JP2016068705A - Traveling control device of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make alternative control surely function irrespective of a steering holding state of a driver even if an abnormality occurs in a steering system, and the alternative control for adding a yaw moment to a vehicle is performed by a brake force or the like, and to secure the safety of the vehicle, in automatic drive control.SOLUTION: When a lane change position in which an own vehicle changes a lane such as a branch passage on a traveling road of the own vehicle is recognized at automatic drive control, a branch portion of the lane is set as the lane change position. Then, when an abnormality is detected in a steering system of the own vehicle, a vehicle speed at which the vehicle can be freely controlled in yaw moment control is calculated as a lane change-time vehicle speed Vave without depending upon a steering holding state of a driver, yaw brake control is performed on the basis of the lane change-time vehicle speed Vave, and the own vehicle passes the lane change position.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a travel control device for a vehicle that recognizes a travel environment, detects travel information of the host vehicle, and performs automatic driving control.

  In recent years, various types of vehicles using automatic driving technology have been developed and proposed so that drivers can drive more comfortably and safely. For example, in Japanese Patent Application Laid-Open No. 2003-63373 (hereinafter referred to as Patent Document 1), when a failure occurs in the steering system, the braking force applied to the left and right wheels is controlled to change the course of the vehicle so as to obtain a predetermined retreat area. There is disclosed a technology of a vehicle automatic retracting device for stopping a vehicle inside.

JP 2003-63373 A

  As disclosed in the above-described technology of the automatic vehicle retractor of Patent Document 1, when a yaw moment is applied to the vehicle by brake control of each wheel or the like, the actually generated yaw rate is whether the steering wheel is held or not. Varies greatly depending on what. For example, when the driver releases his / her hand from the steering wheel, self-steering occurs according to the vehicle turning state due to the yaw moment, and the vehicle turns at a yaw rate different from that when the rudder angle is fixed. Therefore, it is conceivable to detect the steering state of the driver with a steering torque sensor, a steering angle sensor, or the like, and adjust the additional yaw moment according to the detected steering state of the driver. In this case, there is a high possibility that a sensor signal for the steering torque or the steering angle cannot be obtained, and there is a possibility that sufficient yaw moment control cannot be performed because the steering state of the driver cannot be detected.

  The present invention has been made in view of the above circumstances, and in automatic operation control, even when an alternative control for adding a yaw moment to a vehicle by a braking force or the like due to an abnormality in the steering system is performed, the driver's maintenance is maintained. It is an object of the present invention to provide a vehicle travel control device that can reliably function as a substitute control regardless of the rudder state and ensure vehicle safety.

  One aspect of the vehicle travel control apparatus of the present invention includes travel environment information acquisition means for acquiring travel environment information for travel of the host vehicle, and travel information detection means for detecting travel information of the host vehicle. Lane control for recognizing and setting a lane change position at which the vehicle changes lanes based on the travel environment and the travel information in a vehicle travel control device that performs automatic driving control based on the information and the travel information of the host vehicle Position setting means, steering system abnormality detection means for detecting an abnormality in the steering system of the host vehicle, and lane change for calculating the vehicle speed at which the yaw moment can be controlled without depending on the driver's steering state as the vehicle speed at the time of lane change Based on the vehicle speed at the time of lane change when an abnormality in the steering system of the host vehicle is detected by the steering system abnormality detection means when changing the lane at the lane change position with the hourly vehicle speed calculation means Both the added yaw moment through the lane change position, and a yaw moment control means other than the steering system.

  According to the vehicle travel control device of the present invention, in the automatic driving control, even when an alternative control is performed in which an abnormality occurs in the steering system and a yaw moment is applied to the vehicle by a braking force or the like, the driver's steering control is performed. It becomes possible to ensure the safety of the vehicle by making the alternative control function reliably regardless of the state.

