JP2015103115A - Lane change support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lane change support device capable of achieving availability determination of a lane change according to a traffic flow in a lane into which a driver intends to go.SOLUTION: A lane change support device comprises: a surrounding vehicle identification section 3 which acquires a travel state of a surrounding vehicle; a lane change intention display section 2 for a driver to notify the surrounding vehicle of an intention thereof to change lanes; a required side space calculation section 4 which calculates a length of a required side space L in the lane into which the driver intends to go; a lane change availability determination section 5 which determines availability of a lane change on the basis of whether or not the surrounding vehicle exists in the required side space; and a notification section 6 which notifies the driver of a determination result by the lane change availability determination section 5. The required side space calculation section 4 calculates the length of the required side space L on the basis of a change in travel states of the surrounding vehicle, in a front-back direction before and after the driver shows the intention thereof to change the lanes, traveling in the lane into which the driver intends to go.

Description

  The present invention relates to a lane change support device.

  Patent Document 1 discloses a technique for determining whether or not a lane change of the host vehicle is possible based on whether or not a surrounding vehicle exists in a predetermined area set in the lane to which the lane is changed.

Japanese Unexamined Patent Publication No. 2007-42003

However, in the above prior art, since the predetermined area for determining whether or not to change lanes is constant, it is not possible to determine whether or not to change lanes that match the traffic flow of the lane to which the lane is changed. was there.
An object of the present invention is to provide a lane change support device capable of realizing whether or not a lane change that matches a traffic flow of a lane that is a lane change destination can be realized.

  In the present invention, the length of the required side space is calculated based on the change in the front-rear direction of the traveling state of the surrounding vehicle that travels in the lane of the lane change destination before and after the intention to change the lane.

  Therefore, it is possible to determine whether or not a lane change that matches the traffic flow in the lane change destination lane can be realized.

It is a block diagram of the lane change assistance apparatus of Example 1. FIG. 4 is a flowchart illustrating a flow of a lane change support process according to the first embodiment. It is explanatory drawing of the inter-vehicle distance D in the lane of a lane change destination. FIG. 5 is a diagram showing a relationship between a required side space L and front and rear required side spaces L1, L2. FIG. 3 is a diagram illustrating THW ′ calculation logic according to the first embodiment. 6 is a flowchart illustrating a flow of a lane change support process according to a second embodiment. FIG. 10 is a diagram illustrating THW ′ calculation logic according to the second embodiment. FIG. 10 is a diagram illustrating THW ′ calculation logic according to the third embodiment.

[Example 1]
FIG. 1 is a configuration diagram of a lane change support device according to the first embodiment.
The lane change support device of the first embodiment includes a vehicle speed detection unit (vehicle speed detection unit) 1, a lane change intention display unit (lane change intention display unit) 2, a surrounding vehicle recognition unit (surrounding vehicle recognition unit) 3, and a necessary side space. A calculation unit (necessary side space calculation unit) 4, a lane change permission determination unit (lane change permission determination unit) 5, and a notification unit 6 are provided.
The vehicle speed detector 1 detects the speed of the host vehicle (own vehicle speed) V _T [m / s].
The lane change intention display unit 2 notifies the surrounding vehicle of the intention to change lanes, for example, by a turn signal or communication operated by the driver.

The surrounding vehicle recognition unit 3 is an active sensor such as a millimeter wave radar or a laser range finder, for example, and the relative position P and speed (other vehicle speed) V _P [ m / s].
Required lateral space calculator 4, vehicle speed V _T, based on the relative position P and other vehicle speed V _P, and calculates the required side space L for determining possible lane change.
The lane change possibility determination unit 5 determines whether or not the lane change is possible based on the relative position P, the other vehicle speed _VP, and the necessary side space L.
The notification unit (notification unit) 6 notifies the driver by display, voice, vibration, control, and the like based on the determination result of whether the lane change is possible by the lane change possibility determination unit 5.

