JP2017019397A - Traveling controlling apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize automatic traveling control at a point where two roads are merged in which traveling of a following vehicle at a rear side of the subject vehicle is taken into consideration in merging action.SOLUTION: A vehicle traveling controlling system loaded on a subject vehicle A automatically controls traveling mode of the vehicle A entering from one road (for example, side road) to another road into which the driver is to merge (for example, main line) at a merging point where two roads are merged. The vehicle traveling controlling system detects the position and traveling mode of each vehicle (main line vehicle A and following vehicle C) including at least following vehicle C as a vehicle present in a predetermined range at merging point, and controls the traveling state of the vehicle A on the basis of the detected positions and traveling modes of the respective vehicles.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technique for controlling a traveling state when a host vehicle merges from one road to another road at a point where two roads merge.

  2. Description of the Related Art Conventionally, an automatic driving system that automatically drives a vehicle by controlling the traveling state of the own vehicle according to the surrounding environment of the own vehicle has been proposed. As this type of automatic driving system, there is known a system that performs traveling control so that the own vehicle merges from one road to a traveling train of the other road at a point where two roads merge (for example, Patent Documents). 1).

  In Patent Literature 1, the position and running state of another vehicle existing on the road ahead of the host vehicle are recognized, and the host vehicle contacts the other vehicle in accordance with the recognized position and running state of the other vehicle. However, there is a description of a technique for controlling the vehicle so as to enter the road of the destination road.

JP-A-10-105239

  In Patent Document 1, although it is described that another vehicle existing on the road at the junction ahead of the host vehicle is to be recognized, the rear of the host vehicle is on the road before the host vehicle is traveling. No mention is made of how to handle the following vehicle that is following the road. However, for example, depending on the congested situation on the road to be merged, it may be necessary to take measures such as decelerating the vehicle and forcing it to stop and wait without forcibly joining the vehicles. Therefore, when running control that decelerates or stops on the road before merging, the deceleration and stop position of the host vehicle are determined by taking into account the position and running state of the succeeding vehicle in order to prevent excessive approach and contact with the following vehicle. Deciding is necessary for safe operation.

  The present invention has been made to solve the above problems. An object of the present invention is to realize a safe and reliable merging operation in consideration of the traveling of a subsequent vehicle behind the host vehicle in automatic traveling control at a point where two roads merge.

  The travel control device of the present invention includes detection means and control means. In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is limited is not.

  The control means automatically controls the traveling state of the host vehicle so as to enter from one road to the other road where the two roads join at the joining point where the two roads join. The detecting means detects the position and running state of each vehicle that is in a predetermined range at the junction and includes at least a subsequent vehicle that runs behind the host vehicle on one road. The control unit controls the traveling state of the host vehicle based on the position and traveling state of the subsequent vehicle detected by the detecting unit.

  According to the present invention, in traveling control at a point where two roads merge, the traveling state of the host vehicle can be controlled based on the position and traveling state of the subsequent vehicle behind the host vehicle. By doing in this way, the safe and reliable merging operation in consideration of the travel of the following vehicle can be realized.

The block diagram showing the structure of a vehicle travel control system. Explanatory drawing showing an example of the condition of each vehicle in a junction. Explanatory drawing showing an example of the condition of each vehicle in a junction. Explanatory drawing showing an example of the travel plan at the time of merging. Explanatory drawing showing an example of the travel plan at the time of merging. Explanatory drawing showing an example of the travel plan at the time of merging. Explanatory drawing showing an example of the condition which assumed the virtual succeeding vehicle in the junction. Explanatory drawing showing an example of the condition at the time of waiting in a junction. Explanatory drawing showing an example of the condition at the time of waiting in a junction. Explanatory drawing showing an example of the situation which cannot join and cannot wait. The flowchart showing the procedure of merging travel control processing.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, this invention is not limited to the following embodiment, It is possible to implement in various aspects.
[Description of configuration of vehicle travel control system]
The configuration of the vehicle travel control system 1 of the embodiment will be described with reference to FIG. The vehicle travel control system 1 is a system that controls automatic driving that automatically performs driving operations such as acceleration, steering, and braking of the host vehicle. As illustrated in FIG. 1, the vehicle travel control system 1 includes a travel control unit 10, a camera (front / rear) 11, a radar (front / rear) 12, an inter-vehicle communication device 13, a road-vehicle communication device 14, a position detection. Unit 15, vehicle motion sensor 16, map database 17, drive control unit 18, braking control unit 19, steering control unit 20, notification unit 21, and external display unit 22.