1 is an overall configuration diagram of a vehicle travel control device according to an embodiment of the present invention. It is a flowchart of the automatic driving | operation control at the time of branch road approach by one Embodiment of this invention. It is explanatory drawing of the vehicle speed at the time of a yaw brake lane change by one Embodiment of this invention. 4A and 4B are explanatory diagrams of an example in which a lane change is performed according to an embodiment of the present invention. FIG. 4A shows a case of a branch road, FIG. 4B shows a case of retreating to a road shoulder, and FIG. c) shows the case of merging.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In FIG. 1, reference numeral 1 denotes a vehicle travel control device. The travel control device 1 includes a travel control unit 10, a surrounding environment recognition device 11, a travel parameter detection device 12, a host vehicle position information detection device 13, Each input device of the inter-vehicle communication device 14, the road traffic information communication device 15, and the switch group 16, and the output devices of the engine control device 21, the brake control device 22, the steering control device 23, the display device 24, and the speaker / buzzer 25 are provided. It is connected.

  The surrounding environment recognition device 11 is a camera device (stereo camera, monocular camera, color camera, etc .: not shown) provided with a solid-state imaging device or the like provided in the vehicle interior that captures image information by capturing an external environment of the vehicle. A radar apparatus (laser radar, millimeter wave radar, ultrasonic radar, etc .: not shown) that receives a reflected wave from a three-dimensional object existing around the vehicle.

  The surrounding environment recognition device 11 performs, for example, a well-known grouping process on the distance information based on the image information captured by the camera device, and the three-dimensional road shape in which the grouping distance information is set in advance. By comparing the data, solid object data, etc., the lane line data, guardrails existing along the road, sidewall data such as curbs, three-dimensional object data such as vehicles, etc. are displayed in relative positions (distance, Angle) is extracted along with the velocity.

  The surrounding environment recognition device 11 detects the position (distance, angle) of the reflected three-dimensional object along with the speed based on the reflected wave information acquired by the radar device. Thus, the surrounding environment recognition device 11 is provided as a traveling environment information acquisition unit.

  The travel parameter detection device 12 detects travel information of the host vehicle, specifically, vehicle speed, steering angle, yaw rate, accelerator opening, throttle opening, road surface gradient of the road surface to be traveled, road surface friction coefficient estimated value, and the like. . Thus, the travel parameter detection device 12 is provided as travel information detection means.

  The own vehicle position information detection device 13 is, for example, a known navigation system, and receives, for example, a radio wave transmitted from a GPS (Global Positioning System) satellite and determines the current position based on the radio wave information. Detected on map data stored in advance in flash memory, CD (Compact Disc), DVD (Digital Versatile Disc), Blu-ray (Blu-ray) disc, HDD (Hard disk drive), etc. Identify your vehicle position.

  The map data stored in advance includes road data and facility data. The road data includes link position information, type information, node position information, type information, and information on connection relations between nodes and links, that is, road branches (see FIG. 4A), merges (FIG. 4). (See (c)) Includes point information and maximum vehicle speed information on a branch road. The facility data has a plurality of records for each facility, and each record includes the name information of the target facility, location information, facility type (department store, store, restaurant, parking lot, park, vehicle failure) It has data that shows information). When the vehicle position on the map position is displayed and a destination is input by the operator, a route from the departure point to the destination is calculated in a predetermined manner and displayed on a display device 24 such as a display or a monitor. In addition, the speaker / buzzer 25 can be guided by voice guidance. Thus, the own vehicle position information detection device 13 is provided as a travel environment information acquisition unit.

  The inter-vehicle communication device 14 is composed of, for example, a narrow-area wireless communication device having a communication area of about 100 [m] such as a wireless LAN, and directly communicates with other vehicles without passing through a server or the like to transmit and receive information. It is possible to do. And vehicle information, traveling information, traffic environment information, etc. are exchanged by mutual communication with other vehicles. The vehicle information includes specific information indicating the vehicle type (in this embodiment, the type of passenger car, truck, motorcycle, etc.). The traveling information includes vehicle speed, position information, brake lamp lighting information, blinking information of a direction indicator transmitted at the time of turning left and right, and blinking information of a hazard lamp blinking at an emergency stop. Furthermore, the traffic environment information includes information that varies depending on the situation such as road traffic congestion information and construction information. Thus, the inter-vehicle communication device 14 is provided as a travel environment information acquisition unit.

