JP2018144660A - Driving support system and driving support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support system capable of improving fuel economy by reducing unnecessary acceleration and deceleration during traveling on a road having two or more lanes on each side, and a driving support method.SOLUTION: A driving support system includes a driver's own vehicle speed sensor 51, a radar sensor 52 for a leading vehicle, a radar sensor 53 for the following vehicle, an instruction device 54, and a control device 55. When the driver's own vehicle 20 catches up with the leading vehicle 30 by the time the following vehicle 40 overtakes the driver's own vehicle 20, the control device 55 makes the instruction device 54 provide instructions to select an overtaking lane 13 adjacent to a driving lane 12 as a lane on which the driver's own vehicle 20 travels.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support system and a driving support method, and more particularly to a driving support system and a driving support method that improve fuel efficiency.

  When a lane change occurs when the host vehicle in autonomous driving overtakes the vehicle to be overtaken, if the speed at which the vehicle following the original lane approaches the host vehicle is fast, or if the vehicle following the original lane has already changed lanes, Has been proposed (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 2006-4443

  By the way, when driving the host vehicle at the set target speed, it is a case of driving on a road such as an expressway. In an expressway or the like, two or more lanes including a traveling lane and an overtaking lane for overtaking a preceding vehicle traveling in the traveling lane are provided on one side.

  When the host vehicle is traveling in the traveling lane, the preceding vehicle is traveling ahead of the traveling vehicle, and the following vehicle is traveling following the passing lane, In this apparatus, the host vehicle cannot pass the preceding vehicle before the following vehicle.

  Therefore, when the preceding vehicle and the following vehicle are slow, the own vehicle has caught up with the preceding vehicle, and the own vehicle has to be decelerated. Further, if the host vehicle overtakes the preceding vehicle after the subsequent vehicle has overtaken the host vehicle and the preceding vehicle after the deceleration, it has been necessary to accelerate the host vehicle again. Such acceleration / deceleration on a highway causes deterioration of fuel consumption.

  An object of the present invention is to provide a driving support system and a driving support method capable of reducing unnecessary acceleration / deceleration when traveling on a road with two or more lanes on one side and improving fuel efficiency.

  The driving support system of the present invention that achieves the above object is a driving support that is mounted on a host vehicle and supports the lane change when the host vehicle travels on a road having two or more lanes on one side. The system includes a preceding vehicle that travels in the same direction as the host vehicle and a neighboring lane adjacent to the traveling lane that is traveling in the same direction as the host vehicle. A travel status acquisition device that acquires a travel status of a subsequent vehicle that is traveling in the same direction as the vehicle, an instruction device that indicates a lane in which the host vehicle is traveling, the travel status acquisition device, and the instruction device; And a control device connected thereto, and the succeeding vehicle overtakes the host vehicle by the control device based on the traveling status of the preceding vehicle and the following vehicle acquired by the traveling status acquisition device. If the subject vehicle in the catch up the preceding vehicle is characterized in that a configuration issue an instruction to select the adjacent lane Examples lane in which the vehicle is traveling in the pointing device.

In addition, the driving support method of the present invention that achieves the above-described object is a road having two or more lanes on one side, the own vehicle travels in the traveling lane, and the traveling lane has the same direction as the own vehicle. The preceding vehicle travels ahead of the vehicle, and the following vehicle travels in the same direction as the host vehicle following the adjacent lane adjacent to the traveling lane, Whether or not the own vehicle catches up with the preceding vehicle before the succeeding vehicle overtakes the own vehicle based on the obtained traveling situation of the preceding vehicle and the following preceding vehicle. An instruction to select the adjacent lane as a lane on which the host vehicle travels when the host vehicle has reached the preceding vehicle before the succeeding vehicle overtakes the host vehicle. To put out And butterflies.

