JP2017087923A - Drive support apparatus - Google Patents
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本発明は、自車両と、自車両の前方を走行する車両との車間距離を設定した目標車間距離に保つ車間距離制御手段を備える運転支援装置に関する。 The present invention relates to a driving support apparatus including an inter-vehicle distance control unit that maintains a target inter-vehicle distance that sets an inter-vehicle distance between a host vehicle and a vehicle traveling in front of the host vehicle.
特許文献１には、地図情報から合流或いは車線減少を検知した際に、合流してくる車線上或いは減少する車線上に他車両を検知した場合に、他車両が割り込みを行う可能性があると判定し、前方車両との目標車間距離を一時的に長く設定することで、運転者に不安感を抱かせることを抑制する運転支援装置が開示されている。 In Patent Document 1, when a merge or a decrease in lane is detected from the map information, if another vehicle is detected on the merged lane or the decreasing lane, there is a possibility that the other vehicle may interrupt. A driving support device is disclosed that suppresses the driver from feeling uneasy by determining and temporarily setting the target inter-vehicle distance to the preceding vehicle longer.
特開２０１３−１７７０５４号公報 JP 2013-177054 A
しかしながら、上述の背景技術によれば、割り込みの判断基準は合流或いは車線減少を検知したか否かおよび他車両を検知したか否かであり、自車両より十分前方の他車両が加速しながら割り込んできた際など、運転者に不安感を与えることがない場合においても、目標車間距離を長く設定してしまい、かえって運転者に違和感を与える技術的問題点がある。 However, according to the background art described above, the criteria for determining the interrupt are whether or not a merge or lane decrease is detected and whether or not another vehicle is detected. Even when the driver does not feel uneasy, there is a technical problem that the target inter-vehicle distance is set longer and the driver feels uncomfortable.
本発明は、上述した問題点に鑑み、割り込みの判断基準は合流或いは車線減少を検知したか否かおよび他車両を検知したか否かに加え、他車両と自車両の位置関係および相対速度から他車両の割り込みの可能性を判定することで、運転者に不安感を与える可能性がある割り込みを適切に判定し、目標車間距離を長く設定してしまうことでかえって運転者に違和感を与えること防止する運転支援装置を提供することを課題とする。 In the present invention, in view of the above-described problems, the determination criterion for interruption is based on whether the merging or lane decrease is detected and whether another vehicle is detected, as well as the positional relationship and relative speed between the other vehicle and the host vehicle. By judging the possibility of an interruption of another vehicle, it is possible to appropriately determine an interruption that may cause anxiety to the driver and to make the driver feel uncomfortable by setting a long target inter-vehicle distance. It is an object of the present invention to provide a driving support device that prevents the above.
上述の課題を解決するために、本発明に係る運転支援装置は、自車両の前方で前記自車両と同一車線を走行する前方車両と設定した目標車間距離を保つよう前記自車両を制御する車間距離制御手段を備える運転支援装置であって、前記自車両の側方に存在する側方車両との車間距離および前記側方車両の速度を検知する側方車両検知手段と、前記自車両の前方の合流又は車線減少を検知する車線数変化検知手段と、前記車線数変化検知手段が、前記自車両の前方に合流又は車線減少を検知した場合に、前記自車両の走行する車線が合流してくる車線の隣接車線か否か又は減少する車線の隣接車線か否かを判定する自車両車線判定手段と、を備え、1）前記車線変化検知手段が前記自車両の前方に合流又は車線減少を検知し、2）前記自車両車線判定手段が自車両の走行する車線が合流してくる車線の隣接車線である又は減少する車線の隣接車線であると判定した場合であって、3）前記側方車両検知手段が前記合流してくる車線上又は減少する車線上に前記自車両の前方の所定車間距離以上の位置に前記自車両より遅い側方車両を検知した場合、又は前記所定車間距離より小さい位置から前記自車両と並走する位置の間に前記自車両より速い側方車両を検知した場合、且つ4）前記前方車両との車間距離が前記所定車間距離以上で且つ前記所定車間距離に所定値加えた値以下で、のみ、前記車間距離制御手段は前記目標車間距離を増加させることを特徴とする。 In order to solve the above-described problem, a driving support device according to the present invention controls a distance between a front vehicle that travels in the same lane as the host vehicle and the target vehicle so as to maintain a set target inter-vehicle distance. A driving support device comprising a distance control means, a side vehicle detection means for detecting an inter-vehicle distance to a side vehicle existing on a side of the host vehicle and a speed of the side vehicle, and a front side of the host vehicle When the lane number change detecting means for detecting merging or lane decrease and the lane number change detecting means detect merging or lane decrease in front of the host vehicle, the lane in which the host vehicle travels merges. Own vehicle lane determining means for determining whether the vehicle is adjacent to the coming lane or whether the vehicle is adjacent to the decreasing lane, and 1) the lane change detecting means merges or reduces the lane in front of the own vehicle. 2) The own vehicle lane The determining means determines that the lane in which the vehicle travels is an adjacent lane of a lane that merges or an adjacent lane of a decreasing lane, and 3) the side vehicle detection means When a side vehicle slower than the host vehicle is detected at a position greater than or equal to a predetermined inter-vehicle distance ahead of the host vehicle on a coming lane or a decreasing lane, or in parallel with the host vehicle from a position smaller than the predetermined inter-vehicle distance Only when a side vehicle that is faster than the host vehicle is detected during the position of the vehicle, and 4) the inter-vehicle distance to the preceding vehicle is not less than the predetermined inter-vehicle distance and not more than a value obtained by adding a predetermined value to the predetermined inter-vehicle distance. The inter-vehicle distance control means increases the target inter-vehicle distance.
ここで、上記「合流」とは「合流交通」を示した警戒標識或いは合流が発生している地点を指す。また、「合流」とは２つの道路が、合わさって一つの道路になることを意味する。なお、本発明において「合流してくる車線」とは、前記２つの道路のうち、道路幅が小さい方或いは優先道路でない方を指す。例えば高速道路において、本線に合流してくる車線などがそうである。 Here, the “merge” refers to a warning sign indicating “merge traffic” or a point where a merge occurs. “Merging” means that two roads are combined into one road. In the present invention, the “merging lane” refers to one of the two roads having a smaller road width or not a priority road. For example, on a highway, such as a lane that joins the main line.
ここで、上記「車線減少」とは「車線数減少」を示した警戒標識或いは車線数が減少する地点を指す。また、「車線が減少する」とは２車線以上の道路において、前記道路を構成する車線の数が減ることを意味する。なお、本発明において「減少する車線」とは、前記道路において、１車線のみ減少する場合は、その減少する車線を指す。一方で、前記道路において、２車線以上減少する場合は、減少しない道路に隣接する車線を「減少する車線」と定義する。例えば、３車線から１車線に減少する場合は、残る１車線に隣接する車線を「減少する車線」とする。 Here, the “lane decrease” refers to a warning sign indicating “lane number decrease” or a point where the number of lanes decreases. Further, “the number of lanes is reduced” means that the number of lanes constituting the road is reduced in roads having two or more lanes. In the present invention, the “decreasing lane” refers to a decreasing lane when only one lane decreases on the road. On the other hand, when the road decreases by two or more lanes, a lane adjacent to a road that does not decrease is defined as a “decreasing lane”. For example, when the number of lanes decreases from three lanes to one lane, the lane adjacent to the remaining one lane is defined as “decreasing lane”.
