JP2003146163A - Traveling supporting device of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To swiftly shift to another ETC lane when a vehicle impossible to pass a traveling lane of ETC system travels in front of one's own vehicle, to prevent interference by a traveling supporting device of vehicle and to smoothly shift to another ETC lane. SOLUTION: If one's own vehicle is traveling on the ETC exit lane 12 at a step S1 and if a vehicle which does not use an ETC system or is impossible to pass an ETC exit in front of the own vehicle is detected on an ETC exit lane 12, a control intervening timing is corrected to become earlier and then normal collision prevention control is executed at a step S9 with parameters set at the step S5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle drive assist device for executing drive assist control of an own vehicle based on an obstacle existing in front of the vehicle, and more particularly to an automatic toll collection system installed on a toll road. The present invention relates to a vehicle travel support device that changes travel support control when traveling in a travel lane.

[0002]

2. Description of the Related Art In recent years, automatic toll collection (Electronic Toll Collect) has been implemented for the purpose of non-stop at toll roads, to alleviate traffic congestion, to make cashless, and to reduce personnel costs.
(ion, ETC) system has been developed and put into practical use at some toll gates.

In this ETC system, an IC card in which contract information and the like are recorded is inserted into an on-vehicle device mounted on a vehicle, and wireless communication is performed between a roadside antenna installed at a toll gate at a toll gate on a toll road and the on-vehicle device. By this, information such as tolls can be recorded on both the computer system and the IC card on the toll road connected to the roadside antenna, and the tollgate can be used for payment without stopping.

On the other hand, a collision avoidance system that detects an obstacle existing in front of the vehicle and automatically executes collision avoidance control (braking, warning, etc.) of the own vehicle from the detected obstacle information, and Automatically performs lane change support control (information provision, warning, etc.) to detect obstacles (such as other vehicles) that exist on the rear side and alert you when the lane of your vehicle changes based on the detected obstacle information. Lane change support system that executes the lane departure avoidance system that automatically detects the lane of the vehicle and automatically executes the departure lane avoidance control (steering, braking, warning, etc.) so as not to deviate from the detected lane. Have been developed.

[0005]

By the way, the above-mentioned ETC
A vehicle that does not support the system accidentally precedes your vehicle and ETs
If you are trying to pass the C lane or the preceding vehicle cannot pass the ETC lane due to communication problems,
Since the preceding vehicle may stop suddenly because the toll gate does not open, the own vehicle equipped with the subsequent collision avoidance system immediately recognizes the preceding vehicle as an obstacle so that it does not approach the preceding vehicle and collides with it. It is necessary to execute avoidance control.

Further, in the same situation as above, when the own vehicle tries to change lane to another ETC lane in order to avoid the preceding vehicle, the other ETC lane should be immediately changed so as not to approach the following vehicle when changing the lane. It is necessary to execute the lane change support control to guide to.

Further, in the same situation as above, when the own vehicle tries to change lane to another ETC lane in order to avoid the preceding vehicle, if the lane departure avoidance control is intervened, it is controlled so as to prevent transition to another lane. Therefore, it becomes difficult to smoothly switch to another ETC lane.

The present invention has been made in view of the above problems, and an object thereof is to provide a vehicle travel support device capable of promptly intervening in control when a vehicle that cannot pass through a travel lane of an ETC system exists ahead of the host vehicle. Is to provide.

As another object, when a vehicle that cannot pass through the traveling lane of the ETC system is present ahead of the host vehicle, the vehicle is immediately moved to another ETC lane so that the traveling assist control is not disturbed and smooth. Another object of the present invention is to provide a vehicle travel support device capable of shifting to another ETC lane.

[0010]

In order to solve the above-mentioned problems and to achieve the object, a vehicle travel support device of the present invention comprises:
A vehicle travel assistance device that detects an obstacle existing in front of the own vehicle and executes the travel assistance control of the own vehicle from the detected obstacle information, and between a roadside device installed on a toll road. Judgment means for judging whether or not the preceding vehicle can pass through the traveling lane of the automatic toll collection system that transmits and receives the fee, and enhances the traveling support control when the preceding vehicle cannot pass through the traveling lane. And a control means for changing the content of the driving support control.

The vehicle travel support device of the present invention is a vehicle travel support device that detects an obstacle existing on the side of the host vehicle and executes the drive support control of the host vehicle based on the detected obstacle information. There is a determination means for determining whether or not the preceding vehicle can pass through the traveling lane of the automatic toll collection system that transmits and receives to and from the roadside device installed on the toll road, and the preceding vehicle is the traveling lane. And a control means for changing the contents of the driving support control so as to enhance the driving support control.

