JP2018197961A - Vehicle merge supporting device - Google Patents

Abstract

To provide a vehicle merge supporting device that can reduce labors of driving operations and can increase the safety of merging to a main lane when a driver is merging his/her vehicle to a main lane by driving.SOLUTION: A vehicle merge supporting device 1 includes: a target vehicle speed setting unit 43 for setting a vehicle speed when an own vehicle is merging into a main lane; a vehicle speed control supporting unit 46 for supporting the speed control operation of the driver of the own vehicle so that the speed of the driving vehicle of the driver reaches a target speed when the vehicle is running on a branch lane; and a steering supporting unit 47 for supporting a steering operation of the driver so that the vehicle merges into the main lane after the speed of the driving vehicle of the driver reaches a target speed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a merging support device for a vehicle that supports merging of a host vehicle to a merging point such as an interchange on an expressway.

  In the driving support device described in Patent Document 1, when the host vehicle is merged from the branch line to the main line, the vehicle speed of the other vehicles traveling on the main line is controlled so that the inter-vehicle distances of the other vehicles are not too close, Based on the traveling state of each other vehicle, the vehicle speed and steering of the host vehicle traveling on the branch line are automatically controlled to join the host vehicle between the other vehicles.

JP 2010-170385 A

  In the driving support device described in Patent Document 1, since the vehicle speed and steering of the host vehicle are automatically controlled, there is a drawback that the driver of the host vehicle is difficult to improve the driving operation for main line merging. In order to improve the driving operation of the driver, it is desirable not to automatically control the vehicle speed and steering, but to join the main line by the driving operation (vehicle speed operation and steering operation) of the driver.

  However, when merging with the main line by the driver's driving operation, the driver needs to perform the steering operation while operating the vehicle speed, so it is difficult for drivers with low driving skill to ensure safety when merging the main line. In addition, there is a drawback that the burden of driving operation at the time of joining the main line is heavy.

  Accordingly, the present invention provides a vehicle merging support device that can improve the safety at the time of merging main lines and reduce the burden of driving operations when the host vehicle is merged by the driver's driving operation. With the goal.

  The present invention is a merging support device for a vehicle that supports merging from a branch line of a host vehicle to a main line, a target vehicle speed setting unit that sets a target vehicle speed at the time of merging the main line of the host vehicle, and branch travel of the host vehicle A vehicle speed control support unit for assisting a vehicle speed operation of a driver of the host vehicle so that the vehicle speed of the host vehicle reaches the target vehicle speed, and after the vehicle speed of the host vehicle reaches the target vehicle speed, And a steering support unit that supports the driver's steering operation for the host vehicle to join the main line.

  According to this configuration, driving assistance is performed separately for the vehicle speed operation and the steering operation for main line merging, so that the driver can be concentrated on these operations (vehicle speed operation and steering operation). As a result, the safety at the time of main line merging can be improved and the burden of the driving operation of the driver at the time of main line merging can be reduced.

As an aspect of the present invention, the vehicle speed control support unit may maintain the vehicle speed of the host vehicle at the target vehicle speed after the vehicle speed of the host vehicle reaches the target vehicle speed.
According to this configuration, the driver does not need to perform the vehicle speed operation for maintaining the vehicle speed at the target vehicle speed during the steering operation, so that the driver can concentrate on the steering operation.

Further, as an aspect of the present invention, the vehicle speed control support unit changes the vehicle speed of the host vehicle to a vehicle speed with the limit vehicle speed as an upper limit when the limit vehicle speed is set on the branch line, and the limit vehicle speed is released. Then, the driver's vehicle speed operation may be assisted so that the target vehicle speed is reached.
According to this configuration, when the limited vehicle speed is set on the branch line, it is possible to perform vehicle speed control support in accordance with the limited vehicle speed. As a result, the safety at the time of joining the main line can be further improved.

Further, as an aspect of the present invention, when the driver performs a steering operation before the steering operation support by the steering support unit while traveling on the branch line of the host vehicle, the driver stops the steering operation. You may provide the alarm control part which performs an alarm.
According to this configuration, it is possible to suppress the driver performing the steering operation before the steering operation support by the steering support unit while traveling on the branch line of the host vehicle, and as a result, the driver can be concentrated on the vehicle speed operation, Safety at the time of joining the main line can be improved.

Further, as an aspect of the present invention, a section setting unit is provided that sets a vehicle speed adjustment section in which vehicle speed operation support is performed by the vehicle speed control support section and a steering section in which steering operation support is performed by the steering support section as the branch lines. May be.
According to this configuration, the branch line can be divided into the vehicle speed adjustment section and the steering section, and this also allows the driver to concentrate on each of the vehicle speed operation and the steering operation.

Moreover, as an aspect of the present invention, the steering section may be set to a length obtained by multiplying the target vehicle speed by a certain time that does not depend on the length of the branch line.
According to this configuration, the passing time (= steering section / target vehicle speed) for the host vehicle to pass through the steering section is a fixed time regardless of the length of the branch line. Enough time can be secured.

