JP2015069217A - Driving assist system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable more appropriate driving assistance to be given for lane change of an own vehicle.SOLUTION: A controller (5) decides based on succeeding vehicle information, which signifies a vehicle state of a succeeding vehicle that travels on a traveling lane of an own vehicle (A), whether the driver of the succeeding vehicle (D) has the intention of changing lanes to an opposite adjacent lane. Based on a result of the decision made on the intention of changing lanes to the opposite adjacent lane, the controller (5) decides whether the own vehicle (A) can change lanes to an adjacent lane (for example, the opposite adjacent lane) in the same direction as a direction in which the succeeding vehicle (D) has the intention of changing lanes. Based on the decision made on whether the own vehicle (A) can change lanes, the controller (5) performs at least one of reporting to an occupant of the own vehicle (A) and controlling of the own vehicle (A).

Description

  The present invention relates to a driving support device.

  Conventionally, as a driving assistance device, for example, there is a conventional technique described in Patent Document 1. In this prior art, when the merge point between the own lane and the merge lane that merges with the own lane exists in front of the own vehicle, the time until the own vehicle reaches the merge point and the merge lane to the own lane. The time until a vehicle that merges (hereinafter also referred to as a merged vehicle) reaches the merge point is calculated. Subsequently, in this conventional technique, when the difference between the two calculated times is equal to or less than the set value, it is determined that the own vehicle and the joining vehicle interfere with each other. Subsequently, in this conventional technology, when it is determined that the own vehicle and the joining vehicle interfere with each other, it is determined whether or not there is an adjacent lane in which the own vehicle can change lanes. Subsequently, in this conventional technique, when it is determined that there is an adjacent lane in which the host vehicle can change lanes, it is determined whether there is an adjacent vehicle in the adjacent lane. Subsequently, in this conventional technique, when it is determined that there is no adjacent vehicle, a voice prompting the driver to change the lane to the adjacent lane is output.

Japanese Patent Laid-Open No. 08-263793

  However, in the above-described prior art, when it is determined that there is no adjacent vehicle in the adjacent lane, a voice prompting the driver to change the lane to the adjacent lane is output. Therefore, in the above prior art, even if the following vehicle traveling in the own lane changes the lane to the adjacent lane, if there is no adjacent vehicle in the adjacent lane, the driver changes the lane to the adjacent lane. There was a possibility to output a voice prompting. Therefore, in the above-described conventional technology, there is a possibility that the own vehicle changes the lane to the adjacent lane, the distance between the own vehicle and the following vehicle is shortened, and the own vehicle and the following vehicle interfere with each other.

  The present invention focuses on the above points, and an object of the present invention is to enable more appropriate driving support for a lane change of the host vehicle.

  In order to solve the above-described problem, according to one aspect of the present invention, whether or not the driver of the following vehicle has an intention to change the lane to the adjacent lane based on the following vehicle information indicating the vehicle state of the following vehicle of the host vehicle. Determine whether. Subsequently, based on the determination result of the intention to change the lane to the adjacent lane, it is determined whether or not the lane change of the own vehicle to the adjacent lane in the same direction in which the subsequent vehicle indicates the intention of changing the lane. Then, at least one of notification to the occupant of the host vehicle and control of the host vehicle is performed based on the determined lane change of the host vehicle to the adjacent lane.

  According to one aspect of the present invention, for example, when the driver of the following vehicle has an intention to change the lane to the adjacent lane, it is determined that the own vehicle cannot change the lane to the adjacent lane, and the own vehicle changes the lane. It is possible to notify the passenger of the own vehicle and control the own vehicle so that the own vehicle stays in the own lane. Thereby, more suitable driving assistance can be performed with respect to the lane change of the own vehicle.

It is a figure showing the structure of the own vehicle A carrying a driving assistance device. It is explanatory drawing explaining a surrounding vehicle. It is a flowchart showing the driving assistance process which the controller 5 performs.

Embodiments according to the present invention will be described with reference to the drawings.
(First embodiment)
(Constitution)
FIG. 1 is a diagram illustrating a configuration of a host vehicle A equipped with the driving support device of the present embodiment.
As shown in FIG. 1, the host vehicle A includes a radar device 1, a traveling lane detection unit 2, a navigation device 3, a vehicle speed detection unit 4, a controller 5, and a driving support unit 6.

  FIG. 2 is an explanatory diagram for explaining a vehicle (hereinafter also referred to as a surrounding vehicle) existing around the host vehicle A. As the surrounding vehicle, for example, as shown in FIG. 2, a vehicle (hereinafter referred to as a merging vehicle) traveling in a lane (hereinafter also referred to as a merging lane) that merges with a traveling lane of the own vehicle A (hereinafter also referred to as the own lane). There is B). Further, for example, a vehicle that travels in a lane (hereinafter also referred to as an opposite adjacent lane) that is on the opposite side of the lane of the traveling lane adjacent to the own lane (hereinafter also referred to as an adjacent lane). There is C (hereinafter also referred to as the opposite side adjacent vehicle). Further, for example, there is a vehicle D (hereinafter also referred to as a subsequent vehicle) D traveling behind the host vehicle A in the host lane.