  The travel control unit 10 is an information processing apparatus configured mainly with a CPU, a ROM, a RAM, an input / output interface and the like (all not shown). The traveling control unit 10 automatically performs driving operations such as acceleration, braking, and steering of the host vehicle, and controls an automatic driving function that causes the host vehicle to travel along the route to the destination.

  Specifically, the host vehicle is driven according to the route to the destination while comparing the current location of the host vehicle and road map data. In addition, the camera 11, radar 12, vehicle-to-vehicle communication device 13 and road-to-vehicle communication device 14 grasp other traffic such as surrounding vehicles and surrounding conditions such as signals, signs, road shapes, and obstacles, and are necessary for safe driving. To determine the acceleration, braking and steering behavior. And according to the determined operation | movement, various actuators, such as the drive control part 18, the brake control part 19, and the steering control part 20, are operated, and the own vehicle is drive | worked. In the present embodiment, as one of the automatic driving functions realized by the traveling control unit 10, for example, at the junction where the side road joins the main road of the highway, the host vehicle automatically enters the main road from the side road. For this reason, the merging travel control will be described.

  The camera 11 is an imaging device installed at each of the front and rear of the vehicle, images the front area and the rear area of the host vehicle, and outputs data of the captured image to the travel control unit 10. The radar 12 is a sensor that detects the presence / absence of a target object and the distance to the target object by transmitting radio waves and laser light toward the detection target ranges in front and rear of the host vehicle and receiving the reflected waves. . In the present embodiment, it is assumed that the camera 11 and the radar 12 are used as optical or electromagnetic sensors for recognizing other vehicles, obstacles, road shapes, and the like existing in front and rear of the host vehicle.

  The inter-vehicle communication device 13 is a wireless communication device that performs wireless communication (vehicle-to-vehicle communication) with an in-vehicle communication device mounted on another vehicle. The traveling control unit 10 performs vehicle-to-vehicle communication with a surrounding vehicle that exists within a wireless communicable range of the vehicle-to-vehicle communication device 13 and acquires various information related to the surrounding vehicle. In the present embodiment, an application is assumed in which behaviors such as the position, speed, acceleration, and traveling direction of surrounding vehicles are grasped based on information acquired from other vehicles by the inter-vehicle communication device 13.

  The road-to-vehicle communication device 14 is a wireless communication device for receiving vehicle detection information provided from a vehicle state detection device (roadside device) installed on the road. In the present embodiment, the roadside device installed at the junction point detects the behavior of the position, speed, acceleration, traveling direction, and the like of each vehicle existing in the monitored area around the junction point, and the vehicle detection information about each vehicle is The situation provided by wireless communication is assumed. The travel control unit 10 grasps the position and behavior of each vehicle traveling around the junction based on the vehicle detection information received from the roadside device by the road-to-vehicle communication device 14.

  The position detection unit 15 detects the current location of the host vehicle based on the detection results of a GPS (Global Positioning System) receiver, a gyro sensor, a vehicle speed sensor (all not shown), and the like, and uses the detected current location information as a travel control unit. 10 is output. The vehicle motion sensor 16 is a sensor that measures physical quantities representing the behavior of the host vehicle such as speed, acceleration, and angular velocity, and outputs data representing various measurement values to the travel control unit 10.

  The map database 17 is a storage device that stores map data for route guidance. The map data includes various data such as node data corresponding to road nodal points, link data corresponding to road sections between nodes, attribute data corresponding to nodes and links, and facility data. In addition, this map data includes information representing the width of the road and the shape of the curve as information on the road shape.

  The drive control unit 18 is a control device that includes an actuator that operates an accelerator and a transmission of the host vehicle. The travel control unit 10 controls acceleration / deceleration of the host vehicle by sending a control command to the drive control unit 18 in accordance with a travel plan calculated based on the host vehicle and surrounding conditions. The braking control unit 19 is a control device that includes an actuator that operates a brake of the host vehicle. The traveling control unit 10 controls the braking of the host vehicle by sending a control command to the braking control unit 19 in accordance with a traveling plan calculated based on the host vehicle and surrounding conditions. The steering control unit 20 is a control device including an actuator that operates a steering device of the host vehicle. The travel control unit 10 controls the steering of the host vehicle by sending a control command to the steering control unit 20 in accordance with a travel plan calculated based on the host vehicle and surrounding conditions.