  As an aspect of the present invention, the vehicle speed control support unit sets a reference vehicle speed line for causing the vehicle speed of the host vehicle to reach the target vehicle speed within the vehicle speed adjustment section, and the vehicle speed of the host vehicle is set to the reference speed. The driver's vehicle speed operation may be supported so as to reach the target vehicle speed along a vehicle speed line.

  According to this configuration, since the vehicle speed support is performed so that the vehicle speed of the host vehicle reaches the target vehicle speed along the reference vehicle speed line, the vehicle speed of the host vehicle greatly accelerates or decelerates while reaching the target vehicle speed. Can be suppressed. As a result, the vehicle speed of the host vehicle can be made to reach the target vehicle speed smoothly with a lean vehicle speed operation.

Further, as an aspect of the present invention, the vehicle speed control support unit, in the vehicle speed adjustment section, when the vehicle speed of the host vehicle exceeds or is insufficient from the reference vehicle speed line with respect to the driver's vehicle speed operation, The vehicle speed of the host vehicle may be controlled so that the excess or deficient vehicle speed is offset.
According to this configuration, the vehicle speed of the host vehicle can reach the target vehicle speed along the reference vehicle speed line even when the driver's vehicle speed operation skill is low.

Further, as an aspect of the present invention, the steering assist unit is configured such that the steering torque of the host vehicle exceeds the steering torque necessary for main line merging of the host vehicle with respect to the steering operation of the driver within the steering section. Alternatively, when the vehicle is insufficient, the steering torque of the host vehicle may be controlled so that the excess or insufficient steering torque is offset.
According to this configuration, even when the driver's steering skill is low, the host vehicle can be smoothly joined from the branch line to the main line.

As an aspect of the present invention, the vehicle speed control support unit may support a vehicle speed operation of a driver of the host vehicle by displaying information on the target vehicle speed on a vehicle speed meter of the host vehicle.
According to this configuration, it is easy for the driver to visually understand, and the vehicle speed operation can be supported.

A display unit may be provided, and the steering support unit may support the driver's steering operation by displaying an instruction on the display unit to perform a steering operation for main line merging of the host vehicle.
According to this configuration, the driver can assist the steering operation visually and easily.

  According to the present invention, there is provided a vehicle merging support device that can improve the safety at the time of merging main lines and reduce the burden of driving operations when the host vehicle is merged by main driving.

The block diagram of the confluence | merging assistance apparatus for vehicles which concerns on embodiment of this invention. The top view which shows the mode at the time of the main line merge of the own vehicle. The top view which shows the state which divided the branch line into the vehicle speed adjustment area and the steering area. (A) is a top view which shows an example of the vehicle speed adjustment area in case the length of a branch line is 400 m, and a steering area, (b) is a figure which shows an example of the reference | standard vehicle speed line in case the length of a branch line is 400 m. (A) is a top view which shows an example of the vehicle speed adjustment area and steering area in case the length of a branch line is 250 m, (b) is a figure which shows an example of the reference | standard vehicle speed line in case the length of a branch line is 250 m. The figure which shows an example of the reference | standard vehicle speed line when the restriction | limiting vehicle speed area is set to the branch line. The figure which shows an example of the display method of target vehicle speed. The figure which shows a mode that a target vehicle speed is changed and displayed in steps. The flowchart explaining operation | movement of the confluence | merging assistance apparatus for vehicles which concerns on embodiment of this invention. The another flowchart explaining operation | movement of the confluence | merging assistance apparatus for vehicles which concerns on embodiment of this invention. FIG. 10 is still another flowchart for explaining the operation of the vehicle merging support apparatus according to the embodiment of the present invention. FIG.

An embodiment of the present invention will be described below with reference to the drawings.
<Embodiment>
With reference to FIGS. 1-11, the merging assistance apparatus 1 for vehicles which concerns on embodiment of this invention is demonstrated. The vehicle merging support apparatus 1 is mounted on a vehicle such as an automobile (own vehicle) and supports the merging of the own vehicle to a merging point such as an interchange on an expressway. The driving operation of the driver of the host vehicle while traveling is supported by dividing the vehicle speed operation (for example, accelerator operation and brake pedal operation) for main line merging and the steering operation.

≪Configuration explanation≫
As shown in FIG. 1, the vehicle merging support device 1 includes a controller 4 that controls the operation of the device 1, a vehicle speed sensor 5 that is connected to the input side of the controller 4, a car navigation device 6, a transmission / reception unit 7, A support switch 8 and a steering torque sensor 9, a vehicle speed meter 10 connected to the output side of the controller 4, a display unit 11, an alarm control unit 12, an engine 13 for traveling the host vehicle, and a steering mechanism 14 for steering the host vehicle And.

  The vehicle speed sensor 5 detects the vehicle speed of the host vehicle.

  For example, the car navigation device 6 displays a road map on the display unit 11, displays the current position of the host vehicle on the road map, and guides and displays a travel route from the current position of the host vehicle to the destination. . The car navigation device 6 includes at least a host vehicle position detection unit 6a that detects a current position of the host vehicle and a road map database 6b.