本発明によれば、前方車両との車間距離制御を行っている最中に、自車両の前方に合流又は車線減少が検知された場合であって、合流してくる車線上又は減少する車線上に、自車両の前方の所定車間距離以上の位置に自車両より遅い側方車両を検知した場合、又は自車両の前方の所定車間距離より小さい位置から自車両と並走する位置の間に自車両より速い側方車両を検知した場合のみ、車間距離制御手段は前記前方車両との車間距離を増加させる。 According to the present invention, when merging or lane decrease is detected in front of the host vehicle during inter-vehicle distance control with the preceding vehicle, the merging lane or the declining lane is detected. In addition, when a side vehicle that is slower than the host vehicle is detected at a position that is equal to or greater than the predetermined inter-vehicle distance in front of the host vehicle, or between the position that is smaller than the predetermined inter-vehicle distance in front of the host vehicle and the position that runs parallel to the host vehicle, Only when a side vehicle faster than the vehicle is detected, the inter-vehicle distance control means increases the inter-vehicle distance from the preceding vehicle.
ここで、所定車間距離とは、自車両が前方車両に追従するかたちで走行している場合において、自車両と前方車両の間に、側方車両が割り込んできた際に、自車両の運転者が不安を感じるか否かを判定する値である。即ち、側方車両が割り込んできた結果、自車両と側方車両の車間距離が所定車間距離より小さくなると、運転者は不安に感じる。なお、所定車間距離は複数の運転者に対して異なる車間距離で側方車両を割り込ませた際に、不安に感じるか否かの回答について統計を取り、該統計に基づき設定される車間距離に、車速係数、側方車両との相対速度係数、前方車両との車間距離係数を掛け求めるものでよい。 Here, the predetermined inter-vehicle distance refers to the driver of the own vehicle when the side vehicle is interrupted between the own vehicle and the preceding vehicle when the own vehicle is traveling following the preceding vehicle. Is a value for determining whether or not the user feels anxiety. That is, as a result of the side vehicle getting in, the driver feels uneasy when the distance between the host vehicle and the side vehicle becomes smaller than the predetermined distance. The predetermined inter-vehicle distance is calculated based on the answer to whether or not the driver feels anxiety when the side vehicle is interrupted at different inter-vehicle distances to a plurality of drivers, and is set to the inter-vehicle distance set based on the statistics. The vehicle speed coefficient, the relative speed coefficient with the side vehicle, and the inter-vehicle distance coefficient with the preceding vehicle may be obtained.
また、所定値とは、側方車両が自車両と前方車両の間に割り込んだ場合、側方車両と自車両の車間距離が所定車間距離より小さくなるか否かを判定する値である。即ち、前方車両と自車両の車間距離が所定車間距離以上で且つ所定車間距離に所定値加えた値以下で、割り込みが発生した場合、側方車両と自車両の車間距離は所定車間距離より小さくなり、自車両の運転者が不安を感じるので割り込みに適した車間距離でない。なお、所定値とは側方車両の全長でよく、固定値として、例えば５ｍから８ｍの間の値でよい。 The predetermined value is a value for determining whether or not the distance between the side vehicle and the host vehicle is smaller than the predetermined distance when the side vehicle interrupts between the host vehicle and the preceding vehicle. In other words, when an interruption occurs when the distance between the vehicle ahead and the host vehicle is greater than or equal to the predetermined distance and less than or equal to the predetermined distance, the distance between the side vehicle and the host vehicle is less than the predetermined distance. Therefore, the driver of the own vehicle feels uneasy, so it is not an inter-vehicle distance suitable for interruption. The predetermined value may be the total length of the side vehicle, and may be a fixed value, for example, a value between 5 m and 8 m.
つまり、本発明によれば、運転者に不安感を与える割り込みの可能性を適切に判定でき、運転者に不安感を与える割り込みの可能性がない場合には、目標車間距離を長く設定しないので、目標車間距離を長く設定することでかえって運転者に違和感を与えることを抑制することができる。 That is, according to the present invention, it is possible to appropriately determine the possibility of interruption that gives the driver anxiety, and when there is no possibility of interruption that gives the driver anxiety, the target inter-vehicle distance is not set long. By setting the target inter-vehicle distance longer, it is possible to suppress the driver from feeling uncomfortable.
以下、図面を参照して本発明の運転支援装置の実施形態について説明する。 Hereinafter, an embodiment of a driving support device of the present invention will be described with reference to the drawings.
図１を参照しながら、本実施形態の運転支援装置の一例について説明する。図１は、本実施形態の運転支援装置の構造の一例を示すブロック図である。 An example of the driving support device of this embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating an example of the structure of the driving support apparatus according to the present embodiment.
図１に示すように、運転支援装置１は、センサ１１と、ＧＰＳ（Ｇｌｏｂａｌ Ｐｏｓｉｔｉｏｎｉｎｇ Ｓｙｓｔｅｍ）受信部１２と、地図ＤＢ（ＤａｔａＢａｓｅ）１３と、車間距離制御部１４と、アクチュエータＥＣＵ（Ｅｌｅｃｔｒｏｎｉｃ Ｃｏｎｔｒｏｌ Ｕｎｉｔ）１５と、アクセル・ブレーキアクチュエータ１６とを備えている。 As shown in FIG. 1, the driving assistance apparatus 1 includes a sensor 11, a GPS (Global Positioning System) receiving unit 12, a map DB (DataBase) 13, an inter-vehicle distance control unit 14, and an actuator ECU (Electronic Control Unit). 15 and an accelerator / brake actuator 16.
センサ１１は、車両の走行に必要な又は有用な情報を検出する検出機器である。センサ１１の検出結果は、車間・車速算出部１４１、車線数変化検知部１４２、自車両車線判定部１４３および目標車間距離設定部１４４に対して適宜出力される。センサ１１は、例えば、外部センサ１１１と、内部センサ１１２を含む。 The sensor 11 is a detection device that detects information necessary or useful for traveling of the vehicle. The detection result of the sensor 11 is appropriately output to the inter-vehicle / vehicle speed calculation unit 141, the lane number change detection unit 142, the host vehicle lane determination unit 143, and the target inter-vehicle distance setting unit 144. The sensor 11 includes an external sensor 111 and an internal sensor 112, for example.
外部センサ１１１は、車両の外部状況を検出する検出機器である。外部状況とは、例えば、車両の周囲の環境を含んでいてもよい。 The external sensor 111 is a detection device that detects an external situation of the vehicle. The external situation may include, for example, the environment around the vehicle.