The vehicle travel assistance device of the present invention is a vehicle travel assistance device that detects the travel lane of the host vehicle and executes the travel support control of the host vehicle so as not to deviate from the detected travel lane. Determining means for determining whether or not a preceding vehicle can pass through a traveling lane of an automatic toll collection system that transmits and receives to and from a roadside device installed on a toll road, and the preceding vehicle passes through the traveling lane When it is not possible, a control means for changing the contents of the driving support control so as to restrict or prohibit the driving support control is provided.

Further, preferably, the control means is set to increase a control gain in the driving support control, or set to advance a control intervention timing, or a control intervention threshold in order to enhance the driving support control. Perform at least one of the settings to reduce

Further, preferably, the control means is set to forcibly start the traveling support control in order to enhance the traveling support control, or set to increase a control gain in the traveling support control, or At least one of the setting for accelerating the control intervention timing and the setting for reducing the control intervention threshold value is executed.

Further, preferably, the control means sets to forcibly stop the traveling support control in order to restrict or prohibit the traveling support control, a setting to reduce a control gain in the traveling support control, or At least one of the setting for delaying the control intervention timing and the setting for increasing the control intervention threshold is executed.

[0016] Preferably, the communication device further comprises communication means capable of communicating with an automatic toll collection system for transmitting and receiving to and from a roadside device installed on a toll road, and the judging means is the communication means. It is determined whether the preceding vehicle can pass the traveling lane based on the information obtained from.

[0017]

As described above, according to the first aspect of the present invention, when an obstacle existing in front of the host vehicle is detected and the traveling support control of the host vehicle is executed based on the detected obstacle information. In addition, it determines whether the preceding vehicle can pass the traveling lane of the automatic toll collection system that transmits and receives to and from the roadside device installed on the toll road, and when the preceding vehicle can not pass the traveling lane When the vehicle that cannot pass the traveling lane of the automatic toll collection system is trying to pass the traveling lane ahead of the own vehicle by changing the content of the traveling support control so as to enhance the assistance control,
It is possible to immediately recognize the preceding vehicle as an obstacle and execute the traveling support control so that the own vehicle equipped with the subsequent traveling support system does not approach the preceding vehicle.

According to the second aspect of the present invention, when an obstacle existing on the side of the host vehicle is detected and the driving support control of the host vehicle is executed based on the detected obstacle information, the vehicle is installed on the toll road. It determines whether the preceding vehicle can pass the traveling lane of the automatic toll collection system that transmits and receives to and from the specified roadside device, and enhances the driving support control when the preceding vehicle cannot pass the traveling lane. By changing the contents of the driving support control as described above, a vehicle that cannot pass through the traveling lane of the automatic toll collection system is trying to pass through the traveling lane ahead of the own vehicle, and the following own vehicle does not approach the preceding vehicle. Other ETC to avoid the preceding vehicle
When attempting to change lanes to a lane, it is possible to promptly guide to another traveling lane so as not to approach a following vehicle when changing lanes.

According to the third aspect of the present invention, the vehicle is installed on the toll road when detecting the traveling lane of the own vehicle and executing the traveling support control of the own vehicle so as not to deviate from the detected traveling lane. Determines whether the preceding vehicle can pass the traveling lane of the automatic toll collection system that transmits and receives with the roadside device to collect the fee, and when the preceding vehicle cannot pass the traveling lane, restrict or prohibit the driving support control By changing the content of the driving support control, the vehicle that cannot pass the traveling lane of the automatic toll collection system enters the traveling lane ahead of the own vehicle, and the own vehicle changes to another traveling lane to avoid the preceding vehicle. If you try to change lanes, you can prevent the lane departure avoidance control from interfering with the transition to other lanes and ensure smooth transition to other lanes. It made.

According to the fourth aspect of the present invention, in order to enhance the driving support control, the setting for increasing the control gain in the driving support control, the setting for accelerating the control intervention timing, or the setting for the control intervention threshold value is reduced. By executing at least one of the settings, the driving support control can be performed immediately.

According to the fifth aspect of the invention, in order to enhance the driving support control, the setting for forcibly starting the driving support control, the setting for increasing the control gain in the driving support control, or the control intervention timing is set. By executing at least one of the setting for accelerating or the setting for reducing the control intervention threshold value, the driving support control can be performed immediately.

According to the invention of claim 6, in order to restrict or prohibit the driving support control, the setting for forcibly stopping the driving support control, the setting for reducing the control gain in the driving support control, or the control intervention timing is set. By executing at least one of the setting for delaying and the setting for increasing the control intervention threshold value, it is possible to eliminate the adverse effect of the control intervention at the time of changing lanes.

According to the invention of claim 7, the existing facility is judged by judging whether the vehicle is traveling in the traveling lane from the information obtained from the communication means capable of communicating with the automatic toll collection system of the toll road or the map information of the car navigation. Can be easily determined.