  According to the present invention, in addition to the traveling status of the following vehicle, the traveling status of the preceding vehicle is acquired, and when the own vehicle catches up to the preceding vehicle before the succeeding vehicle overtakes the own vehicle, An instruction to select an adjacent lane is issued. Therefore, before the own vehicle catches up with the preceding vehicle and decelerates by the brake, the preceding vehicle can be overtaken by making the adjacent lane ahead of the following vehicle. This is advantageous in reducing unnecessary deceleration and re-acceleration of the host vehicle that occurs when there is a following vehicle in the adjacent lane, and can reduce unnecessary fuel consumption. Along with this, fuel consumption can be improved.

It is a top view which illustrates the state where the directions which change the lane to the overtaking lane were given to the own vehicle carrying the embodiment of the driving support system of the present invention. FIG. 2 is a plan view illustrating a state in which an instruction to change the lane to an overtaking lane is issued while adjusting the speed of the host vehicle of FIG. It is a top view which illustrates the state where the instruction | indication which maintains a driving lane was given with respect to the own vehicle of FIG. It is a flowchart which illustrates the driving assistance method of this invention.

  Embodiments of the present invention will be described below with reference to the drawings. In the figure, x is the traveling direction (front-rear direction) of the vehicle, and y is the side of the vehicle (left-right direction). In the following, the direction from the bottom to the top in the figure is positive, and the opposite direction is negative.

  As illustrated in FIGS. 1 to 3, in the driving support system 50 according to the embodiment, on the road 10, the host vehicle 20 follows the traveling lane 12, the preceding vehicle 30 precedes the own vehicle 20, and follows the traveling lane 12. When the vehicle 40 is traveling on the overtaking lane 13 after the host vehicle 20, the driving of the host vehicle 20 is supported.

  The road 10 is a left-handed highway, and two lanes of a traveling lane 12 and an overtaking lane 13 are provided on one side 11. The overtaking lane 13 is a lane adjacent to the center side of the road 10, that is, the right side of the traveling lane 12, and is a lane that can travel when passing the preceding vehicle traveling in the traveling lane 12. When the road 10 is right-hand traffic, the overtaking lane 13 is adjacent to the center side of the road 10, that is, the left side of the traveling lane 12.

  The host vehicle 20 includes an engine 21, a power transmission device 22, drive wheels 23, and a control system 24. In the host vehicle 20, rotational power generated by the engine 21 is transmitted to the drive wheels 23 via a power transmission device 22 such as a clutch, a transmission, a propeller shaft, and a differential gear.

  The control system 24 includes a control device 55, various sensors (25a to 25d, 51, 52, 53), and various devices (26a to 26e), and is a signal indicated by a one-dot chain line to the engine 21 and the power transmission device 22. It is electrically connected via a wire.

  The control device 55 is hardware including a CPU that performs various information processing, an internal storage device that can read and write programs and information processing results used for performing the various information processing, and various interfaces. The control device 55 controls the engine 21 and the power transmission device 22 based on values acquired by various sensors and values set in the various devices.

  As various sensors, in the cab, the accelerator opening sensor 25a for detecting the accelerator opening from the amount of depression of the accelerator pedal, the brake opening sensor 25b for detecting the brake opening as the amount of depression of the brake pedal, and the position of the shift lever are provided. A position sensor 25c for detection is installed. In the chassis, a host vehicle speed sensor 51 that detects the vehicle speed of the host vehicle 20 and an acceleration sensor 25d are installed.

  As various devices, an operation switch 26a in an auto-cruise mode, a speed setting switch 26b, a range setting switch 26c, a map information acquisition device 26d, and a vehicle weight acquisition device 26e are installed in the cab.

  The auto-cruise mode (constant speed running) that is started when the operation switch 26a is turned on is used particularly when traveling on a highway, and the host vehicle 20 is automatically operated by a program stored in the control system 24. In this mode, the vehicle runs and operates as scheduled.