  The road traffic information communication device 15 is a so-called road traffic information communication system (VICS: Vehicle Information and Communication System: registered trademark), and is used for FM congestion broadcasting, a transmitter on the road, congestion, accidents, construction, required time, parking. The road traffic information of the car park is received in real time, and the received traffic information is displayed on the previously stored map data. Thus, the road traffic information communication device 15 is provided as a travel environment information acquisition unit.

  The switch group 16 is a switch group related to the driver's driving support control. For example, the switch group 16 is a switch that controls traveling at a constant speed that is set in advance, or a distance between the preceding vehicle and an inter-vehicle time are set in advance. A switch for keeping track at a constant value, a lane keeping control switch for driving control while maintaining the driving lane at the set lane, a lane departure preventing control switch for preventing departure from the driving lane, and preceding Passing control execution permission switch for executing overtaking control of vehicles (vehicles to be overtaken), switch for executing automatic driving control for performing all these controls in cooperation, vehicle speed, inter-vehicle distance, inter-vehicle distance required for each control It consists of a switch for setting time, speed limit, etc., or a switch for canceling each control.

  The engine control device 21 uses, for example, a fuel for a vehicle engine (not shown) based on the intake air amount, throttle opening, engine water temperature, intake air temperature, oxygen concentration, crank angle, accelerator opening, and other vehicle information. This is a known control unit that performs main control such as injection control, ignition timing control, and control of an electronically controlled throttle valve.

  The brake control device 22 controls a four-wheel brake device (not shown) independently of a driver's brake operation based on, for example, a brake switch, four-wheel wheel speed, steering wheel angle, yaw rate, and other vehicle information. This is a known control unit that performs yaw moment control that controls the yaw moment that is added to the vehicle, such as a known antilock brake system or side slip prevention control. Then, when the brake force of each wheel is input from the traveling control unit 10, the brake control device 22 calculates the brake fluid pressure of each wheel based on the brake force, and a brake drive unit (not shown). ). Thus, the brake control device 22 constitutes a yaw moment control means.

  The steering control device 23 controls the assist torque by an electric power steering motor (not shown) provided in the vehicle steering system based on, for example, vehicle speed, steering torque, steering wheel angle, yaw rate, and other vehicle information. It is a control device. In addition, the steering control device 23 can perform lane keeping control for performing traveling control while maintaining the above-described traveling lane at the set lane, and lane departure preventing control for performing departure prevention control from the traveling lane. The steering angle or steering torque required for the lane departure prevention control is calculated by the travel control unit 10 and input to the steering control device 23, and the electric power steering motor is driven and controlled according to the input control amount. . Further, the steering control device 23 detects an abnormality of the steering system including the steering mechanism, and the traveling control unit 10 monitors the occurrence of an abnormal state of the steering system. Thus, the steering control device 23 is provided as a steering system abnormality detection means.

  The display device 24 is a device that provides a visual warning and notification to drivers such as a monitor, a display, and an alarm lamp. The speaker / buzzer 25 is a device that gives an audible warning and notification to the driver.

  Then, the traveling control unit 10 is configured to prevent collisions with obstacles, constant speed traveling control, follow-up traveling control, lane keeping control, lane departure prevention control based on the input signals from the devices 11 to 16 described above. In addition, automatic driving control or the like is executed by performing overtaking control or the like in cooperation. At this time, for example, when a lane change position where the host vehicle changes lanes such as a lane branch path on the driving route of the host vehicle is recognized as a lane change position on the driving route of the host vehicle, for example, To do. Specifically, the node position in the vicinity of the intersection of the link of the currently running lane and the branch lane that forms the map data of the navigation system, or on the map data of the branch road with respect to the running lane (the part where the road intersects It is set as appropriate according to the shape and position. If an abnormality is detected in the steering system of the host vehicle, the vehicle speed at which the yaw moment can be controlled without depending on the driver's steering state is calculated as the vehicle speed at the time of lane change, and based on the vehicle speed at the time of lane change. Then, the yaw moment is applied to the vehicle by the braking force (by executing the yaw brake control), and the vehicle passes through the lane change position. Thus, the travel control unit 10 is provided as a lane change position setting means and a lane change time vehicle speed calculation means, and is provided as a yaw moment control means together with the brake control device 22 described above.