[0024]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The embodiment described below is an example as a means for realizing the present invention, and the present invention can be applied to a modified or modified form of the following embodiment without departing from the spirit of the present invention. . [ETC System] First, the ETC system will be described with reference to FIG.

FIG. 1 shows an ET as an embodiment according to the present invention.
It is the figure which looked at the toll gate including C system two-dimensionally.

As shown in FIG. 1, at the entrance 2 of the toll road 1, a general gate 3 for issuing a toll ticket and an entrance antenna 4 by an ETC system are installed, and a general lane 5 corresponding to the general gate 3 is installed. And an ETC entrance lane 6 corresponding to the entrance antenna 4.

An entrance warning antenna 7 for transmitting an entrance warning signal is provided in front of the toll road entrance 2, and an exit warning antenna 13 for transmitting an exit warning signal is provided in front of the toll road exit 8.

At the exit 8 of the toll road 1, a conventional general gate 9 for collecting cash as a toll and an exit antenna 10 by the ETC system are installed, and a general lane 11 corresponding to the general gate 9 is provided. An ETC exit lane 12 is provided corresponding to the exit antenna 10.

The number of lanes at the entrance and exit is 6 as shown in the figure.
It is not limited to lanes, but is arbitrarily determined according to the size of the toll gate.

In the above ETC system, the vehicle is a toll road 1.
When passing through the entrance 2 of the vehicle, the vehicle information is communicated between the vehicle-mounted device mounted on the vehicle and the entrance antenna 4, and the vehicle passes through the exit 8 of the toll road 1 through the ETC exit lane 12. At times, by calculating the toll of the vehicle and collecting the toll with a credit card or prepaid card that can be attached to and detached from the card reader of the vehicle-mounted device, and other similar IC cards, non-stop, congestion reduction, It aims to be cashless and reduce personnel costs. [Various Devices Installed in ETC Lane] FIG. 2 shows an example of installation of various devices in a tollgate of an ETC system as an embodiment according to the present invention.

At the entrances and exits 2 and 8 of the toll road 1 of FIG. 1, as shown in FIG. 2, ETC entrance lane 6 and ETC
At present, only vehicles equipped with the in-vehicle device 21 can pass through the exit lane 12, and the in-vehicle device 21 has the entrance antenna 4 (exit antenna 10) and the entrance notice antenna 7 (exit notice antenna 13) as roadside antennas. An IC card 22 having a function of wireless communication between terminals and having a payment settlement function can be attached and detached. In addition, the in-vehicle device 21
Is the result of communication with the roadside antennas 4, 7, 10, 13.
In the ETC exit lane 12, payment of tolls, charge display that also serves as a payment completion notice, vehicle-mounted device 21 and IC card 2
Notify the user whether or not 2 is operating normally.

The IC card 22 identifies the payer of the toll and is issued at the time of the contract for use. When the IC card 22 is inserted into the in-vehicle device 21, the toll is settled by wireless communication with the roadside antenna. Also, in the lanes where roadside antennas are not deployed, the IC card 22
It is also possible to settle the charges directly by processing.

The entrance antenna 4 (exit antenna 10) is
It is installed in the ETC entrance lane 6 and the ETC exit lane 12, and information such as tolls is transmitted to the vehicle-mounted device 21 by wireless communication.
Send to.

Entrance notice antenna 7 (Exit notice antenna 1
3) is ETC entrance lane 6 and ETC exit lane 12
Installed on the upstream side of the entrance antenna 4 (exit antenna 10) in the vehicle, whether the IC card 22 is normally inserted by wireless communication, whether the ETC entrance lane 6 and the ETC exit lane 12 can be used, and the like. Equipment 21
Notify the driver through the Human Machine Interface (HMI) function of the.

The vehicle detectors 23 are installed on both sides of the ETC entrance lane 6 and the ETC exit lane 12 near the upstream and downstream of the entrance antenna 4 (exit antenna 10), and detect the traffic of the vehicle.

The roadside display 24 is installed in front of the entrance antenna 4 (exit antenna 10) and displays a message such as whether or not the vehicle can pass through properly.

The passage permission gate (toll gate) 25 is
When the toll collection is normally performed by wireless communication, the gate is opened to allow passage of the vehicle, and when the toll collection is not possible for some reason, the gate is closed to prohibit passage of the vehicle. [Driving Support System] Next, a driving support system according to an embodiment of the present invention will be described.