  In the auto cruise mode, the control device 55 adjusts the operations of the engine 21 and the power transmission device 22 based on the map information acquired by the map information acquisition device 26d and the vehicle weight estimated by the vehicle weight acquisition device 26e. In this mode, the speed V2 of the host vehicle 20 is maintained at the target speed Va. Specifically, by the operation of the engine 21 and the power transmission device 22, the speed V2 of the host vehicle 20 is between the lower limit value Vb (Va−x) set with the target speed Va as a reference and the upper limit value Vc (Va + y). In this mode, the host vehicle 20 is automatically driven while maintaining the constant speed range (Vb to Vc).

  The constant speed range is a range between the lower limit value Vb and the upper limit value Vc set by the range setting switch 26c with reference to the target speed Va set by the speed setting switch 26b. The target speed Va, the lower limit value Vb, and the upper limit value Vc can be set to arbitrary values by the driver. For example, the target speed Va is 70 km / h or more and 90 km / h or less, the lower limit value Vb is a speed of −10 km / h or more and 0 km / h or less with respect to the target speed Va, and the upper limit value Vc is 0 km with respect to the target speed Va. A speed of not less than / h and not more than +10 km / h is exemplified.

  The map information acquisition device 26d can be exemplified by one using a satellite positioning system (GPS), and three-dimensional road data including the current position of the host vehicle 20, the gradient of the travel path on which the host vehicle 20 will travel, and the travel distance; Is getting. In addition, as the map information acquisition device 26d, a device that acquires the gradient of the travel path and the travel distance from the three-dimensional road data stored in the drive recorder can be exemplified. Further, the gradient may be calculated based on values acquired by the own vehicle speed sensor 51 or the acceleration sensor (G sensor) 25e.

  Examples of the vehicle weight acquisition device 26e include a device that estimates the vehicle weight of the host vehicle 20 using the equation of motion in the front-rear direction of the host vehicle 20 based on parameters (speed and acceleration) that change while the host vehicle 20 is traveling. it can. In addition, as the vehicle weight acquisition device 26e, when the host vehicle 20 is equipped with an air suspension, a method based on a change in the vertical direction may be used. A method based on the amount of change in the rotational speed output from the transmission may be used. Further, the weight of the body accompanying the change in the loading amount may be acquired by a weight sensor such as a load cell.

The preceding vehicle 30 is a vehicle that is traveling ahead of the traveling lane 12 in which the host vehicle 20 is traveling in the same direction as the host vehicle 20. Here, the term “preceding” refers to a state in which the rear end of the preceding vehicle 30 precedes the front end of the host vehicle 20.

  The succeeding vehicle 40 is a vehicle that follows the passing lane 13 adjacent to the traveling lane 12 in which the host vehicle 20 is traveling in the same direction as the host vehicle 20. The term “following” as used herein refers to a state in which the leading end of the following vehicle 40 follows the trailing end of the host vehicle 20.

  The traveling state of the preceding vehicle 30 and the traveling state of the subsequent vehicle 40 are based on the host vehicle 20. As the traveling state, the preceding distance ΔL1 from the front end of the own vehicle 20 to the rear end of the preceding vehicle 30, the preceding relative speed ΔV1 of the preceding vehicle 30 with respect to the own vehicle 20, the rear end of the own vehicle 20 to the front end of the following vehicle 40 The following distance ΔL2 and the following relative speed ΔV2 of the following vehicle 40 with respect to the host vehicle 20 are exemplified.

  In this embodiment, the host vehicle speed sensor 51, the leading radar sensor 52, and the trailing radar sensor 53 are used as a driving condition acquisition device that acquires the driving condition of the preceding vehicle 30 and the following vehicle 40 based on the own vehicle 20. These three sensors are used.

  The host vehicle speed sensor 51 is a sensor that reads a pulse signal proportional to the rotation speed of the propeller shaft and acquires the speed V2 of the host vehicle 20 at each sampling period by a vehicle speed calculation process (not shown) of the control system 24. As a device that acquires the speed V2 of the host vehicle 20, a sensor that acquires the speed V2 from the rotation speed of an output shaft, drive wheels, driven wheels, and the like (not shown) of the transmission may be used instead of the host vehicle speed sensor 51. .