  The radar apparatus 1 detects surrounding vehicle information (merging vehicle information, opposite-side adjacent vehicle information, and subsequent vehicle information) that represents the traveling state of the surrounding vehicles (merging vehicle B, opposite-side adjacent vehicle C, and subsequent vehicle D). The surrounding vehicle information includes, for example, the position of the surrounding vehicle, vehicle speed, and acceleration. Then, the radar device 1 outputs the detection result to the controller 5. As the radar device 1, for example, a laser rangefinder that emits laser light around the host vehicle A and detects reflected light can be employed.

  The travel lane detector 2 detects a travel lane that exists around the host vehicle A. In the present embodiment, the traveling lane detector 2 detects the type of traveling lane (confluence lane, opposite adjacent lane, own lane) and the position of the traveling lane. Then, the traveling lane detector 2 outputs the detection result to the controller 5. As the traveling lane detection unit 2, for example, a CCD (Charge Coupled Device) camera that captures an image around the host vehicle A, and a traveling that exists around the host vehicle A by performing image processing on the image captured by the CCD camera. An image processing device that detects lanes can be employed.

  The navigation device 3 includes a GPS (Global Positioning System) receiver, a map database, and a display monitor. And the navigation apparatus 3 acquires the position and road information of the own vehicle A from a GPS receiver and a map database. Subsequently, the navigation device 3 performs a route search based on the acquired position of the own vehicle A and road information. Subsequently, the navigation device 3 displays the route search result on the display monitor. In addition, the navigation device 3 outputs the position of the host vehicle A (host vehicle information) and road information (for example, the position of the point where the host lane and the merging lane meet (hereinafter also referred to as a merging point)) to the controller 5. .

The vehicle speed detection unit 4 detects the vehicle speed of the host vehicle A (host vehicle information). Then, the vehicle speed detection unit 4 outputs the detection result to the controller 5. For example, a wheel speed sensor that detects the wheel speed of the host vehicle A and calculates the vehicle speed of the host vehicle A can be employed as the vehicle speed detection unit 4.
The controller 5 includes an A / D (Analog to Digital) conversion circuit, a D / A (Digital to Analog) conversion circuit, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. Integrated circuit. The ROM stores one or more programs that realize various processes. The CPU executes various processes (driving support processes) according to one or more programs stored in the ROM. Then, as shown in FIG. 1, the CPU realizes a surrounding vehicle information detection unit 5a, a traveling lane determination unit 5b, a merging vehicle approach prediction unit 5c, a subsequent vehicle operation prediction unit 5d, and a lane change possibility determination unit 5e.

The surrounding vehicle information detection part 5a acquires the detection result (surrounding vehicle information (merging vehicle information, opposite side adjacent vehicle information, subsequent vehicle information)) output by the radar device 1. The surrounding vehicle information detection unit 5a outputs the acquisition result (detection result) to the traveling lane determination unit 5b, the merging vehicle approach prediction unit 5c, the subsequent vehicle motion prediction unit 5d, and the lane change possibility determination unit 5e.
The traveling lane determination unit 5b outputs the detection results (the traveling lane information, the surrounding vehicle information (merging vehicle information, the opposite side adjacent vehicle information, the following vehicle information)) output by the traveling lane detection unit 2 and the surrounding vehicle information detection unit 5a. get. Subsequently, the traveling lane determination unit 5b determines the traveling lanes (merging of the surrounding vehicles) based on the acquired detection results (traveling lane information, surrounding vehicle information (merging vehicle information, opposite side adjacent vehicle information, subsequent vehicle information)). Lane, opposite side adjacent lane, own lane). Specifically, the traveling lane determination unit 5b is based on the position of the traveling lane and the position of the surrounding vehicle, and the traveling lane (the merging lane, the merging vehicle B, the opposite adjacent vehicle C, the following vehicle D) exists. The opposite lane, the own lane). Thereby, the traveling lane determination unit 5b determines whether or not the merging vehicle B traveling in the merging lane exists. Further, the traveling lane determination unit 5b determines whether each surrounding vehicle corresponds to the merging vehicle B, the opposite side adjacent vehicle C, or the following vehicle D, and the surrounding vehicle information (merging) acquired by the surrounding vehicle information detection unit 5a. Vehicle information, opposite side adjacent vehicle information, and subsequent vehicle information). Then, the traveling lane determining unit 5b outputs the determination result to the merging vehicle approach predicting unit 5c, the subsequent vehicle operation predicting unit 5d, and the lane change possibility determining unit 5e.

  The merging vehicle approach prediction unit 5c acquires the position of the host vehicle A (own vehicle information) and road information (position of the merging point) output by the navigation device 3. Subsequently, the joining vehicle approach predicting unit 5c determines whether or not the own vehicle A is approaching the joining point based on the acquired position (own vehicle information) of the own vehicle A and road information (position of the joining point). judge. Specifically, the merging vehicle approach prediction unit 5c is within a set distance (for example, 100 m) from the own vehicle A to the traveling direction of the own vehicle A based on the position of the own vehicle A (own vehicle information) and the position of the meeting point. It is determined whether or not there is a meeting point. And the joining vehicle approach prediction part 5c determines with the own vehicle A approaching a joining point, when it determines with a joining point existing within a setting distance (100m). On the other hand, when it is determined that the joining point does not exist within the set distance (100 m), the joining vehicle approach predicting unit 5c determines that the host vehicle A is not approaching the joining point.

