JP2016043809A - Vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control device that accurately determines turning of a preceding vehicle along a lane and lane change.SOLUTION: A vehicle control device 20 comprises: a preceding vehicle lock-on part 23 which locks on a vehicle traveling before the vehicle; a precedent vehicle tracking travel control part 25 which controls a travel of the vehicle so that the vehicle travels following the preceding vehicle locked-on by the preceding vehicle lock-on part 23 while maintaining a predetermined distance; and a lane change determination part 24 which determines the preceding vehicle locked-on by the preceding vehicle lock-on part 23 or that the preceding vehicle locked-on by the preceding vehicle lock-on part 23 makes lane change. The lane change determination part 24 determines that the preceding vehicle or the vehicle makes lane change when a deviation between a trajectory of the preceding vehicle and a determination position of the vehicle exceeds a determination value.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a vehicle control device.

  As one type of vehicle control device, one disclosed in Patent Document 1 is known. As shown in FIGS. 4 and 5 of Patent Document 1, when the preceding vehicle deviates from the preceding vehicle recognition range, the curve road determination is performed after a predetermined time has elapsed from the time when the vehicle deviated, and a predetermined determination time Δt. The lane width direction movement distance X (JUDGX (t)) of the preceding vehicle measured at each set time t is compared with the X distance threshold (CRVXth) for curve determination, and the determination time If the number of times JUDGX (t)> CRVXth (JUDGNUM) is larger than the curve determination frequency threshold value (NUMth) (JUDGNUM> NUMth), it is determined that there is a curved road ahead of the traveling lane. ing.

JP 2002-228748 A

  In the vehicle control device described in Patent Document 1 described above, when the vehicle turns along a curved road, the moving distance in the lane width direction of the preceding vehicle differs depending on the route and curvature between the own vehicle and the preceding vehicle. In particular, there is a problem that a vehicle that cannot obtain information on the traveling road ahead cannot accurately determine (distinguish) between a turn along the lane of the preceding vehicle and a lane change.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to accurately determine turning and lane change along a lane of a preceding vehicle in a vehicle control device.

  In order to solve the above-described problem, the invention of the vehicle control device according to a first aspect of the present invention includes a preceding vehicle lock-on portion that locks on a vehicle traveling in front of the host vehicle as a preceding vehicle, and a lock by the preceding vehicle lock-on portion. A preceding vehicle follow-up travel control unit that controls the traveling of the host vehicle so as to follow the vehicle while maintaining a predetermined distance with respect to the preceding vehicle that has been turned on, and a preceding vehicle or a preceding vehicle that is locked on by the preceding vehicle lock-on unit A lane change determination unit that determines that the host vehicle that is locked on by the lock-on unit has changed lanes, wherein the lane change determination unit determines the trajectory of the preceding vehicle and the host vehicle When the deviation in the vehicle width direction from the position exceeds the determination value, it is determined that the preceding vehicle or the own vehicle has changed the lane.

  According to this, the lane change determination unit of the vehicle control device changes the lane of the preceding vehicle or the own vehicle when the deviation in the vehicle width direction between the locus of the preceding vehicle and the determination position of the own vehicle exceeds the determination value. It is determined that Therefore, based on the deviation in the vehicle width direction of the position of the own vehicle with respect to the trajectory of the preceding vehicle, the turning along the lane of the preceding vehicle and the lane change are judged (distinguished), and the vehicle and the preceding vehicle are Regardless of the route and curvature, it is possible to accurately determine turning and lane change.

It is a block diagram which shows one Embodiment of the vehicle control apparatus by this invention. It is a block diagram which shows the lane change determination part shown in FIG. It is a figure where the preceding vehicle and the own vehicle are traveling in the same straight lane. It is a figure which shows the state from which the preceding vehicle deviated from the same straight lane as the own vehicle. It is a figure explaining determination of whether the preceding vehicle changed the lane from the same straight lane as the own vehicle. It is a flowchart of the control program performed with the vehicle control apparatus shown in FIG. It is a figure in which the preceding vehicle and the host vehicle are traveling on the same lane (changing from a straight road to a curved road). It is a figure which shows the state from which the preceding vehicle deviated from the own vehicle prediction route. It is a figure explaining the judgment that the preceding vehicle has not changed the lane (running in the same lane) from the same lane as the own vehicle (change from a straight road to a curved road). It is a figure which shows the state from which the preceding vehicle deviated from the own vehicle prediction route. It is a figure explaining the judgment to the effect that the preceding vehicle has changed the lane from the same lane as the own vehicle (change from a straight road to a curved road). It is a flowchart of the other control program performed with the vehicle control apparatus shown in FIG. It is a flowchart of the other control program performed with the vehicle control apparatus shown in FIG.

  Hereinafter, an embodiment to which a vehicle control device according to the present invention is applied will be described with reference to the drawings. As shown in FIG. 1, a vehicle M includes a front sensor 11, a vehicle speed sensor 12, a yaw rate sensor 13, an operation unit 14, a storage device 15, a GPS receiver 16, a vehicle drive device 17, a vehicle braking device 18, and a vehicle control device. 20 is provided.