In the vehicle according to this embodiment, an obstacle existing in front of the own vehicle is used as a driving support system by the photographing information of a CCD camera or an infrared camera mounted on the own vehicle or from a roadside antenna provided with infrastructure. A collision avoidance system that detects information from the detected obstacle information and executes collision avoidance control (information provision, warning, or automatic braking, etc.) for the obstacle of the own vehicle based on the detected obstacle information, and exists behind the own vehicle. Obstacles such as other vehicles are detected from the image information of the CCD camera or infrared camera mounted on the vehicle or the information from the roadside antenna with infrastructure, and the detected obstacle information is displayed on the display. A lane change support system that supports changing lanes of a vehicle, and a CCD camera or infrared camera mounted on the vehicle to drive the lane of the vehicle. A lane departure avoidance system that performs lane departure avoidance control (alarm, automatic steering, automatic braking, etc.) so that the vehicle does not deviate from the detected driving lane by detecting it from information on roadside antennas or lane markers that have been equipped with infrastructure or infrastructure. At least one is installed. Further, each system is configured such that the driver can arbitrarily select the operation / non-operation of the system by an operation switch or the like.

FIG. 3 is a control block diagram of the driving support system according to the present embodiment.

As shown in FIG. 3, the assist control controller 31, which controls the driving support system as a whole, receives a charge from the in-vehicle device 21 of the ETC system as the input information, the charge collection completion information, and the map information of the car navigation system 41. Lane shape information (gate position, etc.) of the entrances and exits 2 and 8 of the road 1, current position information of the own vehicle from the GPS antenna 42, vehicle speed detection information of the own vehicle from the vehicle speed sensor 32, obstacles existing ahead of the own vehicle from the laser radar 33. Object information (distance between other vehicles in front), operation information from the operation switch 34, obstacle information from the rear side sensor 62 (distance between other vehicles behind, etc.), travel from the lateral position detector 71 The lateral position detection information of the vehicle with respect to the lane is input, and the output information includes image information on the display 35.
Voice information is output to the speaker 36, and braking control information is output to the brake controller 51 and the steering controller 75, respectively.

Support control CP for controlling the travel support system
U31 receives the above-mentioned input information, executes the arithmetic processing necessary for the driving support control, and outputs the above-mentioned output information to the controlled object as the arithmetic result.

The brake controller 51 is a support control C
The brake actuator 53 is driven from the braking control information from the PU 31 and the acceleration / deceleration signal detected by the acceleration / deceleration sensor (G sensor) 52 to apply a desired braking force.

The steering controller 75 drives the steering actuator 74 by the control torque from the assist control CPU 31 to apply a desired steering force.

The on-vehicle device 21 includes an on-vehicle antenna 26 mounted on the on-vehicle device 21 and roadside antennas 4, 7, 10, 13.
The toll collection process is performed with the ETC system computer 27 via the.

Instead of the on-vehicle laser radar 33, an obstacle existing in front of the vehicle is a CCD mounted on the vehicle.
It is also possible to input shooting information of a camera or an infrared camera, or information from a roadside antenna provided with infrastructure. [Outline of Driving Support Control] Next, an outline of the above-mentioned driving support control will be described. <Collision avoidance control> Collision avoidance control as driving support control is such that the shorter the distance between an own vehicle and an obstacle (pedestrian, other vehicle, etc.) in front of it, the more urgent the collision avoidance operation by the driver is. Then, the control contents are gradually changed to information provision, warning, and automatic braking.

The information is provided by displaying the character information 35a, the symbol information 35b, and the image information 35c as shown in FIG. 4 on the display 35, and notifying the driver of the vehicle β of the existence of the obstacle β, and calling an attention degree. Is the lowest control of.

The alarm is displayed on the display 35 by the character information 35a, the symbol information 35b and the image information 35 as shown in FIG.
While displaying c, the degree of urgency of alerting the driver of the vehicle of the presence of an obstacle by a voice message from the speaker 36 or the like is higher than that of providing information.

In the automatic braking, while displaying the character information 35a as shown in FIG. 6 on the display 35, the driver of the own vehicle is warned of the existence of the obstacle by the voice message of the speaker 36 and the like. This is the most urgent control in which the brake is automatically operated to avoid the above approach. <Lane change support control> Since lane change support control as driving support control requires more attention to the lane change operation by the driver as the distance between the own vehicle and obstacles (other vehicles, etc.) on the rear side becomes shorter. , The control content is gradually changed from information provision to alarm.

When the lane change support system is installed, as shown in FIG. 7, the line CCD sensor 62 (rear side) for detecting obstacles on the rear side is provided inside the left and right door mirrors 61 constituted by half mirrors. Direction sensor) is provided, and the CCD sensor 62 images the rear side adjacent to the traveling lane of the vehicle.

The information is provided by displaying the image information 35c as shown in FIG. 8 on the display 35, and informing the driver of the distance between the obstacle β existing behind the vehicle α and the obstacle β. This is a control that calls attention.

As for the alarm, the character information 35a, the symbol information 35b and the image information 35 as shown in FIG.
While displaying c and informing the driver that the obstacle β existing behind the vehicle α and the obstacle β are close to each other, the obstacle approaches by a voice message of the speaker 36 or the like. The degree of urgency for alerting the driver that the operation is being performed is higher than that for providing information. <Lane departure avoidance control> The lane departure avoidance control as the driving support control is performed when the lane of the host vehicle deviates from the traveling lane because the urgency of the departure avoidance operation by the driver increases depending on the extent of the departure. The content is gradually changed from an alarm to automatic steering or automatic braking.