  Next, the automatic driving control executed when the traveling control unit 10 enters the branch road will be described with reference to the flowchart of FIG.

  First, in step (hereinafter, abbreviated as “S”) 101, it is determined whether or not the automatic operation state in which the automatic operation control is being executed. If it is not the automatic operation state, the program is exited. Advances to S102, and it is determined whether or not a lane branch portion exists ahead and is set as a lane change position.

  As a result of the determination in S102, if the lane change position is not set and the vehicle does not enter the branch road, the program is exited. Conversely, when the lane change position is set and the vehicle enters the branch road, the process proceeds to S103.

  In S103, it is determined whether or not a steering system abnormality has been detected. If no steering system abnormality has been detected, the process proceeds to S104 and deceleration control is executed.

  Hereinafter, the deceleration control will be described with reference to FIG.

If the initial speed (current vehicle speed) at the start of acceleration / deceleration is V0, the preset acceleration / deceleration is (d ² X / dt ² ), and the time from the acceleration / deceleration start point to the lane change position is t, The target vehicle speed Vt at the lane change position is obtained by the following equation (1).

Vt = V0 + (d ² X / dt ² ) · t (1)
The distance at this time, that is, the distance Lx from the acceleration / deceleration start point to the lane change position is obtained by the following equation (2).

Lx = V0 · t + (1/2) · (d ² X / dt ² ) · t ² ·· (2)
From the above formulas (1) and (2), the following formula (3) is obtained.

Lx = (Vt ² −V 0 ² ) / (2 · (d ² X / dt ² )) (3)
Here, the target vehicle speed Vt is a known speed that has been set in advance by experiment, calculation, etc. according to the map data or the angle of the branch road with respect to the driving lane, the road width, etc. From the position, when the distance of Lx calculated by the expression (3) is reached, the deceleration control for generating the acceleration / deceleration (d ² X / dt ² ) is started to pass the lane change position at the target vehicle speed Vt. Can be made.

  At this time, the braking force of each wheel (brake force Ffl for the left front wheel, brake force Ffr for the right front wheel, brake force Frl for the left rear wheel, brake force for the right rear wheel, which is output from the traveling control unit 10 to the brake control device 22. Frr) is calculated by, for example, the following expressions (4) and (5).

Ffl = Ffr = (dx / 2) · Fx (4)
Frl = Frr = ((1-dx) / 2) · Fx (5)
Here, dx is the front / rear braking force distribution ratio (front wheel side braking force / total braking force) of the deceleration control, and Fx is the total braking force according to the target acceleration / deceleration, which is calculated by the following equation (6). The

Fx = −m · (d ² X / dt ² ) (6)
Here, m is the vehicle mass.

  In this deceleration control, if the lane change position is inappropriate as a point for changing the lane, the acceleration / deceleration start point and the deceleration are adjusted to be an appropriate position.

  Then, it progresses to S105 and steering angle control is performed.

  Hereinafter, the lane change of the vehicle and the steering angle control associated therewith will be described.

As an example of the vehicle trajectory when the host vehicle changes lanes, jerk (∫d ³ y / dx) on a two-dimensional coordinate in which the travel distance is the x direction and the lateral movement amount (lane change width) is the y direction. ³ ) It shall be calculated | required with the normalization polynomial of a minimum locus | trajectory.

In this case, y (0) = 0, y (1) = 1, dy (0) / dx = d ² y (0) / dx ² = 0, dy (1) / dx = d ² y (1) / Assuming that dx ² = 0 is satisfied, the following expression (7) is obtained.

y = 6 · x ⁵ −15 · x ⁴ + 10 · x ³ (7)
This equation (7) is differentiated to obtain the following equations (8), (9), and (10).

dy / dx = 30 · (x ⁴ −2 · x ³ + x ² ) (8)
d ² y / dx ² = 60 · (2 · x ³ −3 · x ² + x) (9)
d ³ y / dx ³ = 60 · (6 · x ² −6 · x + 1) (10)
Then, by calculating back x when d ³ y / dx ³ = 0 by the above equation (10), the following equation (11) is obtained.