外部センサ１１１は、カメラ部１１１１を含む。カメラ部１１１１は、典型的には、車両の周辺の風景を撮像する複数のカメラで構成される。カメラ部１１１１は、特に自車両周辺の他車両、前方の走行車線、および道路脇などに設置されている道路標識を撮像可能である。車間・車速算出部１４１、車線数変化検知部１４２、自車両車線判定部１４３および目標車間距離設定部１４４に対して適宜出力される。なお、外部センサ１１１は、カメラに加えレーダーやライダーを併用する形でもよい。 The external sensor 111 includes a camera unit 1111. The camera unit 1111 is typically composed of a plurality of cameras that capture scenery around the vehicle. The camera unit 1111 can pick up images of road signs installed on other vehicles around the host vehicle, the driving lane ahead, and the roadside. The information is appropriately output to the inter-vehicle / vehicle speed calculation unit 141, the lane number change detection unit 142, the host vehicle lane determination unit 143, and the target inter-vehicle distance setting unit 144. Note that the external sensor 111 may be a type that uses a radar or a rider in addition to the camera.
内部センサ１１２は、車両の内部状況を検出する検出機器である。内部状況は、例えば、車両の走行状態を含んでいてもよい。また、内部状況は、例えば、車両の各種機器の作動状態を含んでいてもよい。 The internal sensor 112 is a detection device that detects the internal state of the vehicle. The internal situation may include, for example, the traveling state of the vehicle. The internal situation may include, for example, operating states of various devices of the vehicle.
内部センサ１１２は、車速センサ１１２１を含む。車速センサ１１２１は、車両速度を検出する検出機器である。車速センサ１１２１の一例として、車輪即センサがあげられる。車速センサ１１２１が検出した車速情報は目標車間距離設定部１４４に適宜出力される。 The internal sensor 112 includes a vehicle speed sensor 1121. The vehicle speed sensor 1121 is a detection device that detects the vehicle speed. An example of the vehicle speed sensor 1121 is a wheel immediate sensor. Vehicle speed information detected by the vehicle speed sensor 1121 is appropriately output to the target inter-vehicle distance setting unit 144.
ＧＰＳ受信部１２は、３個以上のＧＰＳ衛星からＧＰＳ信号を受信することで、自車両の位置（以降適宜“自車両位置”と称する）を計測する。ＧＰＳ受信部１２が計測した自車両位置の情報は目標車間距離設定部１４４に適宜出力される。なお、ＧＰＳ受信部１２に加えて又は代えて、自車両位置を計測可能な計測機器を備えていてもよい。 The GPS receiving unit 12 receives a GPS signal from three or more GPS satellites, thereby measuring the position of the host vehicle (hereinafter referred to as “host vehicle position” as appropriate). Information on the own vehicle position measured by the GPS receiving unit 12 is appropriately output to the target inter-vehicle distance setting unit 144. In addition to or instead of the GPS receiver 12, a measuring device capable of measuring the position of the host vehicle may be provided.
地図ＤＢ１３は 地図を示す地図情報を格納するデータベースである。地図ＤＢ１３は、車両に搭載された記録媒体（例えば、ＨＤＤ（Ｈａｒｄ Ｄｉｓｋ Ｄｒｉｖｅ））内に構築されている。地図情報は、例えば、地図内に含まれる道路の形状を示す道路形状情報（例えば、曲線および直線等の種別を示す情報や、曲線の曲率半径等を示す情報）等を含む。また、地図内に含まれる道路、交差点、分岐点および信号等の位置を示す道路位置情報、等を含んでもよい。地図ＤＢの情報は目標車間距離設定部１４４に適宜出力される。 The map DB 13 is a database that stores map information indicating a map. The map DB 13 is constructed in a recording medium (for example, HDD (Hard Disk Drive)) mounted on the vehicle. The map information includes, for example, road shape information indicating the shape of the road included in the map (for example, information indicating a type such as a curve and a straight line, information indicating a curvature radius of the curve) and the like. In addition, road position information indicating the positions of roads, intersections, branch points, signals, and the like included in the map may be included. Information of the map DB is appropriately output to the target inter-vehicle distance setting unit 144.
車間距離制御手段の一具体例である車間距離制御部１４はセンサ１１、ＧＰＳ受信部１２、地図ＤＢ１３の出力を受ける。また、車間距離制御部１４はアクチュエータＥＣＵ１５がアクセル・ブレーキアクチュエータ１６を制御するのに必要な情報を算出する。 The inter-vehicle distance control unit 14, which is a specific example of the inter-vehicle distance control means, receives outputs from the sensor 11, the GPS receiving unit 12, and the map DB 13. The inter-vehicle distance control unit 14 calculates information necessary for the actuator ECU 15 to control the accelerator / brake actuator 16.
アクチュエータＥＣＵ１５がアクセル・ブレーキアクチュエータ１６を制御するのに必要な情報を算出するために、車速制御部１４は、その内部に実現される論理的な処理ブロックまたは物理的な処理回路として、周辺車両検知部１４１と、車線数変化検知部１４２と、自車両車線判定部１４３と、目標車間距離設定部１４４と、目標トルク算出部１４５を備えている。 In order to calculate information necessary for the actuator ECU 15 to control the accelerator / brake actuator 16, the vehicle speed control unit 14 detects a surrounding vehicle as a logical processing block or a physical processing circuit implemented therein. Unit 141, lane number change detection unit 142, host vehicle lane determination unit 143, target inter-vehicle distance setting unit 144, and target torque calculation unit 145.
周辺車両検知部１４１は、カメラ部１１１１が撮像した画像から、自車両の周辺に存在する車両の位置および車速を検知する。ここで、周辺車両とは、カメラ部１１１１が撮像した画像から認識できる車両であり、自車両の前方、側方および後方の車両を指す。 The surrounding vehicle detection unit 141 detects the position and vehicle speed of the vehicle existing around the host vehicle from the image captured by the camera unit 1111. Here, the peripheral vehicle is a vehicle that can be recognized from an image captured by the camera unit 1111, and refers to a vehicle in front, side, and rear of the host vehicle.
具体的には、周辺車両検知部１４１はカメラ部１１１１が撮像した画像から三角測量を利用して周辺車両の位置を算出する。また、周辺車両検知部１４１は、１フレーム前の画像中の車両の位置と現在画像の車両の位置とを比較し、移動量を算出し、移動量を撮像周期で除することで、対象車両の速度を算出する。また、周辺車両検知部１４１は、算出した周辺車両の位置および自車両位置から自車両と周辺車両の車間距離を算出する。なお、周辺車両検知部１４１において、自車両側方の車両を検知する機能は、側方車両検知手段の一具体例である。 Specifically, the surrounding vehicle detection unit 141 calculates the position of the surrounding vehicle from the image captured by the camera unit 1111 using triangulation. In addition, the surrounding vehicle detection unit 141 compares the position of the vehicle in the image one frame before with the position of the vehicle in the current image, calculates the movement amount, and divides the movement amount by the imaging cycle, so that the target vehicle Calculate the speed of. The surrounding vehicle detection unit 141 calculates the inter-vehicle distance between the host vehicle and the surrounding vehicle from the calculated position of the surrounding vehicle and the host vehicle position. Note that the function of detecting the vehicle on the side of the host vehicle in the surrounding vehicle detection unit 141 is a specific example of the side vehicle detection means.