  The preceding radar sensor 52 is a sensor that detects the preceding relative speed ΔV1 and the preceding distance ΔL1 by radiating radio waves and receiving radio waves reflected by the preceding vehicle 30. The subsequent radar sensor 53 is a sensor that detects the subsequent relative speed ΔV2 and the subsequent distance ΔL2 by radiating radio waves and receiving radio waves reflected by the following vehicle 40.

  As the traveling state acquisition device, a device that acquires the traveling state by accessing the control system of the preceding vehicle 30 or the following vehicle 40 by wireless communication may be used. Moreover, as a driving | running | working condition acquisition apparatus, you may acquire a driving | running | working condition by analyzing an image | video using the imaging device which images the image | video of the preceding vehicle 30 and the following vehicle 40, and the analysis apparatus which analyzes an image | video.

  The indicating device 54 is an indicator provided on the meter panel of the cab. The instruction device 54 is composed of a pair of left and right arrows, for example. The instruction device 54 gives an instruction to the driver to select a lane change when one of the left and right arrows is lit or blinks, while the instruction device 54 instructs the driver to select lane keeping by turning off both of them. It is a device that issues.

  When the host vehicle 20 is traveling on the travel lane 12 in the auto-cruise mode, the control device 55 includes a functional element that indicates the lane in which the host vehicle 20 travels based on the travel status of the preceding vehicle 30 and the subsequent vehicle 40. Have.

  As illustrated in FIG. 1, the control device 55 determines that the time Δt <b> 1 until the host vehicle 20 catches up with the preceding vehicle 30 at the current speed V <b> 2 of the host vehicle 20 until the succeeding vehicle 40 passes the host vehicle 20. When the time is Δt2 or less, the instruction device 54 is configured to issue an instruction to select the overtaking lane 13 as the lane on which the host vehicle 20 travels.

The fact that the host vehicle 20 catches up with the preceding vehicle 30 means that the front end of the host vehicle 20 approaches the rear end of the preceding vehicle 30. However, when the preceding distance ΔL1 becomes zero, the host vehicle 20 and the preceding vehicle 30 are in contact with each other, so the preceding distance ΔL1 is the inter-vehicle distance ΔL0 calculated based on the speed V2 of the host vehicle 20. In this case, it is preferable to determine that the host vehicle 20 has reached the preceding vehicle 30. The inter-vehicle distance ΔL0 is set to an inter-vehicle distance at which the driver activates the brake and starts deceleration, and is a value that varies according to the speed V2. As the inter-vehicle distance ΔL0, V2 (m) is exemplified when the speed is V2 (km / h) for a highway, and V2-15 (m) is exemplified for a general road.

  The succeeding vehicle 40 overtaking the host vehicle 20 means that the leading end of the following vehicle 40 precedes the rear end of the host vehicle 20. That is, in addition to the following vehicle 40 traveling in the overtaking lane 13 overtaking the own vehicle 20 traveling in the traveling lane 12, the following vehicle 40 also includes a state in which the following vehicle 40 travels in parallel with the own vehicle 20.

  The time Δt1 until the arrival is calculated by dividing a value obtained by subtracting the inter-vehicle distance ΔL0 from the preceding distance ΔL1 by the preceding relative speed ΔV1. The time Δt2 until overtaking is calculated by dividing the subsequent distance ΔL2 by the subsequent relative speed ΔV2.

  As illustrated in FIG. 2, the control device 55 determines that a time Δt3 until the succeeding vehicle 40 passes the own vehicle 20 at a speed higher than the speed V2 in the range up to the upper limit value Vc is determined by the own vehicle 20 being the preceding vehicle 30. In the case where the time until the vehicle reaches Δt4 or longer, the instruction device 54 is configured to issue an instruction to select the overtaking lane 13 as the lane on which the host vehicle 20 travels.