x (d ³ y / dx ³ = 0) = (3 ± 3 ^1/2 ) / 6 (11)
From this x value, d ² y / dx ² is calculated by equation (9), and this normalized curvature value is defined as the absolute value of the maximum lateral acceleration | (d ² y / dx ² ) max | The following value (12) is obtained.

| (D ² y / dx ² ) max | = 10 · 3 ^1/2 /3≈5.77 (12)
Further, if the maximum lateral acceleration (d ² Y / dt ² ) max_c (preset value) at the time of lane change is expressed using the maximum value (d ² y / dx ² ) max of the lateral acceleration described above, the lane change is performed. The following equation (13) is obtained, where Ly is the travel distance required for the vehicle, and W is the lane change width.

(D ² y / dx ² ) max · W / (Ly / V) ² = (d ² Y / dt ² ) max_c
... (13)
When this equation (13) is solved for the travel distance Ly, the following equation (14) is obtained.

Ly = (5.77 · W · V ² / (d ² Y / dt ² ) max_c) ^1/2
(14)
Further, if the estimated travel distance in the x direction of the subject vehicle is xe,
xe = (∫V · dt) / Ly (15)
It becomes. Since the relationship between the target yaw rate γt, the vehicle speed V, and the lateral acceleration (d ² y / dx ² ) is expressed by the following equation (16), the target yaw rate γt is calculated using the equation (9) described below. (17)

γt · V = (d ² y / dx ² ) · W / (Ly / V) ² (16)
γt = 60 · (2 · xe ³ −3 · xe ² + xe) · W · V / Ly ²
... (17)
By substituting this target yaw rate γt into the following relational expression (equation (18)) of the target handle angle θHt, the target handle angle θHt necessary for control (output to the steering control device 23) is obtained.

θHt = γt · n / Gγ (18)
Here, n is a steering gear ratio, Gγ is a yaw rate gain, and the yaw rate gain Gγ can be calculated by the following equation (19), for example.

Gγ = (1 / (1 + A · V ² )) · (V / l) (19)
Here, l is a wheel base, and A is a vehicle-specific stability factor, which is calculated by the following equation (20), for example.
A = − (m / (2 · l ² )) · (lf · Kf−lr · Kr) / (Kf · Kr)
... (20)
Here, Kf is the cornering power of the front wheel, Kr is the cornering power of the rear wheel, lf is the distance between the front axis and the center of gravity, and lr is the distance between the rear axis and the center of gravity.

  That is, in S105, when the host vehicle reaches the lane change control start point defined by the travel distance Ly required for the lane change calculated by the above-described equation (14) at the lane change position, The steering angle control is performed by outputting the target steering angle θHt calculated by the equation (18) to the steering control device 23.

  On the other hand, if an abnormality in the steering system is detected in S103 described above, the vehicle speed at the time of lane change (yaw) for yaw brake control in which yaw moment is applied to the vehicle by the braking force according to the following equation (21) in S106. Brake lane change vehicle speed) Vave is calculated.

Vave = ((2 · l · Kr) / m) ^1/2 (21)
Hereinafter, the meaning of the vehicle speed Vave when changing the yaw brake lane will be described.

  First, the vehicle motion when the driver operates / fixes the steering wheel is given by the following equations (22) and (23).

2 · (Kf + Kr) · β + (m · V + (2 / V)
(Lf · Kf−lr · Kr)) · γ = 2 · Kf · δ (22)
2 · (lf · Kf−lr · Kr) · β + (2 · (lf ² · Kf
+ Lr ² · Kr) / V) · γ = 2 · lf · Kf · δ + Mz (23)
Here, β is the vehicle slip angle, γ is the yaw rate, δ is the front wheel steering angle, and Mz is the additional yaw moment.

From the equations (22) and (23), the yaw rate γ is obtained by the following equation (24).
γ = (1 / (1 + A · V ² )) · (V / l) · (δ + ((Kf + Kr)
/ (2 · l · Kf · Kr)) · Mz) (24)
The characteristic of the yaw rate γ is shown by the solid line in FIG. The characteristic indicated by the solid line in FIG. 3 is obtained when the driver holds the steering wheel in the neutral position.