  When the merging vehicle approach predicting unit 5c determines that the host vehicle A is approaching the merging point, the lane determining unit 5b determines that there is a merging vehicle B traveling in the merging lane. 3 outputs the position of the host vehicle A (own vehicle information), the detection results output by the vehicle speed detection unit 4 and the surrounding vehicle information detection unit 5a (vehicle speed (own vehicle information) of the own vehicle A, surrounding vehicle information (joint vehicle information). )), The predicted relative position L ′ of the merging vehicle B is calculated. As the predicted relative position L ′ of the merging vehicle B, for example, the merging vehicle B is accelerated in the merging lane, and a difference between the vehicle speed V (own vehicle information) of the own vehicle A and the vehicle speed Vo of the merging vehicle B is set in advance. There is an inter-vehicle distance between the own vehicle A and the joining vehicle B when the value (≈0) or less. Specifically, the merging vehicle approach predicting unit 5c, as shown in FIG. 2, determines between the own vehicle A and the merging vehicle B based on the position of the own vehicle A (own vehicle information) and the position of the merging vehicle B. The inter-vehicle distance L is calculated. Subsequently, the merging vehicle approach predicting unit 5c, based on the calculated inter-vehicle distance L, the vehicle speed Vo of the merging vehicle B, the acceleration αo, and the vehicle speed V (own vehicle information) of the host vehicle A, the merging vehicle B according to the following equation (1): The predicted relative position L ′ is calculated. Then, the merging vehicle approach prediction unit 5c outputs the calculation result to the lane change possibility determination unit 5e.

L ′ = L− (Vo−V) ² / (2 × αo) (1)
When the subsequent vehicle motion prediction unit 5d determines that there is a subsequent vehicle D traveling in the own lane by the travel lane determination unit 5b, the surrounding vehicle information (position and vehicle speed of the subsequent vehicle D. vehicle subsequent) output by the surrounding vehicle information detection unit 5a. Based on the vehicle information), it is determined whether or not the driver of the following vehicle D has an intention to change the lane to the opposite adjacent lane. As a method for determining whether or not the driver of the following vehicle D has the intention of changing the lane to the opposite adjacent lane, for example, the following vehicle D has already started changing the lane to the opposite adjacent lane Alternatively, the lane change is about to start (hereinafter also referred to as an intentional state), or the following vehicle D has not yet started to change the lane to the opposite adjacent lane (hereinafter referred to as an unintended state). There is also a method for determining whether or not. Specifically, the subsequent vehicle motion prediction unit 5d generates the lateral speed V1Y of the subsequent vehicle D in the opposite adjacent lane direction, and the absolute value of the lateral speed V1Y of the subsequent vehicle D is a set value V1 (for example, 1 m / s) or higher, it is determined that the state is intentional. The lateral speed V1Y of the following vehicle D includes a component in a direction intersecting (for example, orthogonal to) the traveling lane of the following vehicle D among the components of the vehicle speed of the following vehicle D. On the other hand, the subsequent vehicle motion prediction unit 5d does not generate the lateral speed V1Y of the subsequent vehicle D in the opposite adjacent lane direction, or the absolute value of the lateral speed V1Y of the subsequent vehicle D is the set value V1 (1 m / If it is less than s), it is determined that there is no intention. Then, the subsequent vehicle motion prediction unit 5d outputs the determination result to the lane change possibility determination unit 5e.

  In the present embodiment, whether or not the driver of the subsequent vehicle D intends to change the lane to the opposite adjacent lane is determined based on the surrounding vehicle information (position and speed of the subsequent vehicle D. subsequent vehicle information). Although an example of determination is shown, other configurations may be employed. For example, the rear image of the host vehicle A is captured by a CCD camera, the captured image is subjected to image processing to determine whether the direction indicator of the following vehicle D is lit (vehicle state), and the following vehicle D is determined based on the determination result. It is good also as a structure which determines whether the driver | operator of this has the intention of the lane change to an opposite adjacent lane. Further, for example, when the in-vehicle device of the subsequent vehicle D transmits information indicating whether or not the driver of the subsequent vehicle D intends to change lanes, the information transmitted by the subsequent vehicle D is displayed. It is good also as a structure acquired with a communication apparatus.

  Further, in the present embodiment, the example in which the component in the direction intersecting (for example, orthogonal to) the traveling lane of the subsequent vehicle D among the components of the vehicle speed of the subsequent vehicle D is set as the lateral speed V1Y of the subsequent vehicle D is shown. Other configurations can also be employed. For example, the component in the direction intersecting (for example, orthogonal to) the traveling lane of the subsequent vehicle D out of the relative speed of the subsequent vehicle D with respect to the host vehicle A may be set as the lateral speed V1Y of the subsequent vehicle D. In this case, the radar apparatus 1 detects the relative speed of the following vehicle D with respect to the own vehicle A, and outputs the detection result to the controller 5 (following vehicle motion prediction unit 5d).