[Lane change support processing]
FIG. 2 is a flowchart illustrating the flow of the lane change support process according to the first embodiment.
In step S1, acquires the vehicle speed V _T by the vehicle speed detecting unit 1.
In step S2, and acquires the relative position P and other vehicle speed V _P around the vehicle by the vehicle environment recognizing unit 3.
In step S3, it is determined whether or not the intention to change lanes is displayed on the surrounding vehicle by the lane change intention display unit 2. If YES, the process proceeds to step S4. If NO, the process proceeds to step S7.

In step S4, it is determined whether or not a predetermined time T (for example, T = 3 [s]) has elapsed since it was determined by the lane change intention display unit 2 that the intention to change lanes has been displayed. If NO, the process proceeds to step S5. If NO, the process proceeds to step S7.
In Step S5, the intention to change lanes is displayed for the inter-vehicle distance D between the front vehicle and the rear vehicle and the speed V _PR of the rear vehicle in the lane that is the lane change destination immediately before the lane change intention display obtained in Step S2. The change in the inter-vehicle distance D and the speed V _PR of the rear vehicle after the measurement is performed (see FIG. 3).

In step S6, based on the change in velocity V _PR inter-vehicle distance D and the rear vehicle measured in step S5, determine the front and rear must lateral space L1, L2, calculates the necessary lateral space L from L1, L2 To do. As shown in FIG. 4, the front required side space L1 is, for example, a space in front of the driver's seat in the lane to which the lane is changed, and a rear required side space L2 is in the rear of the driver seat. Space, and the required side space L is L1 + L2. The required front side space L1 is calculated by L1 = V × THW (for example, THW = 1.5 [s]), and the required rear side space L2 is calculated by L2 = V × THW ′. Here, THW ′ is variable based on the inter-vehicle distance D and the speed V _{PR of the} rear vehicle. FIG. 5 is a diagram illustrating the THW ′ calculation logic according to the first embodiment. In FIG. 5, THW ′ = THW is set for “invariable”, and THW ′ = THW + Δ (when set to “long”. For example, Δ = 0.5 [s]), and in the case of “shortening”, THW ′ = THW−Δ ′ (for example, Δ ′ = 0.5 [s]).

In step S7, based on the host vehicle speed V _T , L1 = L2 = V _T × THW (for example, THW = 1.5 [s]) and the required side space L (L1 + L2) is calculated.
In step S8, it is determined whether or not the surrounding vehicle acquired in step S2 is present in the necessary side space L calculated in step S6 or step S7. If it exists in the required side space L, the driver is notified that the lane cannot be changed by display by the notification unit 6, sound, vibration, vehicle control, and the like.

Next, the operation will be described.
In the lane change support device according to the first embodiment, according to the inter-vehicle distance D between the front vehicle and the rear vehicle and the speed V _{PR of the} rear vehicle in the lane change destination lane after the host vehicle has made the intention to change the lane. The length of the required side space L (length in the traveling direction of the host vehicle) is changed. Specifically, as shown in FIG. 5, when the inter-vehicle distance D between the front vehicle and the rear vehicle in the lane to which the lane is changed is increased and the speed V _{PR of the} rear vehicle is decreased, Shorten the required side space L. Thereby, for example, when the rear vehicle traveling in the lane to which the lane is changed gives the course to the own vehicle, it is determined that the lane change can be made earlier by reducing the necessary side space L. Smooth lane changes can be made.

On the other hand, when the inter-vehicle distance D between the front vehicle and the rear vehicle is reduced, the required side space L is lengthened. Therefore, it can be suppressed that the lane change is possible in a state where the inter-vehicle distance D is further narrowed.
Further, when the speed V _{PR of the} rear vehicle is increasing, the necessary side space L is lengthened. When the speed V _{PR of the} rear vehicle is increasing, it can be determined that the rear vehicle does not intend to give way to the own vehicle. In this case, the lane change is impossible by increasing the required side space L. And hindering the course of the vehicle behind the vehicle.