  On the other hand, when the driver releases his / her hand from the steering wheel, the front wheels freely steer according to the self-aligning torque and no lateral force is generated. Therefore, the vehicle motion at this time is expressed by equations (22) and (23 ) Is given by the following equations (25) and (26) with Kf set to 0.

2 · Kr · β + (m · V− (2 / V) · lr · Kr) · γ = 0
... (25)
-2 · lr · Kr · β + ((2 · lr ² · Kr) / V) · γ = Mz
... (26)
From the equations (25) and (26), the yaw rate γ is obtained by the following equation (27).

γ = Mz / (m · lr · V) (27)
The characteristic of the yaw rate γ is indicated by a broken line in FIG.
As apparent from the equations (24), (27), and FIG. 3, when the yaw moment control of the vehicle is performed by the braking force, the yaw rate γ generated by the yaw moment control is the case where the steering angle is fixed. This differs from the case where the rudder angle changes due to the self-alignment torque. However, even in these two cases (when the steering wheel is held or not held), there is a vehicle speed range in which the generated yaw rates coincide. The inventor of the present application has invented the present application by paying attention to this phenomenon. By controlling the vehicle speed to the vehicle speed and controlling the yaw moment, an abnormality occurs in the steering system and the brake force or the like is generated. Even when the alternative control for adding the yaw moment to the vehicle is performed, the alternative control is functioned reliably regardless of the driver's steering state, and the safety of the vehicle can be ensured.

That is, based on the above-mentioned formulas (24) and (27),
γ = (1 / (1 + A · V ² )) · (V / l) · (δ + ((Kf + Kr) / (2 · l · Kf · Kr)) · Mz) = Mz / (m · lr · V)・ (28)
The vehicle speed value obtained by solving the above equation for V is the vehicle speed Vave at the time of lane change in which the vehicle can be yaw-moment controlled without depending on the driver's steering state, and is expressed by the aforementioned equation (21). .

  After S106, the process proceeds to S107, and yaw brake control is executed.

  Specifically, the deceleration control in which the vehicle speed Vave at the time of yaw brake lane change is the target vehicle speed Vt and the yaw moment control based on the vehicle speed Vave at the time of yaw brake lane change are executed.

That is, the starting position of the deceleration control is the same as the above-described equation (3).
Lx = (Vave ² −V 0 ² ) / (2 · (d ² X / dt ² )) (29)
Set by.

  Further, since the target yaw moment Mzt generated by the brake control device 22 has the relationship of the above-described equation (27), the vehicle speed V is set to the actual vehicle speed v every moment, and the target yaw rate γt of the above-described equation (17) is used. Then, the following equation (30) is used for calculation.

Mzt = m · lr · v · γt (30)
Based on this target yaw moment Mzt, the total sum Fy of the left and right wheel braking force differences corresponding to the target yaw moment is calculated by the following equation (31), where tread is d.

Fy = Mzt / d (31)
From the above, the braking force of each wheel by the yaw brake control (braking force Ffi of the turning inner front wheel, braking force Ffo of the turning outer front wheel, braking force Fri of the turning inner rear wheel, braking force Fro of the turning outer rear wheel) is It is calculated by the following equations (32) to (35) and is output to the brake control device 22.

Ffi = (dx / 2) · Fx + dy · Fy (32)
Ffo = (dx / 2) · Fx−dy · Fy (33)
Fri = ((1-dx) / 2) .Fx + (1-dy) .Fy (34)
Fro = ((1-dx) / 2) .Fx- (1-dy) .Fy (35)
Here, dy is the front-rear axis distribution ratio of yaw moment control (front shaft yaw moment / total yaw moment).

  After S107, the process proceeds to S108, where the display of the display device 24, the monitor, the alarm lamp, and the speaker / buzzer 25 are operated, and an abnormality has occurred in the steering system. This notifies the driver that the yaw brake control is being executed.