  The alerting | reporting part 21 is an output device for alert | reporting various information with respect to a driver | operator. The notification device 17 is embodied by, for example, a display device that displays an image, an audio output device that outputs audio information, and the like. The external display unit 22 is a display device for presenting information to the driver of the surrounding vehicle of the host vehicle. Examples of information presented by the external display unit 22 include information indicating that the host vehicle has been switched from automatic driving to manual driving.

[Explanation of travel control at merging]
The main points of the merging traveling control performed by the traveling control unit 10 will be described based on specific examples illustrated in FIGS.

  FIG. 2 shows a situation where the host vehicle is about to enter the main road from the side road at a junction where the main road such as a highway and a side road associated with the main road meet. In the case of FIG. 2, in addition to the own vehicle A traveling on the side road toward the meeting point, the main vehicle B traveling on the main line toward the meeting point, and the rear of the own vehicle A on the side road are followed. It is assumed that there is a following vehicle C that travels.

  The travel control unit 10 is based on information acquired by the camera 11, the radar 12, the inter-vehicle communication device 13, and the road-to-vehicle communication device 14, and the travel status (position, speed, acceleration, Grasp the direction of travel). Further, the traveling control unit 10 grasps the traveling state of the host vehicle A based on the detection results by the position detecting unit 15 and the vehicle motion sensor 16.

  Then, the traveling control unit 10 predicts the future relative positional relationship of each vehicle based on the traveling state of each of the own vehicle A, the main line vehicle B, and the following vehicle C, and the own vehicle A A travel plan for merging from the road to the main line is calculated. Specifically, the traveling control unit 10 is necessary for the host vehicle to reach the merging target position determined on the main line at the merging point in accordance with a target time zone that can be entered without colliding with the main line vehicle B. A travel plan relating to the target course and target speed is calculated.

  At this time, the traveling control unit 10 determines that the own vehicle A and the following vehicle C are based on the relative positional relationship between the own vehicle A and the following vehicle C (for example, inter-vehicle distance, inter-vehicle time, relative speed, TTC: Time To Collision, etc.). And the degree of acceleration / deceleration in the travel plan of the host vehicle is adjusted according to the determination result. For example, as illustrated in FIG. 3, when the acceleration of the following vehicle C is relatively large, the traveling control unit 10 performs adjustment such that the acceleration of the own vehicle is larger than the standard within an allowable range.

  Then, the traveling control unit 10 determines whether or not it is possible to enter the junction based on the future relative positional relationship between the host vehicle A and the surrounding vehicles of the main line vehicle B and the following vehicle C. Specifically, the possibility of a collision is determined based on the distance between the host vehicle and each of the surrounding vehicles, the time between the vehicles, the relative speed, TTC: Time To Collision, etc. If it is determined that the possibility of collision is high, it is determined that the merge is impossible. As a result of the determination, when it is determined that merging is possible, the traveling control unit 10 executes traveling control such as acceleration / deceleration, braking, steering, and the like of the host vehicle A according to the calculated traveling plan.

  FIG. 4 is a graph showing the behavior based on the travel plan of the host vehicle when there is no subsequent vehicle. In this graph, the horizontal axis represents the future time starting from the current time, and the vertical axis represents the future position starting from the current position. In the example of FIG. 4, it is assumed that a standard travel plan for driving the host vehicle while relatively slowly accelerating is set as represented by a thick solid line in the graph. In addition, as represented by the shaded part of the graph, the behavior of the host vehicle is determined according to the surrounding conditions within the range where the target merging position can be reached in accordance with the target time zone based on this standard driving plan. A range in which the change is allowed is set by the traveling control unit 10.

  FIG. 5 is a graph showing the behavior based on the travel plan of the host vehicle when there is a following vehicle. In this graph, a thick broken line represents the predicted behavior of the following vehicle. In addition, the travel plan of the host vehicle represented by the thick solid line in this graph is the same as the standard travel plan in the case where there is no subsequent vehicle exemplified in FIG.

  According to this, this succeeding vehicle is predicted to follow the own vehicle while maintaining a certain degree of inter-vehicle distance at the same acceleration as that of the own vehicle traveling in the standard travel plan illustrated in FIG. The Therefore, in this case, since the risk of colliding with the following vehicle is low with the standard travel plan, the travel control unit 10 performs the travel control in the same manner as the standard travel plan.