When the lane departure avoidance system is installed, in addition to the vehicle speed sensor 32, a white line detecting C shown in FIG.
A control block equipped with a CD camera 71 (lateral position detection device 71), a steering angle sensor 72, a yaw rate sensor 73, and a steering actuator 74 is provided to determine the amount of lane departure of the host vehicle. That is, as shown in FIG. 10, based on the image captured by the CCD camera 71 for detecting the white line, the lateral deviation of the host vehicle with respect to the white line is detected, the lateral speed of the host vehicle is calculated from the vehicle speed and the captured image, and the lateral deviation is calculated from the lateral deviation. Estimate the yaw angle of the host vehicle. Then, the deviation prediction time TL from the lateral deviation and the lateral speed until reaching the white line
Calculate D. Further, the estimated departure time TLD and the time from the lateral speed to the lane departure are the first time T1 or the second time.
The degree of urgency until an alarm is issued is determined based on whether or not the time is T2 or less, and the driver's intention to depart from the lane is determined from the steering angle detected by the steering angle sensor 72, and the lateral deviation, the yaw angle, and the yaw rate sensor 41 are determined. It is determined whether the driver is performing the lane departure avoidance operation from the yaw rate detected by.

Then, based on the above judgment result, when the estimated departure time is shorter than the first time T1, intermittent steering torque is applied in the opposite direction to the lane end L to which the own vehicle is approaching, and at the same time, Synchronously outputs an intermittent alarm sound (onomatopoeic sound). Further, in consideration of the delay of the driver's reaction such as dozing, when the deviation prediction time TLD is shorter than the second time T2 which is shorter than the first time T1, the vehicle travels in a direction opposite to the lane edge L where the vehicle approaches. Add continuous steering torque.

The alarm is displayed on the display 35 by the character information 35a, the symbol information 35b and the image information 3 as shown in FIG.
While displaying 5c, it is a control that warns the driver that the host vehicle α deviates from the driving lane by a voice message from the speaker 36 or the like.

The automatic steering or the automatic braking is performed by the display 3
While displaying the character information 35a as shown in FIG.
This is a highly urgent control in which the driver is warned that the host vehicle α deviates from the traveling lane by a voice message from the speaker 36 or the like, and the steering is automatically steered in order to avoid any further lane departure. . [Details of Driving Assistance Control] Next, the contents of control when the ETC exit lane 12 is passing when the collision avoidance control is executed as the above-mentioned driving assistance control will be described.

As described above, a vehicle that does not support the ETC system (non-ETC vehicle) erroneously precedes the own vehicle by E
If you are trying to pass through the TC lane or the preceding vehicle cannot pass through the ETC lane due to communication problems, etc., the preceding vehicle may suddenly stop because the toll gate does not open. It is necessary for the own vehicle to immediately recognize the preceding vehicle as an obstacle so as not to approach the preceding vehicle and execute the collision avoidance control.

In the same situation as above, when the own vehicle tries to change lane to another ETC lane in order to avoid the preceding vehicle, the other ETC lane is promptly changed so as not to approach the following vehicle when changing the lane. It is necessary to execute the lane change support control to guide to.

Therefore, in the present embodiment, i) in order to enhance the driving support control when it is detected that a non-ETC vehicle or a non-passable vehicle preceding the own vehicle has entered the ETC exit lane 12, i) speed up the control intervention timing of the collision avoidance control, ii) driving support control (lane change support) when it is detected that a non-ETC vehicle preceding the host vehicle or a non-passable vehicle has entered the ETC exit lane 12. control)
The control intervention timing of is accelerated.

On the other hand, in the same situation as above, when the own vehicle tries to change lanes to another ETC lane in order to avoid the preceding vehicle, if the lane departure avoidance control is intervened, control is performed so as to prevent transition to another lane. Therefore, it will not be possible to smoothly switch to another ETC lane.

Therefore, in this embodiment, the non-ETC vehicle or the non-passable vehicle preceding the own vehicle is the ETC exit lane 1
When it is detected that the vehicle has entered the area 2, the control intervention timing of iii) lane departure avoidance control is delayed in order to restrict or prohibit the driving support control.