車線数変化検知手段の一具体例である車線数変化検知部１４２は、カメラ部１１１１が撮像した画像から自車両の前方において車線数の変化を検知する。具体的には、カメラ部１１１１が撮像した画像から道路標識を検出し、検出した道路標識をメモリで保存してある道路標識の画像とマッチング処理を行うことで、自車両の前方（即ち、自車両がこれから走行しようとする道路）に存在する合流地点又は車線減少地点を検知する。なお、車線数変化検知部１４２は、地図情報などから合流地点又は車線減少地点を検知するようにしてもよい。 A lane number change detection unit 142, which is a specific example of the lane number change detection unit, detects a change in the number of lanes in front of the host vehicle from an image captured by the camera unit 1111. Specifically, a road sign is detected from an image captured by the camera unit 1111, and the detected road sign is matched with a road sign image stored in a memory, so that the front of the host vehicle (that is, the own vehicle). A merging point or a lane decreasing point existing on a road on which the vehicle is going to travel is detected. The lane number change detection unit 142 may detect a merging point or a lane decrease point from map information or the like.
自車両車線判定手段の一具体例である自車両車線判定部１４３は、車線数変化検知部１４２が自車両の前方に、合流地点又は車線減少地点があることを検知した場合に、カメラ部１１１１が撮像した画像、自車両位置および地図情報から、自車両が合流してくる車線に隣接する車線で走行しているか否か又は自車両が減少する車線に隣接する車線で走行しているか否かを判定する。 The own vehicle lane determining unit 143, which is a specific example of the own vehicle lane determining unit, detects that the lane number change detecting unit 142 detects that there is a merging point or a lane decreasing point in front of the own vehicle. Whether the vehicle is traveling in the lane adjacent to the lane where the vehicle merges, or whether the vehicle is traveling in the lane adjacent to the lane where the vehicle decreases Determine.
具体的には、車線数変化検知部１４２が自車両の前方に合流地点又は車線減少地点があることを検知した後、自車両車線判定部１４３は、カメラ部１１１１が撮像した画像から、自車両が中央線或いは中央分離帯から幾つ目の車線を走行中かを検知する。そして、自車両車線判定部１４３は、地図情報にある車線情報と前記検知結果を照らし合わせることで、自車両が合流してくる車線に隣接する車線で走行しているか否か又は自車両が減少する車線に隣接する車線で走行しているか否かを判定する。 Specifically, after the lane number change detection unit 142 detects that there is a merging point or a lane decrease point in front of the host vehicle, the host vehicle lane determination unit 143 determines that the host vehicle lane Detects how many lanes the vehicle is traveling from the central line or median. Then, the own vehicle lane determining unit 143 compares the lane information in the map information with the detection result to determine whether or not the own vehicle is traveling in the lane adjacent to the lane to which the own vehicle joins or the own vehicle decreases. It is determined whether the vehicle is traveling in a lane adjacent to the lane to be operated.
目標車間距離設定部１４４は、運転者がステアリングホイール横に設置されたレバー（図示せず）を操作し決めた車速に対応する車間距離を目標車間距離として設定する。また、目標車間距離設定部１４４は、車線数変化検知部１４２が合流地点又は車線減少地点を検知している場合で、且つ自車両車線判定部１４３が自車両が合流してくる車線に隣接する車線で走行している又は自車両が減少する車線に隣接する車線で走行していると判定した場合、周辺車両検知部１４１の検知結果に基づいて、合流してくる車線上又は減少する車線上に車両（以後、側方車両と適宜呼称する）が存在するか否かを判定する。目標車間距離設定部１４４は、側方車両が存在すると判定した場合、側方車両の速度と自車両の速度、および側方車両との車間距離と所定車間距離をそれぞれ比較する。そして、以下の1）から4）の条件を全て満たした場合に、目標車間距離を増加させる。なお、増加させる値は実験によって得られた値であり、異なる運転者に一定車速で運転してもらい、実際に異なる値の増加を体験させ、違和感のない増加値の平均をとったものでよい。また、前記実験において、前記一定車速を変化させ、各車速ごとに増加させる値を設定するようにしてもよい。 The target inter-vehicle distance setting unit 144 sets the inter-vehicle distance corresponding to the vehicle speed determined by the driver operating a lever (not shown) installed beside the steering wheel as the target inter-vehicle distance. The target inter-vehicle distance setting unit 144 is adjacent to the lane in which the host vehicle lane determination unit 143 is joined when the lane number change detection unit 142 detects the merging point or the lane decrease point. When it is determined that the vehicle is traveling in a lane or is traveling in a lane adjacent to a lane in which the host vehicle is decreasing, on the lane that merges or on the lane that decreases based on the detection result of the surrounding vehicle detection unit 141 It is determined whether there is a vehicle (hereinafter referred to as a side vehicle as appropriate). When it is determined that the side vehicle exists, the target inter-vehicle distance setting unit 144 compares the speed of the side vehicle with the speed of the host vehicle, and the inter-vehicle distance with the side vehicle and the predetermined inter-vehicle distance. When all the following conditions 1) to 4) are satisfied, the target inter-vehicle distance is increased. The value to be increased is a value obtained by experiment, and it is possible to have different drivers drive at a constant vehicle speed, actually experience the increase of different values, and take the average of the increased values without a sense of incongruity . Further, in the experiment, the constant vehicle speed may be changed and a value to be increased for each vehicle speed may be set.
具体的には、1）前記車線変化検知手段が前記自車両の前方に合流又は車線減少を検知し、2）前記自車両車線判定手段が自車両の走行する車線が合流してくる車線の隣接車線である又は減少する車線の隣接車線であると判定した場合であって、3）前記側方車両検知手段が前記合流してくる車線上又は減少する車線上に前記自車両の前方の所定車間距離以上の位置に前記自車両より遅い側方車両を検知した場合、又は前記所定車間距離より小さい位置から前記自車両と並走する位置の間に前記自車両より速い側方車両を検知した場合、且つ4）前記目標車間距離が前記所定車間距離以上で且つ前記目標車間距離が前記所定車間距離に所定値加えた値以下。 Specifically, 1) the lane change detection means detects a merge or lane decrease in front of the host vehicle, and 2) the host vehicle lane determination means adjoins a lane where the lane in which the host vehicle travels merges. It is a case where it is determined that the vehicle is a lane or a lane adjacent to a decreasing lane, and 3) a predetermined distance ahead of the host vehicle on the lane where the side vehicle detection means merges or on the lane where the vehicle decreases When a side vehicle that is slower than the host vehicle is detected at a position that is greater than the distance, or when a side vehicle that is faster than the host vehicle is detected between a position that is smaller than the predetermined inter-vehicle distance and a position that runs parallel to the host vehicle. 4) The target inter-vehicle distance is equal to or greater than the predetermined inter-vehicle distance, and the target inter-vehicle distance is equal to or less than a value obtained by adding a predetermined value to the predetermined inter-vehicle distance.