  The front sensor 11 is a sensor that detects forward information of the host vehicle, that is, a sensor that detects a vehicle traveling in front of the host vehicle. The front sensor 11 includes, for example, a scan radar using millimeter waves, a scan laser radar using a semiconductor laser, a CCD camera, or the like. From the detection signal of the front sensor 11, an inter-vehicle distance from the host vehicle to the target, a relative movement speed, and the like can be calculated.

The vehicle speed sensor 12 is a sensor that detects the vehicle speed of the host vehicle. The vehicle speed sensor 12 includes, for example, a wheel speed sensor that detects a wheel speed that is a wheel speed of the vehicle M, and a vehicle speed sensor that detects a rotation speed of the output shaft of the vehicle drive device 17.
The yaw rate sensor 13 is a sensor that detects the yaw rate of the vehicle M. The yaw rate of the vehicle M is the speed at which the yaw angle changes, and is the rotational angular velocity about the vertical axis that passes through the center of gravity of the vehicle M.

  The operation unit 14 includes an ACC (adaptive cruise control) on / off switch, an inter-vehicle distance setting switch, and the like. The ACC on / off switch is a switch for starting and stopping ACC control. The inter-vehicle distance setting switch is a switch for setting the inter-vehicle distance between the preceding vehicle under ACC control and the host vehicle, and has a plurality of settings corresponding to a plurality of distances. In the ACC control, the distance between the preceding vehicle and the preceding vehicle is kept constant, that is, the traveling of the own vehicle is controlled so as to follow the vehicle while maintaining a predetermined distance from the preceding vehicle. The ACC control also includes cruise control for controlling the traveling of the host vehicle so as to keep the host vehicle speed constant at a set speed (set speed).

  The storage device 15 can communicate with the vehicle control device 20 and stores processing results and the like processed by the vehicle control device 20. A GPS (Global Positioning System) receiver 16 receives signals from several satellites in the sky. The vehicle control device 20 can detect the current position of the host vehicle from the signal received by the GPS receiver 16.

  The vehicle drive device 17 drives the vehicle M to run. The vehicle drive device 17 drives the drive wheels by a drive source such as an engine or a motor. The vehicle drive device 17 is configured to be able to automatically adjust the output of the engine and motor (vehicle drive force) regardless of whether the accelerator pedal is depressed.

  The vehicle braking device 18 brakes the vehicle M. The vehicle braking device 18 includes a brake actuator having an ABS or ESC function. The brake actuator is an actuator that can independently and automatically apply a braking force to each wheel regardless of whether or not the brake pedal is depressed.

The vehicle control device 20 includes a preceding vehicle search unit 21, a host vehicle predicted route calculation unit 22, a preceding vehicle lock-on unit 23, a lane change determination unit 24, and a preceding vehicle follow-up travel control unit 25.
The preceding vehicle search unit 21 searches (searches / detects) a vehicle traveling in front of the host vehicle (hereinafter also referred to as a forward traveling vehicle). Specifically, the preceding vehicle search unit 21 searches for a forward traveling vehicle based on the front information of the own vehicle acquired from the front sensor 11.

  The own vehicle predicted route calculation unit 22 predicts and calculates the travel route from the current vehicle position. Specifically, the host vehicle predicted route calculation unit 22 calculates the host vehicle predicted route based on the host vehicle speed acquired from the vehicle speed sensor 12 and the host vehicle yaw rate acquired from the yaw rate sensor 13. The own vehicle predicted route is a route on which the own vehicle is predicted to travel from a current vehicle position to a predetermined time ahead. The own vehicle predicted route is set along the traveling direction in which the own vehicle is predicted to travel. The width of the own vehicle predicted route is set to be approximately the same as the vehicle width (for example, 2 m).

  The preceding vehicle lock-on unit 23 locks on a vehicle traveling in front of the host vehicle as a preceding vehicle. Specifically, the preceding vehicle lock-on unit 23 includes information on the forward traveling vehicle acquired from the preceding vehicle search unit 21 (such as the inter-vehicle distance, the relative position with respect to the own vehicle, the center position of the preceding vehicle, etc.) By collating the information of the predicted vehicle route acquired from the predicted vehicle route calculation unit 22, the vehicle traveling on the predicted vehicle route among the forward traveling vehicles is locked on as a preceding vehicle. In other words, the preceding vehicle lock-on unit 23 locks on the vehicle that is closest to the host vehicle Ma among the forward traveling vehicles that are traveling on the predicted vehicle path as the preceding vehicle.