  When the traveling lane determining unit 5b determines that there is a merging vehicle B that travels in the merging lane, the lane change possibility determining unit 5e, based on the detection result (predicted relative position L ′) output by the merging vehicle approach predicting unit 5c, It is determined whether the own vehicle A and the merging vehicle B interfere with each other. Specifically, the lane change possibility determination unit 5e determines whether the absolute value of the predicted relative position L ′ is less than a determination threshold L1 (for example, 20 m) based on the predicted relative position L ′. When the lane change possibility determination unit 5e determines that the absolute value of the predicted relative position L ′ is less than the determination threshold L1 (20 m), it determines that the host vehicle A and the merging vehicle B interfere with each other. On the other hand, when determining that the absolute value of the predicted relative position L ′ is greater than or equal to the determination threshold L1 (20 m), the lane change possibility determination unit 5e determines that the host vehicle A and the merging vehicle B do not interfere with each other.

  Further, when the lane change possibility determination unit 5e determines that the own vehicle A and the merging vehicle B interfere with each other, the lane change of the own vehicle A to the adjacent lane in the same direction in which the subsequent vehicle D indicates the intention to change the lane is determined. Determine. In the present embodiment, for example, the opposite side adjacent lane is adopted as the adjacent lane in the same direction in which the subsequent vehicle D indicates the intention of changing the lane. Whether the host vehicle A can change the lane to the opposite side adjacent lane is determined by determining the surrounding vehicle information (position of the opposite side adjacent vehicle C. opposite side adjacent vehicle information) detected by the surrounding vehicle information detecting unit 5a, traveling Information on the driving lanes of surrounding vehicles determined by the lane determination unit 5b (information on the opposite side adjacent lane on which the opposite side adjacent vehicle C is traveling. Information on the opposite side adjacent vehicle) and the determination result output by the subsequent vehicle motion prediction unit 5d ( Based on information indicating whether the driver of the following vehicle D intends to change lanes). Specifically, the lane change possibility determination unit 5e determines the set distance from the own vehicle A behind the own vehicle A based on the information about the position of the opposite adjacent vehicle C and the opposite adjacent lane on which the opposite adjacent vehicle C travels. It is determined whether or not the opposite side adjacent vehicle C exists within (for example, 100 m). And if the lane change possibility determination part 5e determines that the opposite side adjacent vehicle C does not exist within the set distance (100 m) from the own vehicle A, the subsequent vehicle operation prediction part 5d assumes that the subsequent vehicle D is in an unintended state. If it is determined, it is determined that the vehicle A can be changed to the opposite adjacent lane. When the lane change possibility determination unit 5e determines that the own vehicle A can be changed to the opposite adjacent lane, the lane change enable / disable determination unit 5e sends a voice prompting the lane change to a passenger of the own vehicle A (for example, driver, passenger) ) To be output to the driving support unit 6 (hereinafter also referred to as a lane change command).

  On the other hand, the lane change possibility determination unit 5e determines that the opposite side adjacent vehicle C exists within the set distance (100 m) from the own vehicle A, or the opposite side adjacent vehicle C within the set distance (100 m) from the own vehicle A. However, if the subsequent vehicle motion prediction unit 5d determines that the subsequent vehicle D is in an intentional state, it determines that the host vehicle A cannot be changed to the opposite adjacent lane. If the lane change possibility determination unit 5e determines that the own vehicle A cannot be changed to the opposite adjacent lane, the lane change possibility determination unit 5e causes the passenger of the own vehicle A to output a sound indicating that the merging vehicle B exists. A command (hereinafter also referred to as a caution command) is output to the driving support unit 6.

The driving support unit 6 outputs a sound based on the command output by the lane change permission determination unit 5e. Specifically, the driving support unit 6 outputs a voice prompting the lane change when the lane change enable / disable determining unit 5e outputs a lane change command. On the other hand, when the lane change permission determination unit 5e outputs a caution command, the driving support unit 6 outputs a sound indicating that the merging vehicle B is present, so that attention is paid.
In the present embodiment, when the driving support unit 6 obtains a lane change command, an example of outputting a voice prompting the occupant of the host vehicle A to change the lane has been shown. However, other configurations may be employed. For example, the driving support unit 6 may be configured to display an image that prompts the occupant of the own vehicle A to change the lane, or may be configured to perform vehicle control such that the own vehicle A changes the lane to the adjacent lane. When performing vehicle control, the left and right wheels may be steered so that the own vehicle A may change the lane to the adjacent lane, the braking force of the left and right wheels may be controlled, and the own vehicle A may change the lane to the adjacent lane. It is good.

(Driving support processing)
Next, driving support processing executed by the controller 5 will be described with reference to FIG. The driving support process is performed every preset control cycle.
FIG. 3 is a flowchart showing a driving support process executed by the controller 5.
As shown in FIG. 3, first, in step S101, the controller 5 (merged vehicle approach predicting unit 5c) outputs the position of the own vehicle A (own vehicle information) and road information (position of the merging point) output from the navigation device 3. To get.

  Subsequently, the process proceeds to step S102, where the controller 5 (merging vehicle approach prediction unit 5c) is based on the position of the host vehicle A (own vehicle information) and road information (position of the merging point) acquired in step S101. It is determined whether or not the own vehicle A is approaching the junction. If the controller 5 (merging vehicle approach prediction unit 5c) determines that the host vehicle A is approaching the merging point (Yes), the process proceeds to step S103. On the other hand, if the controller 5 (merging vehicle approach prediction unit 5c) determines that the host vehicle A is not approaching the joining point (No), the process proceeds to step S101.