ここで、上述の所定車間距離Ｌ０とは、自車両が前方車両に追従するかたちで走行している場合において、自車両と前方車両の間に、側方車両が割り込んできても、自車両の運転者が不安を感じるか否かを判定する値である。具体的な求め方としては、複数の運転者に対して異なる車間距離で側方車両を割り込ませた際に、不安に感じるか否かの回答について統計を取り、該統計に基づき設定される車間距離Ｌに、車速係数Ｋ１、側方車両との相対速度係数Ｋ２、前方車両との車間距離係数Ｋ３を掛けた以下の式で求めるものでよい。 Here, the above-mentioned predetermined inter-vehicle distance L 0 means that the host vehicle is traveling even if a side vehicle is interrupted between the host vehicle and the preceding vehicle when the host vehicle is traveling in the form of following the preceding vehicle. It is a value for determining whether or not the driver feels anxiety. As a specific method for obtaining the answer whether or not the driver feels anxiety when a side vehicle is interrupted at different inter-vehicle distances for multiple drivers, and the inter-vehicle distance set based on the statistics The distance L may be obtained by the following formula obtained by multiplying the vehicle speed coefficient K1, the relative speed coefficient K2 with the side vehicle, and the inter-vehicle distance coefficient K3 with the preceding vehicle.
Ｌ０＝Ｌ×Ｋ１×Ｋ２×Ｋ３ …式１
なお、係数は０から１の間で設定される。車速係数Ｋ１は車速が大きいほど１に近づき、側方車両との相対速度係数Ｋ２は相対速度が大きいほど１に近づき、前方車両との車間距離係数Ｋ３は前方車両との車間距離が近いほど１に近づく。
L 0 = L × K1 × K2 × K3 Formula 1
The coefficient is set between 0 and 1. The vehicle speed coefficient K1 approaches 1 as the vehicle speed increases, the relative speed coefficient K2 with the side vehicle approaches 1 as the relative speed increases, and the inter-vehicle distance coefficient K3 with the preceding vehicle becomes 1 as the inter-vehicle distance with the preceding vehicle decreases. Get closer to.
次に、上述の所定車間距離に加える所定値とは、前方車両と自車両の車間距離が割り込みに適したものであるか否かを判定する値である。即ち、前方車両と自車両の車間距離が所定車間距離以上で且つ目標車間距離が所定車間距離に所定値加えた値以下で、割り込みが発生した場合、側方車両と自車両の車間距離は所定車間距離より小さくなり、自車両の運転者が不安を感じるので割り込みに適した所感距離でない。なお、所定値とは側方車両の全長でよく、固定値として、例えば５ｍから８ｍの間の値でよい。 Next, the predetermined value added to the predetermined inter-vehicle distance is a value for determining whether the inter-vehicle distance between the preceding vehicle and the host vehicle is suitable for interruption. In other words, when an interrupt occurs when the distance between the front vehicle and the host vehicle is equal to or greater than the predetermined distance and the target distance is equal to or less than the predetermined distance plus the predetermined value, the distance between the side vehicle and the own vehicle is predetermined. The distance is smaller than the inter-vehicle distance, and the driver of the vehicle feels anxiety, so it is not a feeling distance suitable for interruption. The predetermined value may be the total length of the side vehicle, and may be a fixed value, for example, a value between 5 m and 8 m.
目標トルク算出部１４５は、自車両と同じ車線の前方に車両が走行している場合は、目標車間距離設定部１４４が設定した目標車間距離を保つことができるトルクを算出し、後述するアクチュエータＥＣＵ１５に送信する。また、自車両と同じ車線の前方に車両が走行していない場合は、運転者が設定した車速を保つことができるトルクを算出し、アクチュエータＥＣＵ１５に送信する。 The target torque calculation unit 145 calculates a torque capable of maintaining the target inter-vehicle distance set by the target inter-vehicle distance setting unit 144 when the vehicle is traveling ahead of the same lane as the host vehicle, and an actuator ECU 15 described later. Send to. When the vehicle is not traveling ahead of the same lane as the host vehicle, a torque that can maintain the vehicle speed set by the driver is calculated and transmitted to the actuator ECU 15.
アクチュエータＥＣＵ１５は、目標トルク算出部１４５が算出したエンジンの出力トルク信号、或いはブレーキの油圧信号に基づいて、アクセル・ブレーキアクチュエータ１６を制御する。 The actuator ECU 15 controls the accelerator / brake actuator 16 based on the engine output torque signal calculated by the target torque calculator 145 or the brake hydraulic pressure signal.
アクセル・ブレーキアクチュエータ１６は、例えばスロットルを動かすモータ、又はブレーキに油圧をかける装置であり、アクチュエータＥＣＵ１５の制御に従い作動する。 The accelerator / brake actuator 16 is, for example, a motor that moves the throttle or a device that applies hydraulic pressure to the brake, and operates according to the control of the actuator ECU 15.
続いて、図２を参照しながら、実施形態の運転支援装置が行う一連の処理のフローチャートについて説明する。なお、運転支援装置は運転者がインストールメントパネルなどに備え付けられた車間距離制御のスタートボタン（図示せず）を押すことで、一連の処理を開始する。 Next, a flowchart of a series of processes performed by the driving support device of the embodiment will be described with reference to FIG. The driving support device starts a series of processes when the driver presses a start button (not shown) for inter-vehicle distance control provided on an installation panel or the like.
図２に示すように、車間距離制御部１４はセンサ１１が検出した各種データを読み込み、周辺車両検知部１４１は、カメラ部１１１１が撮像した画像から、自車両周辺の車両と自車両との車間距離、および周辺車両の速度を検知する（ステップＳ１１）。 As illustrated in FIG. 2, the inter-vehicle distance control unit 14 reads various data detected by the sensor 11, and the surrounding vehicle detection unit 141 detects the distance between the vehicle around the host vehicle and the host vehicle from the image captured by the camera unit 1111. The distance and the speed of surrounding vehicles are detected (step S11).
続いて、車線数変化検知部１４２は、自車両の前方に、合流地点又は車線減少地点があるか否かを検知する（ステップＳ１２）。ステップＳ１２の検知の結果、車線数変化検知部１４２が合流地点および車線減少地点を検知できなかった場合（ステップＳ１２：Ｎｏ）、運転支援装置１は一連の処理を終了させる。 Subsequently, the lane number change detection unit 142 detects whether there is a merging point or a lane decrease point in front of the host vehicle (step S12). As a result of the detection in step S12, when the lane number change detection unit 142 cannot detect the merging point and the lane decrease point (step S12: No), the driving support device 1 ends the series of processes.
