

In the present embodiment, the driving support device which calculates the distance LR to the curve 10a based on the output data using a camera or the like as the road condition detecting means has been described. However, the driving support device according to the present invention. Is not limited to such, and the distance L to the curve 10a is determined based on the map data and the data of the current position of the vehicle.
R or the radius of curvature R of the curve 10a may be calculated. Even in this case, the same operation and effects as those of the above-described driving support device 1 can be obtained. Further, the installation of the road condition detection sensor 9 can be omitted.

In this embodiment, the allowable vehicle speed Vs is set as the allowable vehicle control amount based on the distance LR to the curve 10a.
Is set, and acceleration / deceleration control is performed so that the vehicle speed VA becomes slower than the permissible vehicle speed Vs. However, the traveling support device according to the present invention is not limited to such a device, and is not limited to such a device. If acceleration / deceleration control is performed according to the distance LR, for example, the distance L to the curve 10a
Set allowable acceleration as allowable vehicle control amount based on R,
Acceleration / deceleration control may be performed so that the acceleration of the vehicle A does not become larger than the allowable acceleration.

Further, in this embodiment, when the vehicle A changes the lane by interrupting between the other vehicles B and C traveling in another lane, the driving support for assisting the driving operation of the driver of the vehicle A Although the device 1 has been described, the driving support device according to the present invention is not limited to such a device, and may be used only for driving the driver when the vehicle changes lanes. It may be one that supports driving operation other than when changing lanes by interrupting another vehicle, such as when changing lanes to lanes.

(Second Embodiment) Next, a driving support device according to a second embodiment will be described.

FIG. 5 shows a configuration diagram of the driving support device according to the present embodiment. As shown in the drawing, the driving support device 1a according to the present embodiment includes a communication unit 4a as another vehicle information detecting means for acquiring the position or speed of another vehicle. The communication unit 4a is a communication unit that performs satellite-to-satellite communication such as inter-vehicle communication with another vehicle, road-to-vehicle communication with a road facility, or GSP data communication. Get speed.

The driving support device 1a can also perform lane change processing and the like, similarly to the driving support device according to the first embodiment. For this reason, it is possible to obtain the same operation and effect as those of the driving support device according to the first embodiment.

(Third Embodiment) Next, a driving support device according to a third embodiment will be described.

FIG. 6 shows a configuration diagram of the driving support device according to this embodiment. As shown in the figure, the traveling support device 1b according to the present embodiment includes an acceleration / deceleration operation instruction unit 11 as acceleration / deceleration operation instruction means, and includes a steering operation instruction unit 12 as steering operation instruction means. The acceleration / deceleration operation instructing unit 11 performs acceleration / deceleration operation on the vehicle A as driving operation support in lane change.
The driver is given an instruction. As the acceleration / deceleration operation instructing unit 11, a unit that gives an instruction of the acceleration / deceleration operation through the driver's visual, auditory, or tactile sense is used.

For example, a display unit such as an LCD, an LED, a lamp, or the like for displaying an accelerator operation instruction and a brake operation instruction is used as an instruction for an acceleration / deceleration operation through the driver's vision. A speaker or a buzzer that emits a voice, a signal sound, or the like to notify an accelerator operation instruction and a brake operation instruction is used as an instruction to perform an acceleration / deceleration operation through hearing of a driver. In addition, the driver's tactile sense instructs acceleration / deceleration operation includes a driver's seat,
A vibrator or the like that applies vibration to the steering wheel or the floor of the vehicle to give an accelerator operation instruction and a brake operation instruction is used.

The LCD, speaker and the like constituting the acceleration / deceleration operation instructing section 11 may be the same as those used for the HMI 5.

The steering operation instructing section 12 is for instructing the driver of the vehicle A to perform a steering operation as driving operation assistance in changing lanes. As the steering operation instructing unit 12, a unit that gives an instruction of a steering operation through the driver's visual, auditory, or tactile sense is used.

For example, as an instruction for steering operation through the driver's vision, a steering wheel operation instruction is displayed.
A display unit such as a CD, an LED, and a lamp is used. In addition, a speaker, a buzzer, or the like that emits a voice, a signal sound, or the like to notify a steering wheel operation instruction is used as an instruction of a steering operation through a driver's hearing. Further, as a device that instructs a steering operation through a driver's tactile sense, a vibrator or the like that applies vibration to a driver's seat, a steering wheel, a vehicle interior floor, or the like to give a steering wheel operation instruction is used.

The LCD, speaker and the like constituting the steering operation instructing section 12 may be the same as those used for the HMI 5.

Next, the operation of the driving support device according to this embodiment will be described.

FIG. 7 is a flowchart showing an example of a lane change process in the driving support device according to the present embodiment.

The lane changing process of the driving support device 1b according to the present embodiment is performed by the driving support device 1b according to the first embodiment of FIG.
This is almost the same as the lane change processing described above, except that acceleration / deceleration operation instruction processing is performed instead of acceleration / deceleration control, and steering operation instruction processing is performed instead of steering control.