  On the other hand, FIG. 6 is a graph showing the behavior based on the travel plan of the host vehicle when the following vehicle exists. In this graph, a thick broken line represents the predicted behavior of the following vehicle. A thin broken line represents a standard travel plan in the case where the following vehicle illustrated in FIG. 4 does not exist.

  In the example of FIG. 6, when comparing the standard travel plan of the own vehicle and the predicted behavior of the following vehicle, the acceleration of the following vehicle is large, and the inter-vehicle distance between the own vehicle and the following vehicle becomes shorter as time advances. The risk of a collision is predicted to be high. Therefore, as indicated by the thick solid line in the graph, the travel control unit 10 creates a travel plan that does not collide with the following vehicle by accelerating more than the standard travel plan within the allowable range represented by the hatched portion. To do.

  Next, two cases will be described for coping with the situation where the presence or absence of the following vehicle cannot be observed. The first case is a situation where the following vehicle actually exists but the vehicle cannot detect its presence due to non-detection of the following vehicle by the sensor due to the weather or the material or color of the following vehicle. . Therefore, at the time of merging, when the following vehicle is not detected when it corresponds to a specific environmental situation where the detection ability of the sensor is known to be reduced, such as rain, fog, twilight, etc., the traveling control unit 10 A travel plan at the time of merging is created based on the condition that a virtual succeeding vehicle exists. This virtual succeeding vehicle is assumed to be traveling at a preset inter-vehicle distance and behavior (for example, legal speed, acceleration 0).

  For example, when it is necessary for the host vehicle to decelerate according to the situation of the road at the junction, the travel control unit 10 performs not only the convenience of the host vehicle but also a smooth collision with a low risk of collision with a virtual succeeding vehicle. Create a travel plan for acceleration / deceleration control. In this way, when the following vehicle actually exists, additional acceleration / deceleration is performed less or smoothly when the inter-vehicle distance from the following vehicle is reduced and can be detected by the sensor. can do.

  The second case will be described with reference to FIG. As illustrated in FIG. 7, a part of the side road behind the host vehicle A becomes a blind spot in the detection range by the sensor due to the shape of the road (a sharp curve or the like) to the junction point, and vehicle-to-vehicle communication and When information about the following vehicle cannot be acquired by road-to-vehicle communication, there may be a situation where the presence or absence of the following vehicle cannot be observed. Therefore, under specific conditions in which the presence or absence of the following vehicle cannot be observed, the traveling control unit 10 creates a traveling plan at the time of joining based on the condition where the virtual following vehicle C exists. For example, it is conceivable that this virtual succeeding vehicle C is assumed to be located at the nearest blind spot that cannot be seen behind the host vehicle A and traveling with preset behavior (speed and acceleration). .

  For example, when the host vehicle needs to decelerate according to the situation of the main line at the merge destination, the travel control unit 10 determines not only the convenience of the host vehicle but also a predetermined behavior (for example, legal speed, acceleration 0) at the nearest blind spot. The travel plan is created so as to achieve smooth acceleration / deceleration control with a low risk of collision for the virtual succeeding vehicle that travels in (1). In this way, when the following vehicle actually comes out from the blind spot, the additional acceleration / deceleration can be performed less or smoothly.

  Next, a description will be given of how to deal with a situation where merging by automatic operation is impossible. When it is determined that merging is not possible based on the future relative positional relationship between the host vehicle and the surrounding vehicle, the traveling control unit 10 identifies and identifies a waiting place for waiting the host vehicle until a merging is possible. Stop the vehicle at the designated waiting place. At this time, the traveling control unit 10 continues the merged traveling control mode even if the host vehicle is stopped at the standby location. Therefore, if the vehicle status of the main line changes and it is determined that merging is possible, the traveling control unit 10 can resume merging traveling control by automatic driving again.

  As a condition that can be used as a standby place, it is assumed that the following vehicle is a place where the vehicle can enter the destination road while avoiding the own vehicle, and the place is vacant. The traveling control unit 10 identifies a place that satisfies the conditions that can be used as a standby place, based on the road shape described in the map data and the detection information of the obstacle by the camera 11, the radar 12, and the like. In addition, detection information by an objective sensor of other vehicles in the surrounding vehicle may be acquired by inter-vehicle communication and used for searching for a standby place.