Specifically, the control is executed according to the flowchart shown in FIG. In the following, especially ET
Although the control when passing through the C exit lane 12 has been described, the same can be considered in the case of the ETC entrance lane 6, and instead of determining the end of the toll collection processing, the communication processing end such as vehicle information and toll gate entrance information is completed. And the similar control may be executed. <Control of First Embodiment> The control of the first embodiment corresponds to the content of i) above, and detects that a non-ETC vehicle or a non-passable vehicle preceding the own vehicle has entered the ETC exit lane 12. At the time, in order to strengthen the driving support control, the control intervention timing of the collision avoidance control is set to be advanced. That is, as shown in FIG. 13, the host vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1), and the non-ETC vehicle or the non-passable vehicle preceding the host vehicle is the ETC exit lane 12 in step S3.
When it is detected that the vehicle has entered (YE in step S3)
S), in step S5, the control intervention timing is corrected so as to be advanced, and then the normal collision avoidance control is executed in step S9, but the parameters set in step S5 are used.

On the other hand, if the host vehicle is not traveling in the ETC exit lane 12 in step S1 (N in step S1)
O), after setting the control intervention timing to the normal parameter in step S7, the normal collision avoidance control is executed in step S9.

In the above control, whether or not the host vehicle is traveling in the ETC lane and whether or not the host vehicle is a non-ETC preceding the host vehicle
Whether or not a vehicle or a non-passable vehicle has entered the ETC exit lane 12 is obtained from information received from the roadside antenna, vehicle-to-vehicle communication information obtained through communication with another vehicle, or map information of the car navigation system 41. It may be calculated from the lane shape information and the current position information of the own vehicle acquired from the GPS signal. <Advancement of Control Intervention Timing> For the correction for advancing the control intervention timing in step S5, for example, the alarm timing and the automatic braking timing are expressed by the following equations 1 and 2, respectively.
If it is set that the inequality is satisfied, the parameter a _w may be changed to a _wd and a _c may be changed to a _cd . However, since a _w <a _wd <0 and a _c <a _cd <0, and as a result, the threshold values on the right side of Expressions 1 and 2 both increase, the control intervention timing is accelerated.

[0065] In ^{D ≦ -v 2/2 · a} w + v · T + D 0 ... (1) D ≦ -v 2/2 · a c + v · T + D 0 ... (2) above formulas 1, 2, D: obstacle Distance to, D ₀ :
Stoppable vehicle distance, v: vehicle speed, T: reaction time, _aw : average deceleration after alarm response, _ac : deceleration by automatic braking,
However, each parameter is defined as a _c <a _w .

According to the control of the first embodiment, the non-ET
If a C vehicle or a non-passable vehicle is trying to pass through the ETC lane ahead of the own vehicle, it immediately recognizes the preceding vehicle as an obstacle so that the own vehicle equipped with the subsequent collision avoidance system does not approach the preceding vehicle. The collision avoidance control can be executed.

As another embodiment for enhancing the above-mentioned collision avoidance control, the warning volume of the warning for the preceding vehicle is increased, the timing of alerting with a voice message is made earlier than usual, and the collision avoidance is avoided. The control gain of control (for example, target deceleration by automatic braking) may be increased, and at least one of these may be executed. <Control of Second Embodiment> The control of the second embodiment is the same as the above i.
In response to the content of i), when it is detected that a non-ETC vehicle or a non-passable vehicle preceding the own vehicle has entered the ETC exit lane 12, the lane change assistance control The content is set so as to accelerate the control intervention timing. That is, as shown in FIG. 14, the same processes as those in the first embodiment are designated by the same step numbers, and the vehicle is traveling in the ETC exit lane 12 in step S1 (YES in step S1). , Step S
E is a non-ETC vehicle or a non-passable vehicle preceding the own vehicle in 3
When it is detected that the vehicle has entered the TC exit lane 12 (YES in step S3), the control intervention timing is corrected to be advanced in step S5, and then the normal lane change assist control is executed in step S11. Is the parameter set in step S5.

On the other hand, if the host vehicle is not traveling on the ETC exit lane 12 in step S1 (N in step S1)
O), after setting the control intervention timing to the normal parameter in step S7, the normal lane change assist control is executed in step S11.

In the above control, it is determined whether or not the host vehicle is traveling in the ETC lane and whether or not the host vehicle is ahead of the non-ETC lane.
Whether or not a vehicle or a non-passable vehicle has entered the ETC exit lane 12 is obtained from information received from the roadside antenna, vehicle-to-vehicle communication information obtained through communication with another vehicle, or map information of the car navigation system 41. It may be calculated from the lane shape information and the current position information of the own vehicle acquired from the GPS signal. <Advancement of Control Intervention Timing> The correction for advancing the control intervention timing in step S5 described above is performed by, for example, setting the parameter T _w to T _wd when the alarm timing is set at the time when the inequality of the following Expression 3 is satisfied. You can change to. However, since T _w > T _wd and the threshold value on the right side of Expression 3 becomes small as a result, the control intervention timing is accelerated.

D / (V _B -V) ≤T (3) In the above formula 3, D: distance to the rear side obstacle, V:
Vehicle speed, V _B : vehicle speed of a rear side obstacle, T: operating threshold value, where the alarm timing defines each parameter as T = T _w .