In S110 of FIG. 7, it is determined whether or not the lane change support start condition has been satisfied. If it is determined that the lane change support start condition has been satisfied, the flow shifts to S112, where the lane change support start condition is satisfied. When it is determined that it has not been performed, the control process is terminated.

Then, the distances LAB and LAC between the vehicles are detected (S112), and the vehicle speed VA is detected (S114).
Then, the calculation of the distance LBC and the relative speed VBC is performed (S
116).

Then, it is determined whether the distance LBC between the vehicle B and the vehicle C traveling on another lane is longer than a predetermined distance LTH (S118). In S118, when it is determined that the distance LBC between the vehicle B and the vehicle C traveling in another lane is not longer than the predetermined distance LTH, a notification process is performed (S120). On the other hand, when it is determined that the distance LBC between the vehicle B and the vehicle C traveling in the other lane is longer than the predetermined distance LTH, the curvature radius R of the curve 10a is detected (S122), and the detection is performed until the curve 10a is reached. The distance LR is detected (S124), and the allowable vehicle speed Vs is calculated (S124).
126).

Then, the vehicle speed VA of the vehicle A becomes the allowable vehicle speed Vs
It is determined whether it is later (S128). When it is determined that the vehicle speed VA of the vehicle A is lower than the allowable vehicle speed Vs,
The calculation of the acceleration target value aA1 is performed (S130). On the other hand, when it is determined that the vehicle speed VA of the vehicle A is not lower than the allowable vehicle speed Vs, the calculation of the acceleration target value aA2 is performed so that the vehicle speed VA of the vehicle A becomes lower than the allowable vehicle speed Vs (S132).

The above-described processing of S110 to S132 is performed in the same manner as the processing of S10 to S32 in FIG.

Then, the flow shifts to S134, where an acceleration / deceleration operation instruction is issued based on the calculated acceleration / deceleration target value aA1 or aA2. The acceleration / deceleration operation instruction is performed by outputting a signal from the ECU 2 to the acceleration / deceleration operation instruction unit 11, and the acceleration / deceleration operation instruction unit 11 gives an instruction of the acceleration / deceleration operation to the driver of the vehicle A based on the signal. .

For example, an accelerator operation instruction or a brake operation instruction is displayed on a display such as an LCD, an LED, or a lamp. Thereby, the driver of the vehicle A recognizes the instruction of the acceleration / deceleration operation visually and performs the acceleration / deceleration operation according to the instruction. As the acceleration / deceleration operation instruction, a voice, a signal sound, or the like is emitted from a speaker, a buzzer, or the like, and an accelerator operation instruction or a brake operation instruction is given. Thereby, the driver of the vehicle A recognizes the instruction of the acceleration / deceleration operation through hearing, and performs the acceleration / deceleration operation according to the instruction. Further, as the acceleration / deceleration operation instruction, the driver's seat, the steering wheel, the floor in the vehicle, and the like vibrate, and the vibration gives an accelerator operation instruction or a brake operation instruction. Thereby, the driver of the vehicle A recognizes the instruction of the acceleration / deceleration operation through the touch, and performs the acceleration / deceleration operation according to the instruction.

Then, the flow shifts to S136, where it is determined whether the vehicle A is located near a target position uy in the front-rear direction. When it is determined that the vehicle A is not located near the target position uy in the front-rear direction, the process returns to S112. On the other hand, when it is determined that the vehicle A is located near the target position uy in the front-rear direction, the calculation of the target movement position ux in the left-right direction of the vehicle A is performed (S138).

Then, the flow shifts to S140, where a steering operation instruction is issued such that the vehicle A moves to the calculated movement target position ux. The steering operation instruction is performed by outputting a signal from the ECU 2 to the steering operation instruction unit 12, and the steering operation instruction unit 12 gives a driver of the vehicle A an instruction of the steering operation based on the signal.

For example, a steering operation instruction is displayed on a display such as an LCD, an LED, or a lamp. Thereby, the vehicle A
The driver of the vehicle recognizes the steering operation instruction visually and operates the steering wheel according to the instruction. Further, as a steering operation instruction, a voice, a signal sound, or the like is emitted from a speaker, a buzzer, or the like, and a steering wheel operation instruction is given. This allows
The driver of the vehicle A recognizes a steering operation instruction through hearing, and performs a steering operation according to the instruction. Further, as a steering operation instruction, a driver's seat, a steering wheel, a vehicle floor, or the like vibrates, and the vibration gives an instruction to operate the steering wheel. Thereby, the driver of the vehicle A recognizes the instruction of the steering operation through the tactile sensation and performs the steering operation according to the instruction.

Then, the flow shifts to S142, where it is determined whether the vehicle A is located near the target position ux in the left-right direction. When it is determined that the vehicle A is not located near the target position ux in the left-right direction, the process returns to S140. On the other hand, when it is determined that the vehicle A is located near the target position ux in the left-right direction, the control processing ends.

As described above, according to the driving support device according to the present embodiment, the same operation and effect as those of the driving support device 1 according to the first embodiment can be obtained by the driver performing the driving operation in accordance with the operation instruction. Can be That is, by supporting the driving operation for changing lanes in consideration of the distance LR to the curve 10a of the road 10, the speed, acceleration, and the like of the vehicle A when entering the curve 10a or when traveling on the curve 10a
Steering speed and the like are kept low, and changes in vehicle behavior due to lane changes can be reduced. For this reason, instability of the vehicle behavior due to the influence of both the lane change and the curve running can be suppressed.