As described above, Example 1 has the following effects.
(1) Neighboring vehicle recognition unit 3 that acquires the driving status of surrounding vehicles, lane change intention display unit 2 for the driver to indicate the intention to change lanes to surrounding vehicles, and lane change destination lanes required for lane change A lane change enable / disable determination that determines whether or not a lane can be changed based on whether or not there is a surrounding vehicle in the required side space and a required side space calculation unit 4 that calculates the length of the necessary side space L Unit 5 and a notification unit 6 that notifies the driver of the determination result by the lane change permission determination unit 5, and the necessary side space calculation unit 4 is the lane change destination before and after the intention display of the lane change is performed. The length of the necessary side space L is calculated based on the front-rear direction change of the traveling state of the surrounding vehicles traveling in the lane.
Therefore, it is possible to determine whether or not a lane change that matches the traffic flow in the lane change destination lane can be realized.

(2) The necessary side space calculation unit 4 displays the intention when the driver's intention to change the lane is displayed on the surrounding vehicle when the speed V _{PR of the} vehicle behind the vehicle in the lane to which the lane is changed is displayed. In the case where it is reduced below a predetermined value (5 km / h) compared to before being released, the length of the required side space L is shortened so that no surrounding vehicle exists in the required side space.
Therefore, for example, when a rear vehicle traveling in the lane to which the lane is changed gives the course to the host vehicle, it is determined that the lane can be changed earlier, so that the lane can be changed smoothly.

(3) The required side space calculation unit 4 determines that the speed V _{PR of the} rear vehicle is a predetermined value (5 km / h) as compared to before the intention is displayed when the driver makes an intention to change lanes to the surrounding vehicle. Even if the vehicle's distance D between the vehicle behind it and the vehicle ahead in front of it decreases before the intention is displayed when the driver makes an intention to change lanes to the surrounding vehicle, When the number is decreased, the length of the required side space L is increased so that the surrounding vehicle exists in the required side space.
Therefore, it can be suppressed that the lane change is possible in a state where the inter-vehicle distance D is further narrowed.

(4) The required side space calculation unit 4 displays the intention when the driver's intention to change the lane is displayed on the surrounding vehicle, based on the speed V _{PR of the} vehicle behind the vehicle in the lane to which the lane is changed. In the case where it increases beyond a predetermined value (5 km / h) as compared to before being released, the length of the required side space L is increased so that the surrounding vehicle exists in the required side space.
Therefore, when the back vehicle does not intend to give way to the own vehicle, it is possible to suppress the back vehicle from being obstructed.

[Example 2]
FIG. 6 is a flowchart illustrating the flow of the lane change support process according to the second embodiment.
Only parts different from the first embodiment shown in FIG. 2 will be described.
In step S15, the intention to change lanes is displayed for the speed V _{PF of the} front vehicle and the speed V _PR of the rear vehicle that are traveling in the lane to which the lane change was made immediately before the lane change intention display obtained in step S2. After that, changes in the speed V _PF of the front vehicle and the speed V _PR of the rear vehicle are measured (see FIG. 3).

In step S16, the front and rear required side spaces L1, L2 are obtained based on the changes in the speed V _{PF of the} front vehicle and the speed V _PR of the rear vehicle measured in step S15, and the required side space is determined from L1, L2. L is calculated. FIG. 7 is a diagram illustrating the THW ′ calculation logic according to the second embodiment. In FIG. 7, THW ′ = THW is set for “invariable”, and THW ′ = THW + Δ (for “long”. For example, Δ = 0.5 [s]), and in the case of “shortening”, THW ′ = THW−Δ ′ (for example, Δ ′ = 0.5 [s]).

Next, the operation will be described.
In the lane change assisting device of the second embodiment, the vehicle is required depending on the speed V _{PF of the} front vehicle and the speed V _{PR of the} rear vehicle that travel in the lane to which the lane is changed after the own vehicle has indicated the intention to change lanes. Change the length of the space L. Specifically, as shown in FIG. 7, the speed V _{PF of the} front vehicle traveling in the lane to which the lane is changed is increased or unchanged, and the speed V _{PR of the} rear vehicle traveling in the lane to which the lane is changed is set. Is reduced, the required side space L is shortened. Thereby, for example, when the rear vehicle traveling in the lane to which the lane is changed gives the course to the own vehicle, it is determined that the lane change can be made earlier by reducing the necessary side space L. Smooth lane changes can be made.