  In addition, as illustrated in FIG. 3, the control device 55 is configured to issue an instruction to select the traveling lane 12 as the lane on which the host vehicle 20 travels in the instruction device 54 in other cases.

  Next, the driving support method of the present invention will be described as a function of the control device 55 with reference to the flowchart of FIG. The following driving support method is started when the operation switch 26a is turned on by the driver and the host vehicle 20 travels in the auto-cruise mode, and is repeatedly performed at predetermined intervals. The process is completed when the auto-cruise mode ends.

  The control device 55 acquires the traveling status of the preceding vehicle 30 and the succeeding vehicle 40 using the host vehicle speed sensor 51, the preceding radar sensor 52, and the succeeding radar sensor 53 (S110). Specifically, the preceding relative speed ΔV1 and the preceding distance ΔL1 are acquired as the traveling state of the preceding vehicle 30, and the subsequent relative speed ΔV2 and the following distance ΔL2 are acquired as the traveling state of the following vehicle 40.

  Next, the control device 55 calculates a time Δt1 until the host vehicle 20 catches up with the preceding vehicle 30 and a time Δt2 until the succeeding vehicle 40 passes the host vehicle 20 based on the acquired traveling situation (S120). ). As described above, the time Δt1 until the vehicle arrives is calculated in consideration of the inter-vehicle distance ΔL0 calculated based on the speed V2.

  Next, the control device 55 compares the time Δt1 with the time Δt2, and determines whether or not the time Δt1 is equal to or less than the time Δt2 (S130). When the time Δt1 becomes equal to or less than the time Δt2, it is a situation in which the host vehicle 20 catches up with the preceding vehicle 30 before the succeeding vehicle 40 passes the host vehicle 20. When the time Δt1 is larger than the time Δt2, the following vehicle 40 overtakes the own vehicle 20 before the own vehicle 20 catches up with the preceding vehicle 30.

  Next, when it is determined that the time Δt1 is equal to or less than the time Δt2, the control device 55 instructs the driver to select the overtaking lane 13 as the lane in which the host vehicle 20 travels (S140). Specifically, the control device 55 turns on the right-pointing arrow among the indicators of the instruction device 54 and issues an instruction to urge the lane change from the traveling lane 12 to the overtaking lane 13.

  On the other hand, when it is determined that the time Δt1 is greater than the time Δt2, the control device 55 determines that the host vehicle 20 has reached the preceding vehicle 30 when it is assumed that the speed V2 of the host vehicle 20 has been increased to the upper limit value Vc. The time Δt3 and the time Δt4 until the succeeding vehicle 40 passes the host vehicle 20 are calculated (S150).

  The time Δt3 until catching up is calculated by dividing the value obtained by subtracting the inter-vehicle distance ΔL0 from the preceding distance ΔL1 by the value obtained by adding the upper limit value Vc and the speed difference ΔV0 between the current speed V2 and the preceding relative speed ΔV1. The time Δt4 until overtaking is calculated by dividing the subsequent distance ΔL2 by the value obtained by adding the upper limit value Vc and the speed difference ΔV0 between the current speed V2 and the subsequent relative speed ΔV2.

  Next, the control device 55 compares the time Δt3 with the time Δt4, and determines whether or not the time Δt3 is equal to or less than the time Δt4 (S160). When the time Δt3 is equal to or less than the time Δt4, if the speed V2 of the host vehicle 20 is increased to the upper limit value Vc, the host vehicle 20 catches up with the preceding preceding vehicle 30 before the succeeding vehicle 40 passes the host vehicle 20. Is the situation. When the time Δt3 is greater than the time Δt4, even if the speed V2 of the host vehicle 20 is increased to the upper limit value Vc, the subsequent vehicle 40 passes the host vehicle 20 before the host vehicle 20 catches up with the preceding vehicle 30. Is the situation.

  Next, when it is determined that the time Δt3 is equal to or less than the time Δt4, the control device 55 performs control to increase the speed V2 of the host vehicle 20 to the upper limit value Vc (S170). This speed-up control is control in which the fuel injection amount is increased by the control device 55 to increase the rotational speed of the engine 21 or the gear ratio in the power transmission device 22 is reduced.