  The lane change determination unit 24 determines whether the preceding vehicle locked on by the preceding vehicle lock-on unit 23 or the own vehicle locked on by the preceding vehicle lock-on unit 23 has changed the lane. The lane change determination unit 24 determines that the preceding vehicle or the host vehicle has changed the lane when the deviation in the vehicle width direction between the locus of the preceding vehicle and the determination position of the host vehicle exceeds the determination value. In addition, the locus | trajectory of a preceding vehicle is a locus | trajectory of the preceding vehicle recognized by the front sensor 11 on the basis of the present position of the own vehicle. The determination position of the host vehicle is a host vehicle position for determining whether the preceding vehicle that is locked on or the host vehicle that is locked on has moved in the lane direction.

Further, as shown in FIG. 2, the lane change determination unit 24 includes a preceding vehicle route departure determination unit 31, a preceding vehicle departure position storage unit 32, a vehicle width direction deviation calculation unit 33, and a comparison unit 34.
The preceding vehicle route departure determination unit 31 determines whether or not the preceding vehicle has deviated from the own vehicle predicted route (preceding vehicle route departure determination). The preceding vehicle route deviation determination unit 31 determines that the vehicle has deviated if the lap rate in the vehicle width direction between the preceding vehicle and the host vehicle predicted route is equal to or less than the determination value, and deviates when the lap rate is greater than the determination value. Judge that there is no. The lap rate is the rate at which the vehicle prediction route overlaps the preceding vehicle. When the preceding vehicle is traveling in the predicted vehicle route, the lap rate is almost 100%, while when the preceding vehicle is traveling out of the predicted vehicle route, the lap rate is 0%. The determination value is preferably 95% to 50%, for example. In the present embodiment, the determination value is, for example, 75%. The lap rate may be a rate at which the preceding vehicle overlaps the own vehicle predicted route.

  The preceding vehicle route departure determination unit 31 includes the preceding vehicle information (the inter-vehicle distance from the own vehicle, the vehicle width direction with respect to the traveling direction of the own vehicle) regarding the preceding vehicle locked on by the preceding vehicle lock-on unit 23. Position), and the preceding vehicle route deviation determination is executed from the own vehicle predicted route acquired from the own vehicle predicted route calculation unit 22.

  An example will be described. As shown in FIG. 3, when the own vehicle Ma and the preceding vehicle Mb are traveling on a traveling lane of a substantially straight road (two lanes on one side), the preceding vehicle Mb deviates from the predicted vehicle A of the own vehicle Ma. The preceding vehicle departure position storage unit 32 determines that the preceding vehicle Mb has not deviated from the predicted vehicle route A because the lap rate is 100%.

  However, as shown in FIG. 4, when the preceding vehicle Mb preceding the same traveling lane with respect to the own vehicle Ma changes the lane, the preceding vehicle Mb deviates from the own vehicle predicted route A of the own vehicle Ma. Since the lap rate is 75%, the preceding vehicle departure position storage unit 32 determines that the preceding vehicle Mb has deviated from the predicted vehicle A.

  When the preceding vehicle route departure determining unit 31 determines that the preceding vehicle has deviated from the predicted vehicle route, the preceding vehicle departure position storage unit 32 uses the own vehicle position at the time of the determination as the reference position. In addition to storing, the position of the preceding vehicle at that time (first position of the preceding vehicle) is stored with reference to the reference position of the own vehicle.

  As shown in FIG. 4, the preceding vehicle Mb deviates from the own vehicle predicted route A of the own vehicle Ma at the time when it is determined that the vehicle has deviated (first time (time t0)). The position of the host vehicle Ma at the first time point is (X0, Y0). Y0 is the coordinate of the coordinate axis along the traveling direction of the host vehicle Ma (the full length direction of the vehicle), and X0 is the coordinate axis along the direction (vehicle width direction of the vehicle) orthogonal to the traveling direction of the host vehicle Ma. Coordinates. The position of the host vehicle Ma can be calculated by integrating the movement amounts in the X-axis and Y-axis directions calculated from the speed and yaw rate of the host vehicle Ma every unit time. Note that the X-axis and Y-axis directions are, for example, the vehicle width direction and the full length (front-rear) direction at the start of traveling. Alternatively, the position of the host vehicle Ma can be calculated from position information acquired from a GPS (global positioning system) receiver 16 mounted on the host vehicle Ma. The preceding vehicle departure position storage unit 32 stores the first vehicle position in the storage device 15 in association with the first time point t0 with the vehicle position at the first time point as a reference position.

  The preceding vehicle departure position storage unit 32 calculates the position of the preceding vehicle Mb with respect to the reference position of the host vehicle Ma (relative position of the preceding vehicle) from the preceding vehicle information acquired from the front sensor 11 at the first time point. The relative position of the preceding vehicle Mb at the first time point is (LX0, LY0). Note that LY0 is a relative distance along the traveling direction of the host vehicle Ma, and LX0 is a relative distance along the vehicle width direction of the host vehicle Ma.