On the other hand, when the speed V _{PR of the} rear vehicle is increasing, the necessary side space L is lengthened. When the speed V _{PR of the} rear vehicle is increasing, it can be determined that the rear vehicle does not intend to give way to the own vehicle. In this case, the lane change is impossible by increasing the required side space L. And hindering the course of the vehicle behind the vehicle.

Even if the speed V _{PR of the} rear vehicle is decreasing, the inter-vehicle distance D between the front vehicle and the rear vehicle may be shortened when the speed V _{PF of the} front vehicle is decreasing. Therefore, in this case, the required side space L is not shortened and is not changed. Thereby, it can suppress determining with the lane change being possible in the state where the inter-vehicle distance D became narrower.
Also, when the speed V _{PR of the} rear vehicle is unchanged and the speed V _{PF of the} front vehicle is decreasing, the inter-vehicle distance D between the front vehicle and the rear vehicle may be shortened. Increase the required side space L. Thereby, it can suppress determining with the lane change being possible in the state where the inter-vehicle distance D became narrower.
As described above, the second embodiment has the same effects as the effects (1) to (4) of the first embodiment.

Example 3
The lane change support device according to the third embodiment is different from the first embodiment only in the calculation method of the necessary side space L.
When the lane change variable determination processing in Embodiment 3 will be described with reference to FIG. 2, in Example 3, in step S6, the speed of the vehicle distance D and the rear vehicle measured by the vehicle speed V _T and S5 measured in step S1 seeking front and rear must lateral space L1, L2 based on the V _PR, calculates the necessary lateral space L from L1, L2. At this time, when the vehicle speed V _T is a predetermined speed V1 (here V1 = 5 [m / s] ) below, it obtains the rear necessary lateral space L2 by the calculation logic of THW 'shown in FIG. 8, a predetermined When the speed is higher than the speed V1, the rear required side space L2 is obtained by the THW ′ calculation logic shown in FIG. In FIG. 3 and FIG. 8, THW ′ = THW is set for “invariant”, THW ′ = THW + Δ (for example, Δ = 0.5 [s]) is set for “long”, and “short” is set. Is THW ′ = THW−Δ ′ (for example, Δ ′ = 0.5 [s]). In FIG. 1, when the inter-vehicle distance D is “increased” and the speed V _PR of the rear vehicle is “invariable”, it is “shortened”, whereas in FIG. 8 the inter-vehicle distance D is “increased” and When the speed V _PR is “invariable”, it is “invariable”.

Next, the operation will be described.
In lane change assist system of the third embodiment changes the method of calculating the required side space L in accordance with the vehicle speed V _T. Specifically, when the vehicle speed V _T exceeds a predetermined speed, even when the inter-vehicle distance D to the preceding vehicle and the rear vehicle traveling lane of the lane change target is increased, the speed of the rear vehicle V _PR When the vehicle speed is unchanged, the necessary side space L is unchanged, and when the host vehicle speed V _T is equal to or lower than the predetermined speed, the vehicle travels in the lane to which the lane is changed even if the speed V _{PR of the} rear vehicle is unchanged. When the inter-vehicle distance D between the preceding vehicle and the following vehicle is increasing, the necessary side space L is shortened. As a result, it is possible to determine whether or not the lane can be changed optimally in a traffic jam where the host vehicle speed _VT is equal to or lower than a predetermined speed and in other cases.

As described above, the third embodiment has the following effects in addition to the effects (1) to (4) of the first embodiment.
(5) The necessary side space calculation unit 4 determines that the speed V _{PR of the} rear vehicle existing behind the host vehicle in the lane to which the lane is changed is within a predetermined range (± 5 km / h), and If the inter-vehicle distance D to the preceding vehicle present ahead is increased, vehicle speed V _T is a predetermined value the necessary lateral space L when exceeding a predetermined speed V1, vehicle speed V _T is required side when less than a predetermined speed V1 The length of the necessary side space L is shortened so that there are no surrounding vehicles in the side space.
Therefore, it is possible to determine whether or not the lane change can be performed optimally in a traffic jam and in other cases.