In step S103, the controller 5 (the surrounding vehicle information detection unit 5a) acquires the detection result (the surrounding vehicle information (merging vehicle information, the opposite side adjacent vehicle information, the following vehicle information) output by the radar device 1.
Then, it transfers to step S104 and the controller 5 (traveling lane determination part 5b) acquires the detection result (information of traveling lane) which the traveling lane detection part 2 output.

  Subsequently, the process proceeds to step S105, where the controller 5 (traveling lane determination unit 5b) is based on the surrounding vehicle information (position of surrounding vehicles) acquired in step S103 and the information on the traveling lane acquired in step S104. The traveling lanes of surrounding vehicles (merging vehicle B, opposite side adjacent vehicle C, and subsequent vehicle D) are determined. Thereby, the controller 5 (the driving lane determining unit 5b) determines whether each surrounding vehicle corresponds to the merging vehicle B, the opposite adjacent vehicle C, or the following vehicle D, and the surrounding vehicle information acquired in step S103. The determination result is associated with.

  Subsequently, the process proceeds to step S106, where the controller 5 (traveling lane determining unit 5b) determines whether or not there is a merging vehicle B traveling in the merging lane based on the determination result (traveling lane information) in step S105. Determine. If the controller 5 (the traveling lane determining unit 5b) determines that there is a merging vehicle B traveling on the merging lane (Yes), the process proceeds to step S106. On the other hand, if the controller 5 (traveling lane determining unit 5b) determines that there is no merging vehicle B traveling in the merging lane (No), the process proceeds to step S101.

In step S107, the controller 5 (merged vehicle approach prediction unit 5c) acquires the detection result (the vehicle speed (own vehicle information) of the host vehicle A) output by the vehicle speed detection unit 4.
Subsequently, the process proceeds to step S108, where the controller 5 (merged vehicle approach prediction unit 5c) obtains the surrounding vehicle information (merged vehicle information) acquired in step S103 and the vehicle speed (own vehicle) of the host vehicle A acquired in step S107. Information), a predicted relative position L ′ of the merging vehicle B is calculated.

  Subsequently, the process proceeds to step S109, and the controller 5 (lane change permission determination unit 5e) determines whether the host vehicle A and the joining vehicle B interfere with each other based on the predicted relative position L ′ calculated in step S108. Determine. If the controller 5 (lane change permission determination unit 5e) determines that the host vehicle A and the merging vehicle B interfere with each other (Yes), the process proceeds to step S110. On the other hand, if the controller 5 (the lane change possibility determination unit 5e) determines that the host vehicle A and the joining vehicle B do not interfere (Yes), the process proceeds to step S101.

After proceeding to step S110, the controller 5 (following vehicle motion prediction unit 5d) determines the following vehicle D based on the surrounding vehicle information (position and vehicle speed of the following vehicle D. following vehicle information) acquired in step S103. It is determined whether or not the driver intends to change the lane to the opposite adjacent lane.
Subsequently, the process proceeds to step S111, where the controller 5 (lane change permission determination unit 5e) obtains the surrounding vehicle information (opposite side adjacent vehicle information) acquired in step S103 and the determination result in step S105 (travel lane information). Based on the determination result of step S110 (information indicating whether or not the driver of the following vehicle D intends to change lanes), it is determined whether or not the own vehicle A can be changed to the opposite adjacent lane. judge. If the controller 5 (lane change possibility determination unit 5e) determines that the vehicle A can be changed to the opposite adjacent lane (Yes), the process proceeds to step S112. On the other hand, if the controller 5 (lane change possibility determination unit 5e) determines that the vehicle A cannot be changed to the opposite adjacent lane (Yes), the process proceeds to step S113.

In step S112, the controller 5 (lane change permission determination unit 5e) outputs a lane change command to the driving support unit 6, and then ends this calculation process. Thereby, the driving assistance part 6 outputs the audio | voice prompting the lane change to the opposite side adjacent lane.
On the other hand, in step S113, the controller 5 (lane change permission determination unit 5e) outputs a caution command to the driving support unit 6, and then ends this calculation process. As a result, the driving support unit 6 outputs a sound indicating that the merging vehicle B is present, so that attention is paid.

(Operation other)
Next, the operation of the vehicle equipped with the driving support device of this embodiment will be described.
It is assumed that the controller 5 executes the driving support process while the host vehicle A is traveling. Then, the controller 5 (merging vehicle approach prediction unit 5c) acquires the position of the own vehicle A (own vehicle information) and road information (position of the merging point) output from the navigation device 3 (step S101 in FIG. 3). . Here, it is assumed that a merging point exists within 100 m from the own vehicle A in the traveling direction of the own vehicle A. Then, based on the acquired position of the own vehicle A (own vehicle information) and road information (position of the merge point), the controller 5 (the merge vehicle approach prediction unit 5c) approaches the merge point. (Step S102 “Yes” in FIG. 3).