  Next, the control device 55 instructs the driver to select the overtaking lane 13 as the lane on which the host vehicle 20 travels by the instruction device 54 (S140). Specifically, the control device 55 turns on the right-pointing arrow among the indicators of the instruction device 54 and issues an instruction to urge the lane change from the traveling lane 12 to the overtaking lane 13.

  When it is determined that the time Δt3 is greater than the time Δt4, the control device 55 instructs the driver to select the travel lane 12 as the lane on which the host vehicle 20 travels (S180). Specifically, the control device 55 turns off the indicator of the instruction device 54 and issues an instruction to prompt the driver to maintain the traveling lane 12 as it is without changing the lane.

  In S140 or S180, when the instruction device 54 gives an instruction of the lane in which the host vehicle 20 should travel, the process returns to the start.

  Whether the speed V3 of the preceding vehicle 30 is faster than the speed V2 of the own vehicle 20 or whether the speed V4 of the following vehicle 40 is slower than the speed V2 of the own vehicle 20 when the traveling state is acquired in S110. It may be determined whether or not. When the speed V3 is faster than the speed V2, the own vehicle 20 does not catch up with the preceding vehicle 30, and when the speed V4 is slower than the speed V2, the following vehicle 40 does not overtake the own vehicle 20. You may comprise so that a driving assistance method may not be performed. Further, by recognizing the white line 14 laid on the road 10 as an image, it is possible to acquire the lane in which the host vehicle 20 is traveling and determine whether the host vehicle 20 is traveling in the traveling lane 12 or not. Good. When it is determined that the host vehicle 20 is traveling on the overtaking lane 13, the driving support method described above may not be performed.

As described above, the driving support system 50 issues an instruction to select the overtaking lane 13 as the lane on which the host vehicle 20 travels when the time Δt1 until the arrival is equal to or less than the time Δt2 until the overtaking. . Therefore, before the own vehicle 20 catches up with the preceding vehicle 30 and decelerates by the brake, the preceding vehicle 30 can be overtaken by causing the own vehicle 20 to precede the following vehicle 40 by the passing lane 13. This is advantageous in reducing unnecessary deceleration and reacceleration of the host vehicle 20 that occurs when the succeeding vehicle 40 is present in the overtaking lane 13, and unnecessary fuel consumption can be reduced. Along with this, fuel consumption can be improved.

  In particular, when the host vehicle 20 is traveling on the highway lane 12 in the auto cruise mode and the above driving support method is performed, it is possible to avoid hindering the fuel saving control in the auto cruise mode. . That is, fuel consumption can be improved by reducing unnecessary deceleration and reacceleration by the driver that occur when the host vehicle 20 catches up with the preceding vehicle 30.

  Further, the driving support system 50 assumes that the speed V2 of the host vehicle 20 is increased in the range up to the upper limit value Vc when the time Δt1 based on the current speed V2 of the host vehicle 20 is larger than the time Δt2. The time Δt3 until reaching the time and the time Δt4 until overtaking are compared. When the time Δt3 is equal to or less than the time Δt4, the speed V2 is increased within the range up to the upper limit value Vc, and an instruction to select the overtaking lane 13 as the lane on which the host vehicle 20 travels is issued by the instruction device 54. That is, when it is impossible for the own vehicle 20 to catch up with the preceding vehicle 30 before the succeeding vehicle 40 passes the own vehicle 20 based on the current speed V2, the following vehicle 40 is at a speed higher than the current speed V2. It is determined whether or not the host vehicle 20 can catch up with the preceding vehicle 30 before the vehicle overtakes the host vehicle 20.