According to the control of the second embodiment, non-ET
When a C vehicle or a non-passable vehicle is trying to pass through the ETC lane ahead of the own vehicle, another ETC is installed to avoid the preceding vehicle so that the own vehicle equipped with the following lane change support system does not approach the preceding vehicle. When attempting to change lanes to a lane, it is possible to promptly guide to another ETC lane so as not to approach a following vehicle when changing lanes.

As another embodiment for enhancing the above lane change support control, the alarm volume of the alarm for the preceding vehicle is increased, the timing of alerting with a voice message is made earlier than usual, and the lane is changed. The control gain of the change support control may be increased.

Further, in the same situation as described above, the lane change assist control of the own vehicle can be forcibly activated (however, when the winker switch is turned on).

At least one of these other control contents
You can do one. <Control of Third Embodiment> The control of the third embodiment is performed by the above i.
In response to the contents of ii), when it is detected that a non-ETC vehicle or a non-passable vehicle preceding the own vehicle has entered the ETC exit lane 12, lane departure avoidance control is performed to restrict or prohibit the driving assistance control. The content of the control intervention is delayed so that the transition to another ETC lane is not disturbed and smoothed. That is, as shown in FIG. 15, the same processes as those in the first embodiment are designated by the same step numbers, and in step S1, the host vehicle is in the ETC exit lane 1
Driving 2 (YES in step S1), step S3
ET is a non-ETC vehicle or a non-passable vehicle that precedes your vehicle.
When it is detected that the vehicle has entered the C exit lane 12 (YES in step S3), the control intervention timing is corrected to be delayed in step S5, and then the step S13 is performed.
The normal lane departure avoidance control is executed with the parameter set in step S5.

On the other hand, if the host vehicle is not traveling in the ETC exit lane 12 in step S1 (N in step S1)
O), the control intervention timing is set to a normal parameter in step S7, and then the normal lane change assist control is executed in step S13.

In the above control, it is determined whether or not the host vehicle is traveling in the ETC lane, and whether or not the host vehicle is ahead of the non-ETC lane.
Whether or not a vehicle or a non-passable vehicle has entered the ETC exit lane 12 is obtained from information received from the roadside antenna, vehicle-to-vehicle communication information obtained through communication with another vehicle, or map information of the car navigation system 41. It may be calculated from the lane shape information and the current position information of the own vehicle acquired from the GPS signal.

The lane width and lanes on the ETC lane
The center is from the map information of the car navigation system 41.
Own vehicle acquired from acquired lane shape information and GPS signals
The reference value may be calculated from both current position information. <Delay of control intervention timing> Control of step S5
The correction for delaying the intervention timing is, for example, an alarm type.
The inequality of formula 4 below is established
If it was set to stand up, the parameter Y_wTo
Y_wdTo Y_cTo Y_cdYou can change to. However, Y _wd<
Y_w, Y_cd<Y_cAnd, as a result, the threshold value on the right side of Equation 4 is small.
Therefore, the control intervention timing is delayed.

(W _R −W _V ) / 2− | y | ≦ Y (4) In the above formula 4, W _R : lane width, W _V ): vehicle width, y: lateral position of the vehicle from the center of the lane , Y: operation threshold, however, alarm timing is Y = Y _w , automatic steering timing is Y = Y
Each parameter is defined as _c (Y _w > Y _c ).

According to the control of the third embodiment described above, the non-ETC vehicle or the impassable vehicle preceding the own vehicle enters the ETC exit lane 12, and the own vehicle changes to another ETC lane to avoid the preceding vehicle. When attempting to change lanes, it is possible to prevent an adverse effect at the time of changing to another lane due to the intervention of the lane departure avoidance control, and to smoothly change to another ETC lane.

As another embodiment for restricting or prohibiting the lane departure avoidance control, the alarm volume of the alarm for the preceding vehicle is reduced, or the timing of alerting with a voice message is delayed from the normal time, The control gain of the lane departure avoidance control (for example, the target control torque in the lane departure avoidance control) may be reduced.

Further, in the same situation as above, the lane departure avoidance control of the own vehicle can be forcibly stopped.

At least one of these other control contents
You can do one.

[Brief description of drawings]

FIG. 1 is a plan view of a tollgate including an ETC system as an embodiment according to the present invention.

FIG. 2 is a diagram showing an installation example of various devices in a tollgate of an ETC system as an embodiment according to the present invention.

FIG. 3 is a control block diagram of the driving support system according to the present embodiment.

FIG. 4 is a diagram showing a display example of a display showing control content of information provision as collision avoidance control.

FIG. 5 is a diagram showing a display example of a display showing control contents of an alarm as collision avoidance control.

FIG. 6 is a diagram showing a display example of a display showing control contents of automatic braking as collision avoidance control.