  Subsequently, the controller 5 (surrounding vehicle information detection unit 5a) acquires the detection result (surrounding vehicle information (merging vehicle information, opposite side adjacent vehicle information, subsequent vehicle information)) output by the radar device 1 (FIG. 3). Step S103). Subsequently, the controller 5 (the traveling lane determining unit 5b) acquires the detection result (the traveling lane information) output from the traveling lane detecting unit 2 (step S104 in FIG. 3). Subsequently, based on the acquired surrounding vehicle information (position of surrounding vehicles) and the acquired traveling lane information, the controller 5 (traveling lane determination unit 5b), the surrounding vehicles (merging vehicle B, opposite side adjacent vehicle C, The travel lane of the following vehicle D) is determined (step S105 in FIG. 3). Thereby, the traveling lane determination unit 5b determines whether each surrounding vehicle corresponds to the merging vehicle B, the opposite adjacent vehicle C, or the following vehicle D. Here, as shown in FIG. 2A, it is assumed that there is a merging vehicle B traveling in the merging lane. Then, the controller 5 (traveling lane determining unit 5b) determines that there is a merging vehicle B that travels in the merging lane based on the determination result (traveling lane information) (step S106 “Yes” in FIG. 3).

  Subsequently, the controller 5 (merged vehicle approach prediction unit 5c) acquires the detection result (the vehicle speed (own vehicle information) of the host vehicle A) output by the vehicle speed detection unit 4 (step S107 in FIG. 3). Subsequently, the controller 5 (merging vehicle approach prediction unit 5c) predicts the relative position L ′ of the merging vehicle B based on the acquired vehicle speed (own vehicle information) of the own vehicle A and surrounding vehicle information (merging vehicle information). That is, the inter-vehicle distance between the own vehicle A and the joining vehicle B when the difference between the vehicle speed V (own vehicle information) of the own vehicle A and the vehicle speed Vo of the joining vehicle B is equal to or less than a set value (≈0). Calculation is made (step S108 in FIG. 3). Here, it is assumed that the calculated predicted relative position L ′ is less than the determination threshold L1 (20 m). Then, the controller 5 (lane change permission determination unit 5e) determines that the own vehicle A and the joining vehicle B interfere (step S109 “Yes” in FIG. 3).

  Further, it is assumed that the following vehicle D traveling in the own lane starts changing the lane to the opposite adjacent lane, and the lateral speed V1Y of the following vehicle becomes larger than the set value V1 (1 m / s). Then, the controller 5 (following vehicle motion prediction unit 5d) determines that the following vehicle D is in an intentional state (step S110 in FIG. 3). Furthermore, it is assumed that the opposite side adjacent vehicle C does not exist within a set distance (40 m) from the own vehicle A behind the own vehicle A. Then, the controller 5 (lane change permission determination unit 5e) acquires the acquired surrounding vehicle information (opposite side adjacent vehicle information), information on the traveling lane of the surrounding vehicle, and the determination result of the step S110 (the following vehicle D is in an intent state). Is determined that the vehicle A cannot be changed to the opposite adjacent lane (step S111 “No” in FIG. 3). Subsequently, the controller 5 (lane change permission determination unit 5e) outputs a caution command to the driving support unit 6 (step S112 in FIG. 3). Thereby, if the driving assistance part 6 acquires a caution instruction | command, the audio | voice which prompts the lane change to the other side adjacent lane will be output to the passenger | crew of the own vehicle A. FIG.

  Thereby, in this embodiment, for example, when the following vehicle D changes the lane to the opposite adjacent lane, it is determined that the own vehicle A cannot change the lane to the opposite adjacent lane, and the own vehicle A changes the lane. First, it is possible to notify the passenger of the own vehicle A and control the own vehicle A so that the own vehicle A stays in the own lane. Therefore, in the present embodiment, it is possible to perform more appropriate driving support for the lane change of the host vehicle A. In the present embodiment, when the subsequent vehicle D changes the lane to the adjacent lane on the opposite side in order to pass the host vehicle A, inhibition of the overtaking operation of the subsequent vehicle D can be suppressed.

  In the present embodiment, the merged vehicle approach prediction unit 5c in FIG. 1 and steps S101 and S107 in FIG. 3 constitute a host vehicle information detection unit. Similarly, the surrounding vehicle information detection unit 5a in FIG. 1 and step S103 in FIG. 3 constitute the surrounding vehicle information detection unit. Further, the lane change permission determination unit 5e in FIG. 1 and step S109 in FIG. 3 constitute an interference determination unit. Further, the subsequent vehicle motion prediction unit 5d in FIG. 1 and step S110 in FIG. 3 constitute a lane change determination unit. Moreover, the lane change permission determination part 5e of FIG. 1 and step S111 of FIG. 3 comprise a lane change permission determination part. Further, the driving support unit 6 in FIG. 1 constitutes a driving support unit.

(Effect of this embodiment)
This embodiment has the following effects.
(1) The controller 5 determines whether or not the driver of the subsequent vehicle D intends to change the lane to the opposite adjacent lane based on the subsequent vehicle information indicating the traveling state of the subsequent vehicle D traveling in the own lane. judge. Subsequently, based on the determination result of the intention of changing the lane to the opposite adjacent lane, the controller 5 moves to the adjacent lane in the same direction (for example, the opposite adjacent lane) in which the subsequent vehicle D indicates the intention of changing the lane. It is determined whether or not the lane change of the host vehicle A is possible. Then, the controller 5 performs at least one of notification to the occupant of the host vehicle A and control of the host vehicle A based on the determined lane change to the opposite adjacent lane of the host vehicle A.