(Other examples)
As mentioned above, although the form for implementing this invention was demonstrated based on the Example, the concrete structure of this invention is not limited to an Example, The design change of the range which does not deviate from the summary of invention And the like are included in the present invention.
For example, in the embodiment, an example is shown in which the calculation of the front and rear required side spaces L1 and L2 is calculated based on the host vehicle speed V and THW. However, another method may be used. In particular, regarding the calculation method in the case of “lengthening” or “shortening”, instead of increasing or shortening THW ′, L1 and L2 are directly set to, for example, L1 + L2 = 7 [m] regardless of the vehicle speed. As a reference, it may be long (short) from there.
In the embodiment, an example is shown in which a change in speed is measured as a change in the running state of the rear vehicle and the front vehicle. However, a change in acceleration may be measured instead of the speed.

1 Vehicle speed detector (vehicle speed detection means)
2 Lane change intention display section (lane change intention display means)
3 Surrounding vehicle recognition unit (surrounding vehicle recognition means)
4 Required side space calculation part (Required side space calculation means)
5 Lane change possibility determination part (lane change possibility determination means)
6 Notification section (notification means)

Claims (5)

A surrounding vehicle recognition means for acquiring a running state of the surrounding vehicle;
Lane change intention display means for the driver to indicate the intention of changing lanes to surrounding vehicles,
Necessary side space calculation means for calculating the length of the side space required for the lane change in the lane to which the lane is changed,
A lane change permission determination means for determining whether or not a lane change is possible based on whether or not a surrounding vehicle is present in the necessary side space;
Informing means for informing the driver of the determination result by the lane change permission determining means;
With
The necessary side space calculating means is configured to calculate the necessary side space based on a change in the front-rear direction of the traveling state of surrounding vehicles that travel in the lane to which the lane is changed before and after the intention to change the lane. A lane change assisting device that calculates a length. In the lane change support device according to claim 1,
The necessary side space calculation means is configured so that the speed of the rear vehicle existing behind the host vehicle in the lane to which the lane is changed is displayed before the intention is displayed when the driver makes an intention to change the lane to the surrounding vehicle. A lane change assisting device that shortens the length of the required side space so that no surrounding vehicle is present in the required side space when it decreases below a predetermined value. In the lane change support device according to claim 2,
The necessary side space calculating means is a case where the speed of the rear vehicle decreases below a predetermined value compared to before the intention is displayed when the driver makes an intention to change lanes to the surrounding vehicles. However, when the inter-vehicle distance between the vehicle behind the vehicle and the vehicle ahead is less than when the driver makes an intention to change lanes to the surrounding vehicle, the necessity is A lane change assisting apparatus characterized in that the length of the necessary side space is increased so that a surrounding vehicle exists in the side space. In the lane change support device according to claim 1,
The necessary side space calculation means is configured so that the speed of the rear vehicle existing behind the host vehicle in the lane to which the lane is changed is displayed before the intention is displayed when the driver makes an intention to change the lane to the surrounding vehicle. In comparison, the lane change assisting apparatus increases the length of the necessary side space so that a surrounding vehicle is present in the necessary side space when it increases beyond a predetermined value. In the lane change support device according to claim 1,
The necessary side space calculation means is such that the speed of the rear vehicle existing behind the host vehicle in the lane to which the lane is changed is within a predetermined range, and the inter-vehicle distance between the rear vehicle and the front vehicle existing in front thereof When the speed of the host vehicle exceeds a predetermined speed, the required side space is set to a predetermined value, and when the speed of the host vehicle is equal to or lower than the predetermined speed, there is no surrounding vehicle in the required side space. As described above, the lane change assisting device is characterized in that the length of the necessary side space is shortened.

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