他方で、ステップＳ１２の検知の結果、車線数変化検知部１４２が合流地点又は車線減少地点を検知した場合（ステップＳ１２：Ｙｅｓ）、自車両車線判定部１４３は、自車両が合流してくる車線に隣接する車線で走行しているか否か又は自車両が減少する車線に隣接する車線で走行しているか否かを判定する（ステップＳ１３）。ステップＳ１３の判定の結果、自車両車線判定部１４３が、自車両が合流してくる車線に隣接する車線および減少する車線に隣接する車線で走行していないと判定した場合（ステップＳ１３：Ｎｏ）、運転支援装置１は一連の処理を終了させる。 On the other hand, as a result of the detection in step S12, when the lane number change detection unit 142 detects a merging point or a lane decrease point (step S12: Yes), the host vehicle lane determining unit 143 determines the lane in which the host vehicle joins. It is determined whether or not the vehicle is traveling in a lane adjacent to the vehicle, or whether or not the vehicle is traveling in a lane adjacent to a lane in which the host vehicle decreases (step S13). As a result of the determination in step S13, when the host vehicle lane determination unit 143 determines that the vehicle is not traveling in the lane adjacent to the lane where the host vehicle merges and the lane adjacent to the decreasing lane (step S13: No) The driving support device 1 ends a series of processes.
他方で、ステップＳ１３の判定の結果、自車両車線判定部１４３が自車両が合流してくる車線に隣接する車線で走行している又は自車両が減少する車線に隣接する車線で走行していると判定した場合（ステップＳ１３：Ｙｅｓ）、目標車間距離設定部１４４は、周辺車両検知部１４１の検知結果に基づいて、合流してくる車線上又は減少する車線上に側方車両が存在しているか否かを判定する（ステップＳ１４）。ステップＳ１４の判定の結果、側方車両が存在しないと判定した場合（ステップＳ１４：Ｎｏ）、運転支援装置１は一連の処理を終了させる。 On the other hand, as a result of the determination in step S13, the own vehicle lane determining unit 143 is traveling in a lane adjacent to the lane where the own vehicle joins or is traveling in a lane adjacent to the lane where the own vehicle decreases. (Step S13: Yes), the target inter-vehicle distance setting unit 144 has a side vehicle on the lane that merges or the lane that decreases based on the detection result of the surrounding vehicle detection unit 141. It is determined whether or not (step S14). As a result of the determination in step S14, when it is determined that there is no side vehicle (step S14: No), the driving support device 1 ends a series of processes.
他方で、ステップＳ１４の判定の結果、側方車両が存在すると判定した場合（ステップＳ１４：Ｙｅｓ）、目標車間距離設定部１４４は、側方車両の速度が自車両の速度以上か否か判定する（ステップＳ１５）。ステップＳ１５の判定の結果、目標車間距離設定部１４４が側方車両の速度が自車両の速度以上と判定した場合（ステップＳ１５：Ｙｅｓ）、目標車間距離設定部１４４は、前記側方車両と自車両の車間距離が所定車間距離より小さく且つ零（即ち自車両と並走する位置）以上か否かを判定する（ステップＳ１６）。 On the other hand, as a result of the determination in step S14, when it is determined that a side vehicle exists (step S14: Yes), the target inter-vehicle distance setting unit 144 determines whether the speed of the side vehicle is equal to or higher than the speed of the own vehicle. (Step S15). As a result of the determination in step S15, when the target inter-vehicle distance setting unit 144 determines that the speed of the side vehicle is equal to or higher than the speed of the own vehicle (step S15: Yes), the target inter-vehicle distance setting unit 144 It is determined whether the inter-vehicle distance is smaller than a predetermined inter-vehicle distance and equal to or greater than zero (that is, a position parallel to the host vehicle) (step S16).
ステップＳ１６の判定の結果、目標車間距離設定部１４４が、前記側方車両と自車両の車間距離が所定車間距離以上、又は零より小さいと判定した場合（ステップＳ１６：Ｎｏ）、側方車両が自車両の前方に割り込んでくる可能性は小さい。よって、運転支援装置１は一連の処理を終了させる。 As a result of the determination in step S16, when the target inter-vehicle distance setting unit 144 determines that the inter-vehicle distance between the side vehicle and the host vehicle is greater than or equal to a predetermined inter-vehicle distance or less than zero (step S16: No), the side vehicle is It is unlikely that it will get into the front of your vehicle. Therefore, the driving assistance device 1 ends a series of processes.
他方で、ステップＳ１６の判定の結果、目標車間距離設定部１４４が、側方車両と自車両の車間距離が所定車間距離より小さく且つ零以上と判定した場合（ステップＳ１６：Ｙｅｓ）、目標車間距離設定部１４４は、前方車両と自車両の車間距離が所定車間距離以上で且つ前記所定車間距離に所定値加えた値以下か否かを判定する（ステップＳ２１）。ステップＳ２１の判定の結果、前方車両と自車両の車間距離が所定車間距離より小さい又は、所定車間距離に所定値加えた値より大きい場合は（ステップＳ２１：Ｎｏ）、運転支援装置１は一連の処理を終了させる。 On the other hand, as a result of the determination in step S16, if the target inter-vehicle distance setting unit 144 determines that the inter-vehicle distance between the side vehicle and the host vehicle is smaller than the predetermined inter-vehicle distance and zero or more (step S16: Yes), the target inter-vehicle distance The setting unit 144 determines whether the inter-vehicle distance between the preceding vehicle and the host vehicle is equal to or greater than a predetermined inter-vehicle distance and equal to or less than a value obtained by adding a predetermined value to the predetermined inter-vehicle distance (step S21). As a result of the determination in step S21, when the inter-vehicle distance between the preceding vehicle and the host vehicle is smaller than the predetermined inter-vehicle distance or larger than a value obtained by adding a predetermined value to the predetermined inter-vehicle distance (step S21: No), the driving support device 1 is a series of End the process.
他方で、ステップＳ２１の判定の結果、前方車両と自車両の車間距離が所定車間距離以上で且つ前記所定車間距離に所定値加えた値以下である場合（ステップＳ２１：Ｙｅｓ）、
目標車間距離設定部１４４は、運転者によって設定された速度に対応する目標車間距離を増加させる（ステップＳ１７）。そして、目標トルク算出部１４５は、目標車間距離設定部１４４が増加させた目標車間距離を保つことができるトルクを算出し、アクチュエータＥＣＵ１５に出力する（ステップＳ１８）。最後に、アクチュエータＥＣＵ１５は、目標トルク算出部１４５が算出したトルクに基づいて、アクセル・ブレーキアクチュエータ１６を制御する（ステップＳ１９）。
On the other hand, as a result of the determination in step S21, when the inter-vehicle distance between the preceding vehicle and the host vehicle is equal to or greater than the predetermined inter-vehicle distance and equal to or less than a value obtained by adding a predetermined value to the predetermined inter-vehicle distance (step S21: Yes),
The target inter-vehicle distance setting unit 144 increases the target inter-vehicle distance corresponding to the speed set by the driver (step S17). Then, the target torque calculation unit 145 calculates a torque that can maintain the target inter-vehicle distance increased by the target inter-vehicle distance setting unit 144, and outputs the torque to the actuator ECU 15 (step S18). Finally, the actuator ECU 15 controls the accelerator / brake actuator 16 based on the torque calculated by the target torque calculator 145 (step S19).