  For example, the example of FIG. 8 represents a situation in which a waiting place is specified on the side of the road ahead from the point where the merge of the main line and the side road starts and the host vehicle A is entered. By doing in this way, the space where the following vehicle C can join the main line is secured behind the waiting place, and even if the own vehicle A stops at this waiting place, the joining of the following vehicle C is not hindered.

  Moreover, the example of FIG. 9 assumes the situation where the side road that joins the main line is composed of a plurality of lanes. In this example, a waiting place is specified in a lane far from the main line among a plurality of lanes, and the own vehicle A is entered. In this way, a space where the following vehicle C can join the main line through the lane closer to the main line is secured, and even if the own vehicle A stops at this standby position, the following vehicle C can join. I do not disturb.

  As illustrated in FIG. 10, when it is determined that joining by automatic driving is impossible and standby is impossible, the traveling control unit 10 cancels automatic driving and switches to manual driving. A warning prompting the driver is notified to the driver. Alternatively, the driver may be automatically switched to manual operation after notifying the driver of switching to manual operation. For example, when it is impossible to wait, the map data shows that the road shape has no room to be used as a waiting place, or other vehicles occupy a place that can be used as a waiting place. This is the case. In addition, the presence or absence of the following vehicle may be added to a condition for determining whether or not switching to manual driving is possible.

[Explanation of confluence travel control processing]
The procedure of the merging travel control process executed by the travel control unit 10 will be described with reference to the flowchart of FIG. This merging travel control process is a process of causing the host vehicle to travel from one road to the other merging road at the merging point. The traveling control unit 10 starts this merging traveling control process from a position before a predetermined range from the merging point in a situation where the merging point passes while executing traveling control by automatic driving.

  In S100, the traveling control unit 10 acquires detection information related to the host vehicle and the surrounding vehicles. Specifically, the travel control unit 10 is based on information acquired by the camera 11, the radar 12, the inter-vehicle communication device 13, and the road-to-vehicle communication device 14. The traveling conditions (position, speed, acceleration, traveling direction, etc.) of each surrounding vehicle that travels in a predetermined range around the junction including the following vehicle are grasped. Further, the traveling control unit 10 grasps the traveling state of the host vehicle based on the detection results by the position detecting unit 15 and the vehicle motion sensor 16.

  In S102, the travel control unit 10 determines whether or not the junction point is a road that is predetermined as a target for the merge travel control based on the map data. When the junction point is not the target of the junction traveling control (S102: NO), the traveling control unit 10 proceeds to S124. On the other hand, when the junction point is an object of the merging traveling control (S102: YES), the traveling control unit 10 proceeds to S104.

  In S104, the traveling control unit 10 determines whether or not the approach to the junction road has been completed. When the approach to the joining road is not completed (S104: NO), the traveling control unit 10 proceeds to S106. In S106, the traveling control unit 10 performs a prediction calculation regarding each surrounding vehicle. Specifically, the travel control unit 10 predicts the behavior of each surrounding vehicle, such as the position, speed, acceleration, and the like at each predetermined future time based on the detection information acquired in S100, and the future between the host vehicle and each vehicle. The relative positional relationship of is calculated. In S108, the traveling control unit 10 calculates a traveling plan for the host vehicle to enter the joining road. The detailed contents of the travel plan are as described in [Description of travel control at the time of merging].

  In S110, the traveling control unit 10 determines whether or not it is possible to enter the junction based on the future relative positional relationship between the host vehicle and each surrounding vehicle. Specifically, the possibility of a collision is determined based on the distance between the host vehicle and each of the surrounding vehicles, the time between the vehicles, the relative speed, TTC: Time To Collision, etc. If it is determined that the possibility of collision is high, it is determined that the merge is impossible.

  If it is determined that merging is possible (S110: YES), the traveling control unit 10 proceeds to S112. In S112, the traveling control unit 10 controls the traveling state of the host vehicle according to the traveling plan calculated in S108. Specifically, the travel control unit 10 determines the control content regarding acceleration / deceleration, braking, and steering of the host vehicle based on the calculated travel plan and the current travel state, and the drive control unit 18, the brake control unit 19, The control command is sent to the steering control unit 20. After S112, the traveling control unit 10 returns to S100 and continues the combined traveling control. Thereafter, when it is determined in S104 that the merging is completed (S104: YES), the traveling control unit 10 ends the merging traveling control process.