Furthermore, the preceding vehicle departure position storage unit 32 calculates the first position of the preceding vehicle Mb at the first time point and stores it in the storage device 15 in association with the time at the first time point. The first position of the preceding vehicle Mb at the first time point is obtained by adding the relative position (LX0, LY0) of the preceding vehicle Mb at the first time point to the position (X0, Y0) of the host vehicle Ma at the first time point. Calculated. That is, the first position of the preceding vehicle Mb at the first time point is (X0 + LX0, Y0 + LY0). The first position of the preceding vehicle Mb is calculated and stored for each control cycle, and the locus (traveling locus) of the preceding vehicle Mb is calculated from the first positions of the plurality of preceding vehicles Mb stored for each control cycle.
The own vehicle position and the preceding vehicle position are indicated by the coordinates of the gravity center positions of the own vehicle and the preceding vehicle.

  The vehicle width direction deviation calculating unit 33 determines a vehicle width direction deviation (vehicle width direction deviation ΔX) from the position of the preceding vehicle previously stored in the storage device 15 by the preceding vehicle departure position storage unit 32 and the position of the own vehicle. Is calculated. Specifically, the vehicle width direction deviation calculating unit 33 determines that the position of the preceding vehicle Mb has deviated and the position of the own vehicle Ma when the own vehicle Ma has traveled along the traveling direction to the point where the preceding vehicle Mb has deviated. The vehicle width direction deviation ΔX of the position reached is calculated.

  For example, as shown in FIG. 5, when the preceding vehicle Mb preceding the same traveling lane with respect to the own vehicle Ma changes lanes, the time when the own vehicle Ma reaches a point where the preceding vehicle Mb deviates. At (time t10), the position of the host vehicle Ma is (X10, Y10). The position of the host vehicle Ma is based on the travel start position (for example, (X0, Y0)), and the amount of movement in the X-axis and Y-axis directions calculated from the speed and yaw rate of the host vehicle Ma per unit time is integrated. It can be calculated by adding to the travel start position. Alternatively, the position of the host vehicle Ma can be calculated from position information acquired from the GPS receiver 16. The vehicle width direction deviation ΔX between the host vehicle Ma and the preceding vehicle Mb is | X10− (X0 + LX0) |. At this time, the preceding vehicle Mb is traveling in the overtaking lane adjacent to the traveling lane. The vehicle width direction deviation ΔX is preferably an absolute value of the difference in the vehicle width direction between the position coordinates of the host vehicle Ma and the preceding vehicle Mb.

  The comparison unit 34 compares the vehicle width direction deviation ΔX calculated by the vehicle width direction deviation calculation unit 33 with the determination value Xa. When the vehicle width direction deviation ΔX is equal to or less than the determination value Xa, the comparison unit 34 determines that the preceding vehicle (or own vehicle) is a lane (the own vehicle traveling lane at the time when the preceding vehicle deviates (the lane in which the own vehicle Ma is traveling)). ) Is determined that the vehicle is traveling in the lane (traveling in the lane), and the fact is transmitted to the preceding vehicle follow-up travel control unit 25. On the other hand, when the vehicle width direction deviation ΔX is larger than the determination value Xa, the comparison unit 34 determines that the preceding vehicle (or own vehicle) has changed the lane, and transmits the determination to the preceding vehicle search unit 21. . The determination value Xa is preferably set to 5 to 25% of the vehicle width (or the width of the predicted vehicle route). In the present embodiment, the determination value Xa is set to 20% of the vehicle width.

  The preceding vehicle follow-up travel control unit 25 controls the travel of the host vehicle so that the preceding vehicle locked on by the preceding vehicle lock-on unit 23 keeps a predetermined distance and follows the vehicle. The predetermined distance is a set inter-vehicle distance set by operating the operation unit 14. The preceding vehicle follow-up travel control unit 25 controls the vehicle drive device 17 and / or the vehicle braking device 18 so that the inter-vehicle distance from the preceding vehicle acquired from the front sensor 11 becomes the set inter-vehicle distance. When the inter-vehicle distance from the preceding vehicle is shorter than the set inter-vehicle distance, the preceding vehicle following travel control unit 25 controls the vehicle driving device 17 and / or the vehicle braking device 18 to decelerate the host vehicle and increase the inter-vehicle distance. On the other hand, when the inter-vehicle distance from the preceding vehicle is longer than the set inter-vehicle distance, the preceding vehicle follow-up travel control unit 25 controls the vehicle driving device 17 to accelerate the host vehicle and reduce the inter-vehicle distance.

Furthermore, the operation | movement by the vehicle control apparatus 20 mentioned above is demonstrated along the flowchart shown in FIG. The vehicle control device 20 executes a program according to the flowchart.
In step S102, the vehicle control device 20 searches for a preceding vehicle in the same manner as the preceding vehicle search unit 21 described above. Specifically, a forward traveling vehicle is searched based on the front information of the own vehicle acquired from the front sensor 11. A preceding vehicle is identified from among the vehicles traveling ahead.