ここで、ステップＳ１５まで戻り、ステップＳ１５の判定の結果、目標車間距離設定部１４４が側方車両の速度が自車両の速度以上でない（即ち自車両の速度より小さい）と判定した場合（ステップＳ１５：Ｎｏ）、目標車間距離設定部１４４は、側方車両と自車両の車間距離が所定車間距離以上か否かを判定する（ステップＳ２０）。ステップＳ２０の判定の結果、目標車間距離設定部１４４が、側方車両と自車両の車間距離が所定車間距離より小さいと判定した場合（ステップＳ２０：Ｎｏ）、側方車両が自車両の前方に割り込んでくる可能性は小さい。よって、運転支援装置１は一連の処理を終了させる。 Here, the process returns to step S15. As a result of the determination in step S15, the target inter-vehicle distance setting unit 144 determines that the speed of the side vehicle is not equal to or higher than the speed of the own vehicle (that is, smaller than the speed of the own vehicle) (step S15). : No), the target inter-vehicle distance setting unit 144 determines whether the inter-vehicle distance between the side vehicle and the host vehicle is equal to or greater than the predetermined inter-vehicle distance (step S20). As a result of the determination in step S20, when the target inter-vehicle distance setting unit 144 determines that the inter-vehicle distance between the side vehicle and the own vehicle is smaller than the predetermined inter-vehicle distance (step S20: No), the side vehicle is placed in front of the own vehicle. The possibility of interruption is small. Therefore, the driving assistance device 1 ends a series of processes.
他方で、ステップＳ２０の判定の結果、目標車間距離設定部１４４が、側方車両と自車両の車間距離が所定車間距離以上と判定した場合（ステップＳ２０：Ｙｅｓ）、ステップＳ２１に進む。 On the other hand, as a result of the determination in step S20, when the target inter-vehicle distance setting unit 144 determines that the inter-vehicle distance between the side vehicle and the host vehicle is equal to or greater than the predetermined inter-vehicle distance (step S20: Yes), the process proceeds to step S21.
以上より、図２の本実施形態の運転支援装置が行う一連の処理のフローチャートについて説明を終える。 Above, description of the flowchart of a series of processes which the driving assistance device of this embodiment of FIG. 2 performs is finished.
次に、図３に車線減少の際に本実施形態の運転支援装置の作動する状態の具体例を説明する。また、図４に合流の際に本実施形態の運転支援装置の作動する状態の具体例を説明する。なお、図３および図４を通して、ｈ０は所定車間距離、ｈ１は自車両と、自車両と同一車線を走行する前方車両との車間距離、ｈ２は自車両と側方車両との車間距離、ｈ３は自車両と道路標識の距離である。また、図３および図４を通して、自車両と前方車両の車間距離は、所定車間距離以上で、所定車間距離に所定値加えた値以下である。 Next, FIG. 3 illustrates a specific example of a state in which the driving support device according to the present embodiment operates when the lane is reduced. Moreover, the specific example of the state which the driving assistance device of this embodiment act | operates in the case of merge in FIG. 4 is demonstrated. 3 and 4, h0 is a predetermined inter-vehicle distance, h1 is an inter-vehicle distance between the host vehicle and a preceding vehicle traveling in the same lane as the own vehicle, h2 is an inter-vehicle distance between the host vehicle and the side vehicle, and h3. Is the distance between the vehicle and the road sign. 3 and 4, the inter-vehicle distance between the host vehicle and the preceding vehicle is not less than a predetermined inter-vehicle distance and not more than a value obtained by adding a predetermined value to the predetermined inter-vehicle distance.
図３の（ａ）は自車両が前方車両とｈ１（即ち目標車間距離）をおいて追従走行していた際に、自車両が前方ｈ３に車線減少の道路標識を認識した場合である。この時、自車両は、減少する車線上に自車両とｈ２（ｈ２＞ｈ０）をおいて、自車両より遅い速度で走行する側方車両を検知している。この状況では、側方車両が前方車両に追い抜かれてから、図中に表示した相対走行ラインのような軌跡をたどり、自車両と前方車両の間に割り込み、所定車間距離内に進入してくる可能性がある。よってこのような状態では、自車両は目標車間距離を増加させる。 FIG. 3A shows a case where the own vehicle recognizes a road sign indicating a decrease in lane in front h3 when the own vehicle is following the vehicle ahead and h1 (that is, the target inter-vehicle distance). At this time, the host vehicle detects the side vehicle that travels at a slower speed than the host vehicle by placing h2 (h2> h0) on the own lane with the host vehicle. In this situation, after the side vehicle is overtaken by the vehicle ahead, the trajectory like the relative travel line shown in the figure is followed, interrupted between the host vehicle and the vehicle ahead, and entered within the predetermined inter-vehicle distance. there is a possibility. Therefore, in such a state, the host vehicle increases the target inter-vehicle distance.
図３の（ｂ）の自車両、前方車両、道路標識の位置関係は図３の（ａ）と同じである。一方で、減少する車線上の側方車両は自車両とｈ２（ｈ０＞ｈ２＞０）をおいて、自車両より速い速度で走行している。この状況では、側方車両が自車両を追い抜き、図中に示した相対走行ラインのような軌跡をたどり、自車両と前方車両の間に割り込み、所定車間距離内に進入してくる可能性がある。よってこのような状態では、自車両は目標車間距離を増加させる。 The positional relationship among the host vehicle, the preceding vehicle, and the road sign in FIG. 3B is the same as that in FIG. On the other hand, the side vehicle on the decreasing lane is traveling at a higher speed than the host vehicle with h2 (h0> h2> 0) from the host vehicle. In this situation, there is a possibility that the side vehicle overtakes the host vehicle, follows the trajectory like the relative travel line shown in the figure, interrupts between the host vehicle and the preceding vehicle, and enters within the predetermined inter-vehicle distance. is there. Therefore, in such a state, the host vehicle increases the target inter-vehicle distance.
図４の（ａ）は自車両が前方車両とｈ１（即ち目標車間距離）をおいて追従走行していた際に、自車両が既に後方ｈ３に位置する道路標識を認識していた場合である。この時、自車両は、合流してくる車線上に自車両とｈ２（ｈ２＞ｈ０）をおいて、自車両より遅い速度で走行する側方車両を検知している。この状況では、図３の（ａ）同様、側方車両が図中の相対走行ラインのような軌跡をたどり、自車両と前方車両の間に割り込み、所定車間距離内に進入してくる可能性がある。よってこのような状態では、自車両は目標車間距離を増加させる。 FIG. 4A shows a case where the host vehicle has already recognized the road sign located at the rear h3 when the host vehicle is following the vehicle ahead and h1 (that is, the target inter-vehicle distance). . At this time, the host vehicle detects a side vehicle that travels at a slower speed than the host vehicle by placing h2 (h2> h0) with the host vehicle on the lane where it joins. In this situation, as in FIG. 3 (a), there is a possibility that the side vehicle will follow a trajectory like the relative travel line in the figure, interrupt between the own vehicle and the preceding vehicle, and enter within the predetermined inter-vehicle distance. There is. Therefore, in such a state, the host vehicle increases the target inter-vehicle distance.