  On the other hand, when it is determined in S110 that merging is not possible (S110: NO), the traveling control unit 10 proceeds to S114. In S <b> 114, the traveling control unit 10 notifies the driver of information that prompts the user to cancel the automatic operation mode and switch to the manual operation mode via the notification unit 21. In S116, the traveling control unit 10 determines whether or not the automatic operation mode is switched to the manual operation mode by the switching operation input from the driver. When the mode is switched to the manual operation mode (S116: YES), the traveling control unit 10 ends the merging traveling control process.

  On the other hand, if the mode has not been switched to the manual mode (S116: NO), the traveling control unit 10 proceeds to S118. In S118, the traveling control unit 10 searches for a standby place for making the host vehicle wait. The detailed contents of the conditions of the place that can be used as the waiting place are as described in the above-mentioned [Description of traveling control at the time of joining]. In S120, the travel control unit 10 determines whether or not the available standby place is found in S118 and the host vehicle can wait. When it is possible to wait (S120: YES), the traveling control unit 10 proceeds to S122.

  In S122, the traveling control unit 10 executes traveling control for causing the host vehicle to enter the standby place specified in S118. Specifically, the travel control unit 10 determines the control content related to deceleration, braking, and steering necessary for stopping the host vehicle at the standby location. Then, the traveling control unit 10 sends a control command to the drive control unit 18, the braking control unit 19, and the steering control unit 20, and stops the host vehicle at the standby place. After S112, the traveling control unit 10 returns to S100 and continues the combined traveling control.

  On the other hand, when it is determined in S120 that standby is not possible (S120: NO), the traveling control unit 10 proceeds to S124. In S <b> 124, the traveling control unit 10 notifies the driver of information that prompts the user to cancel the automatic operation mode and switch to the manual operation mode via the notification unit 21. Thereafter, the operation mode may be switched to the manual operation mode by a switching operation by the driver, or may be automatically switched to the manual operation mode after the travel control unit 10 notifies the driver of the switching to the manual operation. After S124, the traveling control unit 10 ends the merging traveling control process.

[Other ideas]
The device applicable as embodiment is demonstrated.
When the traveling control unit 10 performs the merging traveling control, on the basis of the detection information acquired by the camera 11, the radar 12, the inter-vehicle communication device 13 and the road-to-vehicle communication device 14, the vehicle and the surrounding vehicles around the merging point are detected. The running state may be displayed on the notification unit 21.

  The traveling control unit 10 displays information for calling attention to a change in behavior via the external display unit 22 when the automatic driving is canceled and switched to manual driving by the driver during the merging traveling control. It may be presented to the surrounding vehicles. In this way, in the process of switching from automatic driving to manual driving, the driver of the surrounding vehicle recognizes that a sudden change in behavior may occur in the own vehicle, and allows the driver to take a safe action. be able to.

  In the above-described embodiment, if the following vehicle is not detected when it corresponds to a specific environmental situation where the detection capability of the sensor is known to be reduced, such as rain, fog, twilight, etc., the virtual following vehicle is An example of creating a travel plan at the time of merging based on existing conditions was explained. Apart from this, when the following vehicle is not detected regardless of the environmental conditions, a configuration may be made in which a travel plan at the time of merging is always created based on a condition in which a virtual following vehicle exists.

[effect]
The vehicle travel control system 1 according to the embodiment has the following effects.
In the merging travel control, a travel plan for the host vehicle is created based on the travel status of each vehicle including not only other vehicles traveling on the merged road but also subsequent vehicles behind the host vehicle, and the travel state of the host vehicle is controlled. be able to. As a result, a safe and reliable merging operation can be realized in consideration of the traveling of the following vehicle.

  In addition, in a situation where the presence or absence of a succeeding vehicle cannot be observed due to undetected sensors due to environmental conditions or blind spots that cannot be seen from the own vehicle, a travel plan for the own vehicle should be created under the assumption that a virtual succeeding vehicle exists. Can do. In this way, even if there is actually a following vehicle, a safe and reliable merging operation is realized with a low risk of collision considering the travel of the following vehicle or a low possibility of sudden acceleration / deceleration. it can.

  In addition, if it is determined that it is impossible to enter the merging point by automatic driving, a waiting place for waiting the own vehicle is specified, and the own vehicle is stopped at the waiting place while continuing the merging traveling control. Can do. In particular, by determining a place where the following vehicle can reach the joining point while avoiding the own vehicle as the standby place, the own vehicle can be safely put on standby without hindering the joining of the following vehicle.