FIG. 7 is a diagram showing an arrangement example of a line CCD sensor for detecting an obstacle on the rear side, which is mounted on the lane change support system.

FIG. 8 is a diagram showing a display example of a display showing control contents of information provision as lane change support control.

FIG. 9 is a diagram showing a display example of a display showing control contents of an alarm as lane change support control.

FIG. 10 is a control block diagram of a lane departure avoidance system.

FIG. 11 is a diagram showing a display example of a display showing control contents of an alarm as lane departure avoidance control.

FIG. 12 is a diagram showing a display example of a display showing control contents of automatic steering as lane departure avoidance control.

FIG. 13 is a flowchart showing a collision avoidance control of the first embodiment.

FIG. 14 is a flowchart showing a collision avoidance control of the second embodiment.

FIG. 15 is a flowchart showing collision avoidance control of the third embodiment.

[Explanation of symbols]

1 toll road 2 entrance 4 Entrance antenna (roadside antenna) 7 Entrance notice antenna (roadside antenna) 10 Exit antenna (roadside antenna) 13 Exit notice antenna (roadside antenna) 6 ETC entrance lane 8 exit 12 ETC exit lane 20 In-vehicle equipment 21 IC card 25 tall gate α Own vehicle β Obstacle (other vehicle)

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 B60R 21/00 622K 622L 624 624C 624D 624F 624G 626 626C 626F 626G 627 627B 628B 628/628 06 B60K 28/06 A B62D 6/00 ZYW B62D 6/00 ZYW G07B 15/00 G07B 15/00 L 510 510 510 G08G 1/16 G08G 1/16 C // B62D 101: 00 B62D 101: 00 113: 00 113 : 00 137: 00 137: 00 (72) Inventor Masaki Chiba 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Co., Ltd. F-term (reference) 3D032 CC39 CC40 DA03 DA23 DA33 DA84 DB01 DB02 DB03 DB06 DB10 DC38 DE09 DE20 EB11 FF10 GG01 3D037 FA05 FA13 FA16 FB09 3E0 27 EA01 EB02 EC10 5H180 AA01 CC03 CC04 CC14 EE10 LL01 LL02 LL04 LL07 LL09 LL14

Claims (7)

[Claims] 1. An obstacle existing in front of the host vehicle is detected,
A vehicle driving assistance device that executes driving assistance control of the host vehicle based on the detected obstacle information, and an automatic fee collection system that collects fees by transmitting and receiving with roadside devices installed on toll roads. Determining means for determining whether or not the preceding vehicle can pass through the traveling lane, and when the preceding vehicle cannot pass through the traveling lane,
A driving support device for a vehicle, comprising: a control unit that changes the content of the driving support control so as to enhance the driving support control. 2. A vehicle travel support device for detecting an obstacle existing on the side of the own vehicle and executing the travel support control of the own vehicle from the detected obstacle information, which is installed on a toll road. Determining means for determining whether or not the preceding vehicle can pass through the traveling lane of the automatic toll collection system that transmits and receives to and from the roadside device, and when the preceding vehicle cannot pass through the traveling lane,
A driving support device for a vehicle, comprising: a control unit that changes the content of the driving support control so as to enhance the driving support control. 3. A vehicle travel assistance device that detects a travel lane of the vehicle and executes travel assistance control of the vehicle without deviating from the detected travel lane, the roadside being installed on a toll road. Judgment means for judging whether or not the preceding vehicle can pass the traveling lane of the automatic toll collection system which transmits and receives to and from the device, and when the preceding vehicle cannot pass the traveling lane,
A driving support device for a vehicle, comprising: a control unit that changes the content of the driving support control so as to restrict or prohibit the driving support control. 4. The control means, in order to enhance the driving support control, a setting for increasing a control gain in the driving support control, a setting for advancing a control intervention timing, or a control intervention threshold value. The vehicle travel assistance device according to claim 1, wherein at least one of the settings is executed. 5. The control means sets to forcibly start the traveling support control, to increase the control gain in the traveling support control, or to control intervention timing in order to enhance the traveling support control. 3. The vehicle travel support device according to claim 2, wherein at least one of a setting for speeding up the control and a setting for reducing the control intervention threshold value is executed. 6. The control means sets to forcibly stop the traveling support control, set to reduce a control gain in the traveling support control, or control intervention timing in order to restrict or prohibit the traveling support control. 4. The vehicle travel support device according to claim 3, wherein at least one of a setting for delaying the control value and a setting for increasing the control intervention threshold value is executed. 7. A communication means is further provided which is capable of communicating with an automatic fee collection system for transmitting and receiving to and from a roadside device installed on a toll road, and the determination means is obtained from the communication means. 4. The vehicle travel assistance device according to claim 1, wherein it is determined from the information whether the preceding vehicle can pass the traveling lane.