  Therefore, by accelerating the own vehicle 20, the preceding vehicle 30 can be overtaken by causing the own vehicle 20 to advance the passing lane 13 ahead of the succeeding vehicle 40. In this case, the fuel consumption increases due to acceleration. The increase is due to an increase in fuel consumption due to unnecessary deceleration or reacceleration of the host vehicle 20 caused by the host vehicle 20 catching up with the preceding vehicle 30. Lower than. In this way, by accelerating the host vehicle 20 within a range up to the preset upper limit value Vc, unnecessary deceleration or reacceleration by the driver that occurs when the host vehicle 20 catches up with the preceding vehicle 30 is achieved. Since it can reduce, a fuel consumption can be improved as a result.

  In the above embodiment, when the time Δt1 is larger than the time Δt2, the time Δt3 and the time Δt4 are calculated on the assumption that the speed V2 is increased to the upper limit value Vc, but the assumed speed is in a range up to the upper limit value Vc. If it is in. For example, the time Δt3 and the time Δt4 may be calculated by increasing the speed every 1 km / h between the current speed V2 and the upper limit value Vc.

  For example, as illustrated in FIG. 1, when the time Δt1 is equal to or less than the time Δt2, or as illustrated in FIG. 2, when the own vehicle 20 maintains the travel lane 12 when the time Δt3 is equal to or less than the time Δt4. Before the succeeding vehicle 40 overtakes the own vehicle 20, the own vehicle 20 catches up with the preceding vehicle 30 and needs to be decelerated by the brake. On the other hand, according to this driving support system 50, in such a case, the instruction device 54 issues an instruction to select the overtaking lane 13 as the lane on which the own vehicle 20 travels, so that the own vehicle 20 changes the overtaking lane 13. It is possible to travel and overtake the preceding vehicle 30 before the following vehicle 40.

  Further, as illustrated in FIG. 3, when the time Δt1 is larger than the time Δt2 and the time Δt3 is also larger than the time Δt4, the host vehicle 20 changes the lane to the passing lane 13 and precedes the succeeding vehicle 40. In order to overtake the vehicle 30, the speed V2 of the host vehicle 20 must be increased to the upper limit value Vc or higher. Therefore, fuel consumption increases and fuel consumption deteriorates. On the other hand, according to this driving support system 50, in such a case, the instruction device 54 issues an instruction to select the traveling lane 12 as the lane on which the own vehicle 20 travels, so that the own vehicle 20 travels without changing the lane. Driving in the lane 12 can suppress inadvertent acceleration and continue the auto cruise mode.

  In this embodiment, the indicator of the pointing device 54 is turned off as an instruction to select the travel lane 12, but it may be configured to more positively encourage the lane to be maintained without being changed. For example, both indicators may blink, or a separate lane maintaining indicator may be lit.

  In this way, by appropriately instructing the lane change while the host vehicle 20 is traveling in the travel lane 12 in the auto-cruise mode, that is, by prompting the lane change from the travel lane 12 to the overtaking lane 13 at the optimum timing. This is advantageous in reducing unnecessary deceleration and reacceleration of the host vehicle 20.

  The driving support system 50 can realize driving support in consideration of safety by using the inter-vehicle distance ΔL0 calculated based on the speed V2 when calculating the time Δt1 and Δt3 until catching up. it can.

  The distance may be used in the comparison between the own vehicle 20 catching up with the preceding vehicle 30 and the succeeding vehicle 40 overtaking the preceding vehicle 30. Specifically, the travel distance of the host vehicle 20 when traveling until the host vehicle 20 reaches the preceding vehicle 30 is shorter than the travel distance of the host vehicle 20 when traveling until the subsequent vehicle 40 passes the host vehicle 20. In this case, the instruction device 54 may issue an instruction to select the overtaking lane 13.

  The travel distance until the host vehicle 20 catches up with the preceding vehicle 30 is a value obtained by multiplying the time Δt1 until the host vehicle 20 catches up with the speed V2. The travel distance of the host vehicle 20 when the succeeding vehicle 40 travels until it passes the host vehicle 20 is a value obtained by multiplying the time Δt2 until it passes the speed V2.