  In addition, when it is determined that the joining by the automatic driving is impossible, or when it is determined that the standby at the standby place is impossible, the driver may be notified to switch to the manual driving mode. it can. By doing so, it is possible to promptly respond to the driver switching to manual driving in a situation where merging traveling control by automatic driving is difficult.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle travel control system, 10 ... Travel control part, 11 ... Camera, 12 ... Radar, 13 ... Inter-vehicle communication machine, 14 ... Road-to-vehicle communication machine, 15 ... Position detection part, 16 ... Vehicle motion sensor, 17 ... Map Database, 18 ... drive control unit, 19 ... brake control unit, 20 ... steering control unit, 21 ... notification unit, 22 ... external display unit.

Claims (12)

A travel control device comprising a control means (10) for automatically controlling the traveling state of the host vehicle so as to enter the other road at the joining destination from one road at a joining point where two roads join,
Detection means (S100) for detecting a position and a running state of each vehicle that is present in a predetermined range at the merging point and includes at least a succeeding vehicle that travels behind the host vehicle on the one road. Prepared,
The control means controls the running state of the host vehicle based on the position and running state of the following vehicle detected by the detecting means;
A travel control device characterized by the above. The travel control device according to claim 1,
In the situation where the detection means cannot observe the presence or absence of the following vehicle, the control means determines the traveling state of the host vehicle based on the condition that there is a virtual following vehicle indicating a predetermined traveling position and traveling state. Controlling,
A travel control device characterized by the above. In the travel control device according to claim 2,
The control means controls the running state of the host vehicle based on a condition that the virtual succeeding vehicle is located in a blind spot that cannot be seen backward from the host vehicle due to a road shape of the one road.
A travel control device characterized by the above. In the travel control device according to any one of claims 1 to 3,
The control means includes
A future relative positional relationship between the host vehicle and each vehicle is predicted based on the position and running state of each vehicle including at least the succeeding vehicle and the position and running state of the own vehicle detected by the detecting means. Prediction means (S106) to perform,
Judgment means for judging whether or not merging is possible when merging the own vehicle from the one road to the other road based on a future relative positional relationship between the own vehicle and each vehicle obtained by the predicting means. S110),
Controlling the running state of the host vehicle based on the determination result by the determination means;
A travel control device characterized by the above. In the travel control device according to claim 4,
If the determining means determines that joining is impossible, the control means specifies a waiting place for waiting the host vehicle, and causes the host vehicle to enter the specified waiting place;
A travel control device characterized by the above. In the traveling control device according to claim 5,
The control means specifies, as the waiting place, a place where the succeeding vehicle can enter the junction road avoiding the own vehicle,
A travel control device characterized by the above. In the traveling control device according to claim 5 or 6,
The control means is based on at least one of map information representing a road shape, detection information by an objective sensor provided in the host vehicle, and detection information by an objective sensor of another vehicle acquired by inter-vehicle communication. Identifying the waiting area;
A travel control device characterized by the above. In the travel control device according to any one of claims 4 to 7,
A merging impossibility notifying means (S114) for notifying the driver of information prompting the driver to switch to manual driving by canceling automatic control by the controlling means when the deciding means determines that merging is impossible;
A travel control device characterized by the above. In the traveling control device according to any one of claims 5 to 7, or claim 8 that cites claim 5.
Provided with a non-standby notifying means (S124) for notifying the driver of information prompting to switch to manual driving by releasing the automatic control by the control means when a waiting place for waiting the own vehicle is not found. ,
A travel control device characterized by the above. In the traveling control device according to claim 8 or 9,
Notifying means (10, 22) for notifying other vehicles including at least the succeeding vehicle of information indicating the switching to the manual operation when the automatic control by the control means is canceled and the manual operation is switched. Providing
A travel control device characterized by the above. In the traveling control device according to any one of claims 1 to 10,
Comprising vehicle status presentation means (10, 21) for presenting information representing the position and running state of each vehicle including at least the host vehicle and the following vehicle to the driver;
A travel control device characterized by the above. The travel control device according to any one of claims 1 to 11,
The detection means includes at least one of a vehicle recognition sensor mounted on the host vehicle, vehicle-to-vehicle communication with another vehicle, and road-to-vehicle communication with a roadside device. Using to get,
A travel control device characterized by the above.