  According to such a configuration, for example, when the following vehicle D changes the lane to the opposite adjacent lane, it is determined that the own vehicle A cannot change the lane to the opposite adjacent lane, and the own vehicle A changes the lane. First, it is possible to notify the passenger of the own vehicle A and control the own vehicle A so that the own vehicle A stays in the own lane. Thereby, more appropriate driving assistance with respect to the lane change of the own vehicle A is enabled.

(2) When the controller 5 determines that the component (lateral speed VY1) in the direction intersecting the travel lane of the subsequent vehicle D among the vehicle speed components of the subsequent vehicle D is equal to or greater than the set value V1, It is determined that the passenger of D's own vehicle A has an intention to change the lane to the adjacent lane on the opposite side.
According to such a configuration, it can be more appropriately determined whether or not the driver of the following vehicle D has an intention to change lanes.

(3) The controller 5 determines that among the components of the relative speed of the succeeding vehicle D with respect to the host vehicle A, the component in the direction intersecting the traveling lane of the succeeding vehicle D (lateral speed VY1) is equal to or greater than the set value V1. In this case, it is determined that the driver of the following vehicle D has an intention to change the lane to the opposite adjacent lane.
According to such a configuration, it can be more appropriately determined whether or not the driver of the following vehicle D has an intention to change lanes.

(4) The controller 5 determines whether or not the joining vehicle B and the own vehicle A interfere based on the own vehicle information and the joining vehicle information. Subsequently, when the controller 5 determines that the host vehicle A and the merged vehicle B interfere with each other, the controller 5 determines whether or not the driver of the subsequent vehicle D has an intention to change the lane to the opposite adjacent lane.

  According to such a configuration, for example, it is determined that the merging vehicle B and the host vehicle A interfere with each other, and when the occupant of the host vehicle A is requested to change the lane to the opposite adjacent lane, the following vehicle D is When changing the lane to the opposite lane on the opposite side, the vehicle A does not change the lane, and the vehicle A is informed to the occupant of the own vehicle A and controlled so that the own vehicle A stays in the own lane. be able to.

(Second Embodiment)
Next, a second embodiment according to the present invention will be described with reference to the drawings. In addition, about the structure similar to 1st Embodiment, the same code | symbol is used and the detail is abbreviate | omitted.
In the present embodiment, on the basis of the relative speed (V1x−V) of the following vehicle D with respect to the own vehicle A and the inter-vehicle distance L2 between the own vehicle A and the following vehicle D, the driver of the following vehicle D is on the opposite adjacent lane. The point which determines whether there is an intention of the lane change to is different from 1st Embodiment. Here, V1x is a component in a direction parallel to the front-rear direction of the following vehicle D among the components of the vehicle speed of the following vehicle D, as shown in FIG.

Specifically, this embodiment differs from the first embodiment in the operation of the radar device 1 (contents of surrounding vehicle information) and the operation of the subsequent vehicle operation prediction unit 5d.
The radar device 1 detects the position of the surrounding vehicle, the vehicle speed, the acceleration, the relative speed of the following vehicle D with respect to the own vehicle A, and the inter-vehicle distance between the own vehicle A and the following vehicle D as surrounding vehicle information.
When the subsequent vehicle motion prediction unit 5d determines that there is a subsequent vehicle D traveling in the own lane by the traveling lane determination unit 5b, the relative speed (V1x−V) of the subsequent vehicle D with respect to the own vehicle A is set to a set value V2 (for example, 30 km / h) or more and the inter-vehicle distance L2 between the host vehicle A and the following vehicle D is a set value (for example, 100 m) or less ((V1x−V) ≧ V2 and L2 ≦ set value). It is determined whether or not. Then, if the subsequent vehicle motion prediction unit 5d determines that (V1x−V) ≧ V2 and L2 ≦ the set value, it determines that the subsequent vehicle D is in an intentional state. On the other hand, if the subsequent vehicle motion predicting unit 5d determines that (V1x−V) <V2 or L2> is set, the subsequent vehicle D determines that the subsequent vehicle D is in an unintended state.

  In the present embodiment, the relative speed (V1x−V) of the following vehicle D with respect to the own vehicle A is not less than the set value V2 (30 km / h), and the inter-vehicle distance between the own vehicle A and the following vehicle D Although the example in which it is determined that the following vehicle D is in an intentional state when it is determined that L2 is equal to or less than the set value (100 m) is shown, other configurations may be employed. For example, the lateral speed V1Y of the following vehicle D is generated in the opposite adjacent lane direction, and the absolute value of the lateral speed V1Y of the following vehicle D is equal to or greater than a set value V1 (for example, 1 m / s). When it determines, it is good also as a structure which determines with the following vehicle D being an intentional state. In this case, if it is determined that the lateral speed V1Y of the following vehicle D does not occur in the opposite adjacent lane direction, or the absolute value of the lateral speed V1Y of the following vehicle D is less than the set value V1, the following vehicle It is determined that D is unintentional.