  In step S104, the vehicle control device 20 predicts and calculates the travel route from the current vehicle position in the same manner as the vehicle predicted route calculation unit 22 described above. Specifically, the vehicle control device 20 calculates the own vehicle predicted route based on the own vehicle speed acquired from the vehicle speed sensor 12 and the own vehicle yaw rate acquired from the yaw rate sensor 13.

Next, similarly to the preceding vehicle lock-on unit 23 described above, the vehicle control device 20 includes information on the forward traveling vehicle searched in step S102 (the distance between the own vehicle, the relative position with respect to the own vehicle, the center position of the preceding vehicle). Etc.) and the information of the predicted vehicle route calculated in step S104, the vehicle traveling on the predicted vehicle route among the forward traveling vehicles is locked on as a preceding vehicle.
Specifically, in step S106, the vehicle control device 20 collates the information on the forward traveling vehicle with the information on the predicted vehicle route to determine whether the forward traveling vehicle is traveling in the predicted vehicle route. Determine. When the forward traveling vehicle is traveling in the own vehicle predicted route, the vehicle control device 20 determines “YES” in step S106 and selects the preceding traveling vehicle that travels in the own vehicle predicted route. Is locked on (step S108). On the other hand, when the forward traveling vehicle is not traveling in the own vehicle predicted route (for example, when the forward traveling vehicle is traveling in the lane adjacent to the own vehicle traveling lane), the vehicle control device 20 determines that “ It is determined as “NO”, and the lock-on for the preceding vehicle is not performed (step S126).
In step S108, the vehicle control device 20 locks on the preceding vehicle and, like the preceding vehicle following travel control unit 25, keeps a predetermined distance from the preceding vehicle that has been locked on and follows the vehicle. To control the driving of the vehicle. In addition, when the preceding vehicle is not locked on in step S126, the vehicle control device 20 stops the preceding vehicle follow-up control and automatically keeps the speed of the host vehicle Ma at the set speed (set speed). Perform cruise control to control the driving of the car.

In step S110, the vehicle control device 20 determines whether or not the preceding vehicle that is locked on from the own vehicle predicted route has deviated (preceding vehicle route departure determination). Specifically, the vehicle control device 20 determines that the vehicle has departed if the lap ratio in the vehicle width direction between the preceding vehicle and the vehicle predicted route is equal to or less than the determination value, as in the preceding vehicle route departure determination unit 31 described above. When the lap rate is larger than the determination value, it is determined that there is no deviation.
If vehicle control device 20 determines that the preceding vehicle has deviated from the predicted vehicle route (“YES” in step S110), the program proceeds to step S112. On the other hand, when it is determined that the preceding vehicle has not deviated from the predicted vehicle route (“NO” in step S110), vehicle control device 20 returns the program to step S106.

  The vehicle control device 20 makes the determination when it is determined in step S112 that the preceding vehicle has deviated from the predicted vehicle route in step S110, similarly to the preceding vehicle departure position storage unit 32 described above. The vehicle position at that time (see FIG. 4) is stored as a reference position, and the position of the preceding vehicle at that time (first position of the preceding vehicle) is stored with reference to the reference position of the vehicle. The reference position is (X0, Y0). The first position of the preceding vehicle is (X0 + LX0, Y0 + LY0).

  Similarly to the vehicle width direction deviation calculating unit 33 described above, the vehicle control device 20 deviates from the preceding vehicle Mb when the own vehicle Ma travels along the traveling direction to the point where the preceding vehicle Mb deviates. A vehicle width direction deviation ΔX between the position and the position where the host vehicle Ma has reached is calculated. Specifically, in step S114, the vehicle control device 20 determines whether or not the host vehicle Ma has traveled along the traveling direction and has reached a point where the preceding vehicle Mb has deviated. Specifically, the vehicle control device 20 follows the traveling direction by the relative distance LY0 of the preceding vehicle calculated when the own vehicle Ma is determined that the preceding vehicle has deviated from the predicted vehicle path. It is determined whether or not the vehicle has traveled. The travel distance of the host vehicle Ma can be calculated from the detection result of the vehicle speed sensor 12.

  In step S116, the vehicle control device 20 similarly to the vehicle width direction deviation calculating unit 33 described above, the position (X10) of the time point (time t10: see FIG. 5) when the host vehicle Ma reaches the point where the preceding vehicle Mb deviates. , Y10) and a vehicle width direction deviation ΔX between the position (X0 + LX0, Y0 + LY0) from which the preceding vehicle Mb deviates. The vehicle width direction deviation ΔX is | X10− (X0 + LX0) |. If the travel route of the host vehicle Ma is a straight line from time t1 to time t10, since X0 and X10 are the same, the vehicle width direction deviation ΔX is | X0− (X0 + LX0) |, which is LX0.

  In step S118, the vehicle control device 20 compares the vehicle width direction deviation ΔX calculated in step S116 with the determination value Xa, similarly to the comparison unit 34 described above. When the vehicle width direction deviation ΔX is equal to or less than the determination value Xa, the vehicle control device 20 travels in the lane (the lane in which the preceding vehicle deviates). ) Is determined (step S128). Then, the vehicle control device 20 returns the program to step S106, and continues the preceding vehicle following travel as long as the preceding vehicle Mb travels in the own vehicle predicted travel route, similarly to the preceding vehicle following travel control unit 25.