In each of the above-described embodiments, only the case where it is necessary to consider both vehicles B and C for lane change has been described. However, the present invention is not limited to this. For example,
When the inter-vehicle distance LBC between the two vehicles B and C is sufficiently large, the lane change control or the lane change instruction is performed in consideration of only the vehicle that is closer to the own vehicle among the vehicles B and C, and the inter-vehicle distance LBC is reduced. The lane change control or the lane change instruction shown in each of the above embodiments may be performed only when the distance is small to some extent, and various modifications can be made without departing from the gist of the present invention.

[0090]

As described above, according to the present invention, by supporting the driving operation for changing lanes in consideration of the distance to the road curve, the speed of the vehicle immediately before the curve or during the curve traveling can be improved. Acceleration, steering speed, and the like are kept low, and changes in vehicle behavior due to lane changes can be reduced.
Therefore, it is possible to suppress the instability of the vehicle behavior due to the influence of both the lane change and the curve running, and it is possible to perform the appropriate lane change according to the road condition.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a driving support device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of a position, a speed, and the like of a vehicle to be supported by the driving support device in FIG. 1;

FIG. 3 is a flowchart showing a lane change process in the driving support device of FIG. 1;

FIG. 4 is an explanatory diagram of an allowable vehicle speed calculation in the lane change processing of FIG. 3;

FIG. 5 is an explanatory diagram of a driving support device according to a second embodiment.

FIG. 6 is an explanatory diagram of a driving support device according to a third embodiment.

FIG. 7 is a flowchart showing a lane change process in the driving support device according to the third embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... ECU, 3 ... Vehicle speed sensor, 4 ...
Vehicle detection sensor, 5a support switch, 6 drive control unit, 7 brake control unit, 8 steering control unit, 9 road condition detection sensor, 10 road, 10a curve, A vehicle (own vehicle), B: Vehicle (other vehicle), C: Vehicle (other vehicle), LR ...
Distance to curve.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60T 7/12 B60T 7/12 F F02D 29/02 311 F02D 29/02 311B F-term (Reference) 3D044 AA21 AA24 AB01 AC00 AC26 AC56 AC59 AD00 AD04 AD21 AE01 AE04 AE19 AE21 3D046 BB17 GG02 GG10 HH00 HH20 HH23 HH36 JJ24 MM34 3G093 AA01 BA07 CB09 DB02 DB05 DB16 DB18 EA09 EB00 EB04 EC01 EC04 FA02 FA04 CC08 FA08 FA04 FA08 LL08 LL15

Claims (12)

[Claims] 1. A driving assistance device for assisting a driver of a vehicle performing a lane change, wherein an allowable vehicle control amount in a lane change is set according to a distance to the curve when a curve is ahead of the road. A driving support device for supporting the driving operation of the driver when changing lanes based on the permissible vehicle control amount. 2. The driving assistance device according to claim 1, wherein the assistance means performs acceleration / deceleration control of the vehicle based on the allowable vehicle control amount. 3. The vehicle according to claim 2, wherein the support means sets an allowable vehicle speed as the allowable vehicle control amount, and performs acceleration / deceleration control such that the vehicle speed of the vehicle is lower than the allowable vehicle speed. Driving support device. 4. The apparatus according to claim 2, wherein the support means sets an allowable acceleration as the allowable vehicle control amount, and performs acceleration / deceleration control so that the acceleration of the vehicle does not become larger than the allowable acceleration. Driving support device. 5. The driving assistance device according to claim 1, wherein the assistance means gives the driver an acceleration / deceleration operation instruction based on the allowable vehicle control amount. 6. The assisting means sets an allowable vehicle speed as the allowable vehicle control amount, and gives an acceleration / deceleration operation instruction to the driver so that the vehicle speed of the vehicle becomes lower than the allowable vehicle speed. The driving support device according to claim 5. 7. The assisting means sets an allowable acceleration as the allowable vehicle control amount, and gives an acceleration / deceleration operation instruction to the driver so that the acceleration of the vehicle does not become larger than the allowable acceleration. The driving support device according to claim 5. 8. The driving support device according to claim 1, wherein the support unit controls the steering speed of the vehicle based on the allowable vehicle control amount. 9. The control device according to claim 1, wherein the assisting means sets an allowable steering speed as the allowable vehicle control amount, and performs a steering speed control such that an operation speed of the vehicle is lower than the allowable steering speed. A driving support device according to claim 8. 10. The driving support device according to claim 1, wherein the support unit gives a steering operation instruction to the driver based on the allowable vehicle control amount. 11. The assisting means sets an allowable steering speed as the allowable vehicle control amount, and gives a steering operation instruction to the driver such that the steering speed of the vehicle is lower than the allowable steering speed. The driving support device according to claim 10, wherein 12. The driving support device according to claim 1, wherein the allowable vehicle control amount is set smaller as the radius of curvature of the curve is smaller.