Other configurations are the same as those in the first embodiment.
With the above-described configuration, in the present embodiment, for example, the following vehicle D accelerates trying to pass the host vehicle A, and the relative speed (V1x−V) of the following vehicle increases to a set value V2 (30 km / h) or more. At the same time, when the inter-vehicle distance L2 between the host vehicle A and the following vehicle D is shortened to a set value (100 m) or less, it can be determined that the following vehicle D changes the lane. Therefore, in the present embodiment, if it is determined that the own vehicle A and the joining vehicle B interfere with each other, the output of the sound prompting the lane change is not performed and the sound indicating that the joining vehicle B is present is output. Output to the passenger. Therefore, in the present embodiment, it is possible to prevent the own vehicle A from changing to the opposite adjacent lane. As a result, in the present embodiment, it is possible to prevent the inter-vehicle distance between the own vehicle A and the following vehicle D from being shortened in the opposite adjacent lane, and to avoid interference between the own vehicle A and the following vehicle D. Moreover, in this embodiment, it can suppress that the own vehicle A inhibits the overtaking operation | movement of the succeeding vehicle D.

(Effect of this embodiment)
This embodiment has the following effects in addition to the effects (1) to (4) of the first embodiment.
(1) The controller 5 (following vehicle motion predicting unit 5d) determines that the relative speed between the own vehicle A and the joining vehicle B, that is, the relative speed (V1x−V) of the following vehicle D is equal to or greater than the set value V2 (30 km / h). When the inter-vehicle distance L2 between the host vehicle A and the following vehicle D is equal to or less than the set value (100 m), the driver of the following vehicle D intends to change the lane to the adjacent lane on the opposite side. Is determined.

  According to such a configuration, for example, the following vehicle D traveling in the own lane accelerates to overtake the own vehicle A, and the relative speed (V1x−V) of the following vehicle increases and the following vehicle A and the following vehicle When the inter-vehicle distance L2 between the vehicle D and the vehicle D is shortened, it can be determined that the following vehicle D changes lanes. Therefore, it can be more appropriately determined whether or not the driver of the following vehicle D has an intention to change lanes.

5a Ambient vehicle information detection unit (Ambient vehicle information detection unit)
5c Junction vehicle approach prediction unit (own vehicle information detection unit)
5d Subsequent vehicle motion prediction unit 5d (lane change prediction unit)
5e Lane change possibility determination part (interference determination part, lane change possibility determination part)
6 Driving support department (driving support department)

Claims (5)

A subsequent vehicle information detection unit for detecting subsequent vehicle information representing the vehicle state of the subsequent vehicle of the host vehicle;
A lane change determination unit that determines whether the driver of the subsequent vehicle has an intention to change a lane to an adjacent lane based on the subsequent vehicle information detected by the subsequent vehicle information detection unit;
Based on the determination result of the intention to change the lane to the adjacent lane by the lane change determination unit, the subsequent vehicle determines whether the lane change of the own vehicle to the adjacent lane in the same direction indicating the intention of the lane change is determined. A lane change permission determination unit;
A driving support unit that performs at least one of notification to the occupant of the host vehicle and control of the host vehicle based on whether the lane change of the host vehicle to the adjacent lane determined by the lane change permission determining unit is possible; A driving support apparatus comprising: The subsequent vehicle information detection unit detects a vehicle speed of the subsequent vehicle,
When the lane change determination unit determines that the component in the direction intersecting the traveling lane of the subsequent vehicle is greater than or equal to a set value among the vehicle speed components of the subsequent vehicle detected by the subsequent vehicle information detection unit, The driving support device according to claim 1, wherein the driver of the succeeding vehicle determines that the driver intends to change the lane to an adjacent lane. The subsequent vehicle information detection unit detects a relative speed of the subsequent vehicle with respect to the host vehicle,
The lane change determination unit determines that the component of the relative speed detected by the subsequent vehicle information detection unit is equal to or greater than a set value in a direction intersecting the traveling lane of the subsequent vehicle. The driving support device according to claim 1, wherein it is determined that the driver of the vehicle has an intention to change a lane to an adjacent lane. The subsequent vehicle information detection unit
A relative speed detector that detects a relative speed of the subsequent vehicle with respect to the host vehicle;
An inter-vehicle distance detection unit that detects an inter-vehicle distance between the host vehicle and the succeeding vehicle;
When the relative speed detected by the relative speed detection unit is equal to or higher than a set speed and the inter-vehicle distance detected by the inter-vehicle distance detection unit is equal to or less than a set distance, the lane change determination unit The driving support device according to claim 1, wherein it is determined that the driver of the vehicle has an intention to change a lane to an adjacent lane. A host vehicle information detection unit for detecting host vehicle information representing a running state of the host vehicle;
A merging vehicle information detection unit for detecting merging vehicle information representing a traveling state of a merging vehicle traveling in a merging lane that merges with the own lane;
Based on the own vehicle information detected by the own vehicle information detection unit and the merged vehicle information detected by the merged vehicle information detection unit, a merged vehicle that travels in a merged lane that merges with the own vehicle lane, and the own vehicle Including an interference determination unit that determines whether or not interference occurs,
When the interference determination unit determines that the own vehicle and the merging vehicle interfere with each other, the lane change possibility determination unit determines whether the driver of the subsequent vehicle has an intention to change the lane to an adjacent lane. The driving support apparatus according to any one of claims 1 to 4, wherein

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