  On the other hand, when the vehicle width direction deviation ΔX is larger than the determination value Xa, the vehicle control device 20 determines that the preceding vehicle (or the host vehicle) has changed the lane (step S120). Then, the vehicle control device 20 advances the program to step S122, and releases the lock-on for the preceding vehicle. Thereafter, the vehicle control device 20 advances the program to step S124 and temporarily stops this flowchart.

  Furthermore, a case where the host vehicle travel lane changes from a straight road to a curved road (left curve in the present embodiment) will be described. First, a case where the preceding vehicle Mb and the host vehicle Ma travel along the host vehicle travel lane of the host vehicle Ma will be described with reference to FIGS. As shown in FIG. 7, the preceding vehicle Mb has just entered the curved road from the straight road. The own vehicle Ma performs a preceding vehicle follow-up traveling with respect to the preceding vehicle Mb that is locked on. The inter-vehicle distance between the preceding vehicle Mb and the host vehicle Ma is the set inter-vehicle distance LY.

  As shown in FIG. 8, when the preceding vehicle Mb turns along a curved road (own vehicle lane), the vehicle control device 20 determines that the preceding vehicle Mb has deviated from the own vehicle predicted route A ( Step S110). The route on which the preceding vehicle Mb travels is the preceding vehicle traveling route B. The own vehicle predicted route A extends along the traveling direction of the own vehicle Ma (the extending direction of the straight road) because the own vehicle Ma is traveling on the straight road. The position of the vehicle Ma, that is, the reference position (start point) when the preceding vehicle Mb deviates from the vehicle predicted route A (time t11) is (X0, Y0). The first position of the preceding vehicle Mb is (X0 + LX0, Y0 + LY0). The reference position of the host vehicle Ma and the first position of the preceding vehicle Mb are stored in the storage device 15 (step S112).

As shown in FIG. 9, the host vehicle Ma travels along the same lane as the preceding vehicle Mb, and the host vehicle Ma reaches a point where the preceding vehicle Mb deviates (the first position of the host vehicle Ma). The vehicle control device 20 calculates a vehicle width direction deviation ΔX between the position (X10, Y10) at that time (time t20) and the position (X0 + LX0, Y0 + LY0) that the preceding vehicle Mb deviates from (step S114, 116). Since the own vehicle Ma is traveling along the same lane as the preceding vehicle Mb, X10 = X0 + LX0. Therefore, the vehicle width direction deviation ΔX is | X10− (X0 + LX0) |.
That is, since the vehicle width direction deviation ΔX is equal to or smaller than the determination value Xa (“YES” in step S118), the preceding vehicle Mb (or the vehicle Ma) travels within the vehicle travel lane (travel within the lane). Is determined (step S128).

Next, the case where the preceding vehicle Mb changes the lane from the own vehicle traveling lane A will be described with reference to FIGS.
As shown in FIG. 10, when the lane change is made while the preceding vehicle Mb turns along the curved road, the vehicle control device 20 determines that the preceding vehicle Mb has deviated from the own vehicle predicted route A (step S110). ). The preceding vehicle Mb turns while changing lanes from the own vehicle traveling lane. The own vehicle predicted route A extends along the traveling direction of the own vehicle Ma (the extending direction of the straight road) because the own vehicle Ma is traveling on the straight road. The position of the host vehicle Ma at the time when the preceding vehicle Mb deviates from the host vehicle predicted route A (time t21), that is, the reference position is (X0, Y0). The first position of the preceding vehicle Mb is (X0 + LX0, Y0 + LY0). The reference position of the host vehicle Ma and the first position of the preceding vehicle Mb are stored in the storage device 15 (step S112).

As shown in FIG. 11, the host vehicle Ma travels along the host vehicle travel lane, and the host vehicle Ma reaches a point where the preceding vehicle Mb deviates. The vehicle control device 20 calculates a vehicle width direction deviation ΔX between the position (X10, Y10) of the own vehicle Ma at that time (time t30) and the position (X0 + LX0, Y0 + LY0) that deviates from the preceding vehicle Mb (step S114). 116). Since the host vehicle Ma is traveling along the left curve, X10 is located on the left side of X0. Furthermore, since the preceding vehicle Mb has been changed to the right lane, LX0 is a value greater than 25% of the vehicle width. Therefore, the vehicle width direction deviation ΔX is | X10− (X0 + LX0) |, which is a value larger than 25% of the vehicle width.
That is, since vehicle width direction deviation ΔX is larger than determination value Xa (“NO” in step S118), it is determined that preceding vehicle Mb (or own vehicle Ma) has changed lanes (step S120).