  For example, when the driver assisting system 50 is configured to set an instruction to change or maintain the lane by the distance between the vehicles relative to the preceding vehicle 30, the instruction device can use the travel distance instead of the time. The timing at which the lane change instruction is issued at 54 can be optimized.

  An instruction to select a lane may be issued directly to the steering device, and the lane change may be automatically controlled. Specifically, the control device 55 transmits an instruction to be selected from the instruction device 54 to the steering device as an electrical signal, and the steering device performs control to maintain the traveling lane 12 or control to change to the overtaking lane 13. May be.

  Further, examples of the instruction to be selected include an instruction to appeal to hearing such as a voice instruction and a warning sound, and an instruction to appeal to tactile sensation such as vibration, in addition to an instruction visually appealing with an indicator or the like.

  In the above-described embodiment, the configuration in which the overtaking lane 13 is adjacent to the traveling lane 12 in which the host vehicle 20 is traveling has been described as an example, but the adjacent lane only needs to be adjacent to the traveling lane 12. The lane is not limited to a lane for overtaking a vehicle traveling in the traveling lane 12 like the lane 13.

DESCRIPTION OF SYMBOLS 10 Road 11 One side 12 Driving lane 13 Passing lane 20 Own vehicle 30 Leading vehicle 40 Following vehicle 50 Driving support system 51 Own vehicle speed sensor 52 Leading radar sensor 53 Following radar sensor 54 Indicator device 55 Control device

Claims (5)

A driving support system for supporting a lane change when the vehicle travels on a road on which one or more lanes are provided on one side,
With respect to the host vehicle, the preceding vehicle traveling in the same direction as the host vehicle and the adjacent lane adjacent to the traveling lane in the same direction as the host vehicle are traveling in the same direction as the host vehicle. A traveling state acquisition device that acquires a traveling state of a subsequent vehicle that is traveling subsequently, an instruction device that instructs a lane in which the host vehicle travels, a control device that is connected to the traveling state acquisition device and the instruction device And comprising
When the own vehicle catches up with the preceding vehicle by the control device before the succeeding vehicle overtakes the own vehicle based on the traveling situation of the preceding vehicle and the following vehicle acquired by the traveling condition acquisition device. The driving support system, wherein the instruction device issues an instruction to select the adjacent lane as a lane on which the host vehicle travels. The control device has a function of running at a constant speed within a constant speed range between a lower limit value and an upper limit value set with respect to the speed of the host vehicle as a reference,
When the own vehicle can catch up with the preceding vehicle before the succeeding vehicle overtakes the own vehicle at a speed higher than the current speed within the range up to the upper limit value, the control device causes the own vehicle to The driving support according to claim 1, wherein adjustment is performed to increase a vehicle speed within a range up to the upper limit value, and an instruction for selecting the travel lane as a lane on which the host vehicle travels is issued by the instruction device. system.   If the host vehicle does not catch up with the preceding vehicle before the succeeding vehicle overtakes the host vehicle, the control device instructs the instruction device to select the travel lane as the lane on which the host vehicle travels. The driving support system according to claim 1 or 2, wherein the driving support system is configured to be put out.   The driving support system according to any one of claims 1 to 3, wherein the adjacent lane is an overtaking lane. In a road with two or more lanes on one side, the vehicle travels in the traveling lane, the preceding vehicle travels ahead of the traveling lane in the same direction as the own vehicle, and is adjacent to the traveling lane When the following vehicle is running following the adjacent lane in the same direction as the host vehicle,
Using the host vehicle as a reference, obtain the traveling status of the preceding vehicle and the subsequent vehicle,
Based on the acquired traveling state of the preceding vehicle and the succeeding vehicle, it is determined whether or not the own vehicle catches up with the preceding vehicle before the succeeding vehicle overtakes the own vehicle;
When it is determined that the host vehicle catches up with the preceding vehicle before the succeeding vehicle overtakes the host vehicle, the instruction device issues an instruction to select the adjacent lane as a lane on which the host vehicle travels. Driving support method.