図４の（ｂ）の自車両、前方車両、道路標識の位置関係は図４の（ａ）と同じである。一方で、減少する車線上の側方車両は自車両とｈ２（ｈ０＞ｈ２＞０）をおいて、自車両より速い速度で走行している。この状況では、側方車両が自車両を追い抜き、図中に示した相対走行ラインのような軌跡をたどり、自車両と前方車両の間に割り込み、所定車間距離内に進入してくる可能性がある。よってこのような状態では、自車両は目標車間距離を増加させる。 The positional relationship among the host vehicle, the preceding vehicle, and the road sign in (b) of FIG. 4 is the same as (a) of FIG. On the other hand, the side vehicle on the decreasing lane is traveling at a higher speed than the host vehicle with h2 (h0> h2> 0) from the host vehicle. In this situation, there is a possibility that the side vehicle overtakes the host vehicle, follows the trajectory like the relative travel line shown in the figure, interrupts between the host vehicle and the preceding vehicle, and enters within the predetermined inter-vehicle distance. is there. Therefore, in such a state, the host vehicle increases the target inter-vehicle distance.
以上より、図３、図４の本実施形態の運転支援装置の作動する状態の具体例の説明を終える。 Above, description of the specific example of the state which the driving assistance apparatus of this embodiment of FIG. 3, FIG. 4 act | operates is completed.
本発明によれば、前方車両との車間距離制御を行っている最中に、自車両の前方に合流地点又は車線減少地点が検知された場合であって、合流してくる車線上又は減少する車線上に、自車両の前方の所定車間距離以上の位置に自車両より遅い側方車両を検知した場合、又は自車両の前方の所定車間距離より小さい位置から自車両と並走する位置の間に自車両より速い側方車両を検知した場合に、車間距離制御手段は前記前方車両との車間距離を増加させる。これにより、運転者に不安感を与える割り込みの可能性を適切に判定でき、目標車間距離を長く設定してしまい、かえって運転者に違和感を与えることを抑制することができる。 According to the present invention, when a merging point or a lane decrease point is detected in front of the host vehicle while the inter-vehicle distance control with the preceding vehicle is being performed, the lane or the lane where the merging point is detected decreases. When a side vehicle that is slower than the host vehicle is detected at a position on the lane that is greater than or equal to the predetermined inter-vehicle distance in front of the host vehicle, or between a position that runs parallel to the host vehicle from a position that is smaller than the predetermined inter-vehicle distance in front of the host vehicle When a side vehicle faster than the host vehicle is detected, the inter-vehicle distance control means increases the inter-vehicle distance from the preceding vehicle. Accordingly, it is possible to appropriately determine the possibility of interruption that gives the driver a sense of anxiety, thereby setting the target inter-vehicle distance to be long and suppressing the driver from feeling uncomfortable.
１ 運転支援装置
１１ センサ
１１１ 外部センサ
１１１１ カメラ部
１１２ 内部センサ
１１２１ 車速センサ
１２ ＧＰＳ受信部
１３ 地図ＤＢ
１４ 車間距離制御部
１４１ 周辺車両検知部
１４２ 車線数変化検知部
１４３ 自車両車線判定部
１４４ 目標車間距離設定部
１４５ 目標トルク算出部
１５ アクチュエータＥＣＵ
１６ アクセル・ブレーキアクチュエータ
DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 11 Sensor 111 External sensor 1111 Camera part 112 Internal sensor 1121 Vehicle speed sensor 12 GPS receiving part 13 Map DB
DESCRIPTION OF SYMBOLS 14 Inter-vehicle distance control part 141 Surrounding vehicle detection part 142 Lane number change detection part 143 Own vehicle lane determination part 144 Target inter-vehicle distance setting part 145 Target torque calculation part 15 Actuator ECU
16 Accelerator / brake actuator
Claims (1)
前記自車両の側方に存在する側方車両との車間距離および前記側方車両の速度を検知する側方車両検知手段と、
前記自車両の前方の合流又は車線減少を検知する車線数変化検知手段と、
前記車線数変化検知手段が、前記自車両の前方に合流又は車線減少を検知した場合に、前記自車両の走行する車線が合流してくる車線の隣接車線か否か又は減少する車線の隣接車線か否かを判定する自車両車線判定手段と、を備え、
1）前記車線変化検知手段が前記自車両の前方に合流又は車線減少を検知し、2）前記自車両車線判定手段が自車両の走行する車線が合流してくる車線の隣接車線である又は減少する車線の隣接車線であると判定した場合であって、3）前記側方車両検知手段が前記合流してくる車線上又は減少する車線上に前記自車両の前方の所定車間距離以上の位置に前記自車両より遅い側方車両を検知した場合、又は前記所定車間距離より小さい位置から前記自車両と並走する位置の間に前記自車両より速い側方車両を検知した場合、4）前記前方車両との車間距離が前記所定車間距離以上で且つ前記所定車間距離に所定値を加えた値以下で、のみ、前記車間距離制御手段は前記目標車間距離を増加させることを特徴とする運転支援装置
A driving support device comprising an inter-vehicle distance control means for controlling the host vehicle so as to maintain a set target inter-vehicle distance with a forward vehicle traveling in the same lane as the host vehicle in front of the host vehicle,
Side vehicle detection means for detecting a distance between the vehicle and a side vehicle existing on the side of the host vehicle and the speed of the side vehicle;
Lane number change detection means for detecting a merging or lane decrease ahead of the host vehicle;
When the lane number change detecting means detects a merging or lane decrease ahead of the host vehicle, the lane in which the host vehicle travels is an adjacent lane of the lane to which the merging or a lane adjacent to a lane that decreases. Own vehicle lane determining means for determining whether or not,
1) The lane change detection means detects a merging or lane decrease ahead of the host vehicle, and 2) the host vehicle lane determining means is an adjacent lane of a lane where the lane on which the host vehicle is merging or decreases. 3) When the side vehicle detection means is on the merging lane or on the decreasing lane at a position greater than or equal to a predetermined inter-vehicle distance in front of the host vehicle. 4) When the side vehicle that is slower than the host vehicle is detected, or when the side vehicle that is faster than the host vehicle is detected between the position that is smaller than the predetermined inter-vehicle distance and the position that runs parallel to the host vehicle, The driving support device, wherein the inter-vehicle distance control means increases the target inter-vehicle distance only when the inter-vehicle distance is not less than the predetermined inter-vehicle distance and not more than a value obtained by adding a predetermined value to the predetermined inter-vehicle distance.
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