  As is clear from the above description, the lane change determination unit 24 of the vehicle control device 20 according to the present embodiment is configured such that the deviation ΔX in the vehicle width direction between the locus of the preceding vehicle Mb and the determination position of the own vehicle Ma is the determination value Xa. Is exceeded, it is determined that the preceding vehicle Mb or the host vehicle Ma has changed lanes. Therefore, based on the deviation ΔX in the vehicle width direction of the position of the host vehicle Ma with respect to the trajectory of the preceding vehicle Mb, a turn along the lane of the preceding vehicle Mb and a lane change are determined (differentiated). Regardless of the route to the preceding vehicle Mb and the curvature, it is possible to accurately determine turning and lane change.

Further, in the vehicle control device 20, the trajectory of the preceding vehicle Mb indicates that the preceding vehicle Mb is at the first time point (eg, time t11) when the preceding vehicle Mb deviates from the own vehicle predicted route A where the own vehicle Ma is predicted to pass. It is the first position (X0 + LX0, Y0 + LY0) (see FIG. 8), and the determination position of the host vehicle Ma is the host vehicle Ma from the start point (X0, Y0) that is the position of the host vehicle Ma at the first time point. It is the first position (X10, Y10) of the host vehicle Ma at the time when the vehicle traveled along the predicted route A by a predetermined distance LY0 (for example, time t20). When the deviation ΔX in the vehicle width direction from the first position of the vehicle Ma exceeds the determination value Xa, it is determined that the preceding vehicle Mb or the host vehicle Ma has changed the lane.
According to this, the trajectory of the preceding vehicle Mb and the determination position of the own vehicle Ma can be accurately and reliably calculated, and consequently, the turning and lane change can be determined more accurately.

  In the above-described embodiment, the lane change determination unit 24 described above is the second in which a predetermined time has elapsed from the first time point when the preceding vehicle Mb deviates from the own vehicle predicted route A where the own vehicle Ma is predicted to pass. Until the time point, the deviation in the vehicle width direction between the locus of the preceding vehicle Mb and the determination position of the own vehicle Ma may be calculated by integrating the minute deviations calculated every predetermined short time. The second time point is preferably a time point when the host vehicle Ma reaches a point where the preceding vehicle Mb deviates (departs from) the host vehicle predicted route A. The predetermined time is preferably set to a time required for the host vehicle Ma to reach a point where the preceding vehicle Mb deviates from the host vehicle predicted route A.

  The lane change determination unit 24 calculates the determination position of the own vehicle Ma every predetermined short time, and calculates the determination position of the own vehicle Ma and the locus of the preceding vehicle Mb that is the position of the preceding vehicle Mb at the first time point. By calculating the minute deviation in the vehicle width direction every predetermined short time, and integrating the calculated minute deviations in the vehicle width direction, the deviation ΔX in the vehicle width direction between the locus of the preceding vehicle Mb and the determination position of the own vehicle Ma is calculated. Is calculated. Thereafter, the lane change determination unit 24 compares the vehicle width direction deviation ΔX calculated as described above with the determination value Xa, similarly to the comparison unit 34.

  Furthermore, operation | movement of the vehicle control apparatus 20 is demonstrated along the flowchart shown in FIG. This is basically the same as the flowchart shown in FIG. 6, and the same processes are denoted by the same reference numerals and description thereof is omitted.

  The vehicle control device 20 calculates the determination position of the own vehicle Ma every predetermined short time after the process of step S112 (step S202), and calculates the determined determination position of the own vehicle Ma and the preceding vehicle Mb at the first time point. A minute deviation in the vehicle width direction with respect to the locus of the preceding vehicle Mb as the position is calculated every predetermined short time (step S204), and the calculated minute deviation in the vehicle width direction is integrated (step S206). The vehicle control device 20 repeatedly executes the processes of steps S202 to 206 until the own vehicle Ma reaches the predicted vehicle position deviating position of the preceding vehicle Mb (until a predetermined time elapses). As a result, the vehicle control device 20 calculates a deviation ΔX in the vehicle width direction between the locus of the preceding vehicle Mb and the determination position of the host vehicle Ma.

  According to this, the deviation ΔX in the vehicle width direction between the trajectory of the preceding vehicle Mb and the determination position of the own vehicle Ma can be accurately and easily calculated. As a result, turning along the lane and lane change (lane change) Can be determined more accurately.

  In the above-described embodiment, the lane change determination unit 24 described above performs the lane change determination based on the first time point when the preceding vehicle Mb deviates (departs from) the own vehicle predicted route A. Regardless of whether or not Mb deviates from the own vehicle predicted route A, the lane change determination may be performed. In this case, when the deviation ΔX in the vehicle width direction between the locus of the preceding vehicle Mb and the determination position of the host vehicle Ma exceeds the determination value Xa, the lane change determination unit 24 changes the lane of the preceding vehicle Mb or the host vehicle Ma. It is determined that it has been done.