  As described above, according to the embodiment of the present invention, when automatic driving control is performed, when the lane change position at which the host vehicle such as a branch road of the lane changes on the traveling path of the host vehicle is recognized, Set the bifurcation as the lane change position. If an abnormality in the steering system of the host vehicle is detected, the vehicle speed at which the yaw moment can be controlled without depending on the driver's steering state is calculated as the vehicle speed Vave at the time of lane change. The yaw brake control is executed based on Vave to pass the lane change position. For this reason, in automatic operation control, even when an abnormality occurs in the steering system and alternative control is performed to add a yaw moment to the vehicle by braking force or the like, the alternative control is ensured regardless of the driver's steering state. This makes it possible to ensure the safety of the vehicle.

  In the embodiment of the present invention, the case where the vehicle enters the branch road under the condition of the lane change during the automatic driving control (in the case of FIG. 4A) is described as an example. The same applies to the case where the control is executed (see FIG. 4B). In this case, for example, the lane change to the road shoulder can be performed by, for example, the operation state of the turn signal lamp, the detected preceding vehicle, the position of the front obstacle, the yaw angle with respect to the traveling lane of the vehicle, the state of the front road, the inter-vehicle communication device 14 Based on the above information, the information from the road traffic information communication device 15 and the like, the escape to the road shoulder is estimated, the lane change position is estimated, and the deceleration and the lane change are performed in the same manner as the control in the case of the branch road approach described above. Can be executed.

  In addition, the present invention can be applied even in a situation where it joins the main line as shown in FIG. In this case, the vehicle speed is accelerated, not decelerated, but acceleration is obtained by engine driving force or motor driving force (hybrid vehicle, electric vehicle), and the yaw moment applied to the vehicle is, for example, the left wheel side The clutch means is provided on the right side and the right wheel side, and it can be obtained by controlling the engagement / release of the clutch means and the like, and can be executed with acceleration and lane change.

DESCRIPTION OF SYMBOLS 1 Travel control apparatus 10 Travel control part (lane change position setting means, vehicle speed calculation means at the time of lane change, yaw moment control means)
11 Ambient environment recognition device (traveling environment information acquisition means)
12 Travel parameter detection device (travel information detection means)
13 Self-vehicle position information detection device (running environment information acquisition means)
14 Vehicle-to-vehicle communication device (running environment information acquisition means)
15 Road traffic information communication device (traveling environment information acquisition means)
16 Switch group 21 Engine control device 22 Brake control device (yaw moment control means)
23 Steering control device (steering system, steering system abnormality detection means)
24 display device 25 speaker buzzer

Claims (4)

A driving environment information acquiring means for acquiring driving environment information in which the host vehicle travels and a driving information detecting means for detecting driving information of the host vehicle are provided, and automatic driving is performed based on the driving environment information and the driving information of the host vehicle. In a vehicle travel control device that executes control,
Lane change position setting means for recognizing and setting a lane change position where the host vehicle changes lanes based on the travel environment and the travel information;
Steering system abnormality detection means for detecting an abnormality in the steering system of the host vehicle;
Lane change vehicle speed calculation means for calculating the vehicle speed at which the vehicle can freely control the yaw moment without depending on the steering state of the driver as the lane change vehicle speed;
When changing the lane at the lane change position, if an abnormality in the steering system of the host vehicle is detected by the steering system abnormality detection means, a yaw moment is added to the vehicle based on the vehicle speed at the time of the lane change, and the lane Yaw moment control means other than the steering system passing through the change position;
A travel control device for a vehicle, comprising: The yaw moment control means is a brake control means for adding a yaw moment to the vehicle by controlling the braking force of each wheel,
When changing the lane at the lane change position, if the steering system abnormality detecting means detects an abnormality in the steering system of the host vehicle, the braking force of each wheel is controlled based on the vehicle speed at the time of the lane change, 2. The vehicle travel control apparatus according to claim 1, wherein the vehicle deceleration control and the yaw moment control are executed to pass through the lane change position.   The vehicle yaw moment control is executed by the steering system when an abnormality of the steering system of the host vehicle is not detected by the steering system abnormality detecting means when changing the lane at the lane changing position. The vehicle travel control apparatus according to claim 1 or 2.   4. The vehicle speed calculation means at the time of lane change calculates the vehicle speed at the time of lane change based on a vehicle wheelbase, a cornering power of a rear wheel, and a vehicle mass. The vehicle travel control device according to claim 1.

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