  The lane change determination unit 24 stores the position (determination position) of the own vehicle Ma in the storage device 15 every predetermined short time, and the stored determination position of the own vehicle Ma and the position of the preceding vehicle Mb at the first time point. The trajectory of the preceding vehicle Mb is calculated and stored every predetermined short time, and the deviation ΔX in the vehicle width direction between the trajectory of the preceding vehicle Mb and the determination position of the host vehicle Ma is calculated every predetermined short time. Thereafter, the lane change determination unit 24 compares the vehicle width direction deviation ΔX calculated as described above with the determination value Xa, similarly to the comparison unit 34.

  Furthermore, operation | movement of the vehicle control apparatus 20 is demonstrated along the flowchart shown in FIG. This is basically the same as the flowchart shown in FIG. 6, and the same processes are denoted by the same reference numerals and description thereof is omitted.

After the process of step S108, the vehicle control device 20 calculates and stores the determination position (current position) of the own vehicle Ma every predetermined short time (step S210), and precedes the calculated / stored own vehicle position as a reference. The locus of the preceding vehicle Mb, which is the position of the vehicle Mb, is calculated (step S212), and the calculated locus of the preceding vehicle Mb is stored (step S214). In step S116, the vehicle control device 20 determines the determination position of the own vehicle Ma and the locus of the preceding vehicle Mb already stored in the storage device 15 corresponding to the determination position of the own vehicle Ma every predetermined short time. A small deviation in the vehicle width direction is calculated. In other words, the vehicle control device 20 determines the vehicle relative to the trajectory of the preceding vehicle Mb at every determination position of the own vehicle Ma (a position where the deviation ΔX in the vehicle width direction of the own vehicle Ma is compared and determined with respect to the trajectory of the preceding vehicle Mb). The width direction deviation ΔX is calculated.
According to this, the deviation ΔX in the vehicle width direction between the trajectory of the preceding vehicle Mb and the determination position of the own vehicle Ma can be accurately and easily calculated. As a result, turning along the lane and lane change (lane change) Can be determined more accurately.

  In the above-described embodiment, a lateral acceleration sensor or a steering angle sensor may be used instead of the yaw rate sensor 13.

  DESCRIPTION OF SYMBOLS 11 ... Front sensor, 12 ... Vehicle speed sensor, 13 ... Yaw rate sensor, 14 ... Operation part, 15 ... Memory | storage device, 16 ... GPS receiver, 17 ... Vehicle drive device, 18 ... Vehicle brake device, 20 ... Vehicle control device, 21 ... preceding vehicle search unit, 22 ... own vehicle predicted route calculation unit, 23 ... preceding vehicle lock-on unit, 24 ... lane change determination unit, 25 ... preceding vehicle follow-up travel control unit, 31 ... preceding vehicle route departure determination unit, 32 ... A preceding vehicle departure position storage unit, 33 ... a vehicle width direction deviation calculating unit, 34 ... a comparison unit, M ... a vehicle, Ma ... own vehicle, Mb ... a preceding vehicle.

Claims (3)

A preceding vehicle lock-on unit that locks on a vehicle traveling in front of the vehicle as a preceding vehicle;
A preceding vehicle follow-up travel control unit that controls the travel of the host vehicle so as to follow and travel a predetermined distance with respect to the preceding vehicle locked on by the preceding vehicle lock-on unit;
A lane change determination unit that determines that the preceding vehicle that is locked on by the preceding vehicle lock-on unit or the own vehicle that is locked on by the preceding vehicle lock-on unit has changed lanes; A device,
The lane change determination unit determines that the preceding vehicle or the own vehicle has changed the lane when a deviation in a vehicle width direction between the locus of the preceding vehicle and the determination position of the own vehicle exceeds a determination value. The vehicle control apparatus characterized by the above-mentioned. The locus of the preceding vehicle is a first position of the preceding vehicle at a first time point when the preceding vehicle deviates from the own vehicle predicted route that the own vehicle is predicted to pass through.
The determination position of the own vehicle is the first position of the own vehicle at the time when the own vehicle has traveled a predetermined distance along the own vehicle predicted route from the start point that is the position of the own vehicle at the first time point. And
When the deviation in the vehicle width direction between the first position of the preceding vehicle and the first position of the host vehicle exceeds the determination value, the lane change determining unit determines whether the preceding vehicle or the host vehicle changes the lane. The vehicle control device according to claim 1, wherein it is determined that the operation is performed.   The lane change determination unit includes a predetermined short time interval between a first time point when the preceding vehicle is deviated from the own vehicle predicted route predicted to pass by the own vehicle and a second time point when a predetermined time has elapsed. A determination position of the own vehicle is calculated, and a small deviation in the vehicle width direction between the calculated determination position of the own vehicle and the locus of the preceding vehicle which is the position of the preceding vehicle at the first time point is calculated as the predetermined position. The deviation in the vehicle width direction between the locus of the preceding vehicle and the determination position of the own vehicle is calculated by calculating every short time and integrating the calculated small deviations in the vehicle width direction. The vehicle control device according to claim 1.

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