  For example, the host vehicle position detection unit 6a receives positioning information transmitted from a GPS satellite, and detects the current position of the host vehicle based on the positioning information. The road map database 6b is a database composed of road map data that can be used for the above guidance display. For example, the branch line length information on the length of the branch line of the expressway, the position of the junction point where the branch line joins the main line Information, branch limit vehicle speed information regarding the limit vehicle speed of the branch line for which the limit vehicle speed is set and the limit vehicle speed section, position information of the end of the side wall separating the branch line and the main line, and the like.

  The transmission / reception unit 7 performs vehicle-to-vehicle communication with other vehicles traveling on a confluence lane on the main road of the highway, and performs high-level central processing via a roadside communication device installed around the highway. Road-to-vehicle communication is performed wirelessly with the device. In the inter-vehicle communication, the transmission / reception unit 7 receives other vehicle information related to the vehicle speed and position of the other vehicle from the other vehicle traveling in the merge lane. Moreover, the transmission / reception part 7 receives the other vehicle information regarding the vehicle speed and position of the other vehicle which is driving | running | working a merge lane from a roadside communication apparatus in road-to-vehicle communication.

  The merge support switch 8 is an operation unit that receives an on / off operation for operating or stopping the vehicle merge support apparatus 1. When the merging support switch 8 is turned on, the driving support of the merging support device 1 for the vehicle is activated, and when the merging support switch 8 is turned off, the driving support of the merging support device 1 for the vehicle is stopped.

  The steering torque sensor 9 is provided in the steering mechanism 14 and detects a steering torque when the driver of the host vehicle performs a steering operation.

  The vehicle speed meter 10 displays the vehicle speed of the host vehicle, and is arranged around the driver's seat (for example, an instrument panel) of the host vehicle. In addition to displaying the vehicle speed of the host vehicle, the vehicle speed meter 10 displays information related to the target vehicle speed Vm when the host vehicle joins the main line.

  The display unit 11 is, for example, a center display (that is, a display disposed on the center console of the host vehicle), and steering operation support information (in order to assist the driver of the host vehicle for the main line merging of the host vehicle ( For example, information on steering timing, necessary steering torque, etc.) and the above-mentioned guidance display of the car navigation device 6 are displayed.

  The alarm control unit 12 is, for example, an audio output device, and stops the driver's steering operation when the driver of the host vehicle performs the steering operation before assisting the steering operation by the vehicle merging support device 1. A warning to the effect is output. Whether or not the driver has performed the steering operation is determined based on the detection result of the steering torque sensor 9, for example.

  Based on various information from each component (vehicle speed sensor 5, car navigation device 6, transmission / reception unit 7, merge support switch 8 and steering torque sensor 9) connected to the input side of the controller 4, The connected components (vehicle speed meter 10, display unit 11, alarm control unit 12, engine 13 and steering mechanism 14) are controlled.

  The controller 4 includes a junction point setting unit 41, a target arrival time setting unit 42, a target vehicle speed setting unit 43, a section setting unit 44, a reference vehicle speed line setting unit 45, a vehicle speed control support unit 46, and a steering support unit. 47.

  The junction point setting unit 41 sets a junction point at which the branch line on which the host vehicle travels joins the main merging lane based on the detection result of the host vehicle position detection unit 6a and the road map database 6b.

  The target arrival time setting unit 42 changes the host vehicle from a predetermined position (for example, a tollgate point on the highway, a current position of the host vehicle, or a position of the host vehicle when the merging support apparatus 1 for a vehicle is operated) to a joining point. A target arrival time ΔTm to be reached is set. The target arrival time ΔTm is a predetermined inter-vehicle interval (inter-vehicle interval for merging) where the host vehicle merges among inter-vehicle intervals (inter-intervals for merging candidates) between other vehicles traveling on the main merging lane. Set as arrival time to reach point. That is, the target arrival time ΔTm is the time for the host vehicle to reach the merge point when the merge inter-vehicle interval reaches the merge point.

  Therefore, specifically, the target arrival time setting unit 42 determines the merging inter-vehicle interval from the merging candidate inter-vehicle intervals as the target arriving time ΔTm, and the merging inter-vehicle interval reaches the merging point. Calculate the arrival time.

  In addition, said inter-interval for each merge candidate is obtained based on other vehicle information regarding the position of each other vehicle received by the transmission / reception unit 7 from each other vehicle or the roadside communication device. The merging inter-vehicle distance is an appropriate one of the merging candidate inter-vehicle intervals (for example, the time difference between the arrival time of each merging candidate inter-vehicle interval at the merging point and the arrival time of the host vehicle at the merging point. Is determined to be within a certain range (for example, the minimum). The arrival time to the merge point of the above-mentioned inter-vehicle interval (inter-vehicle interval for merge and inter-interval for merge candidate) is the time for other vehicles traveling immediately before or after the inter-vehicle interval to reach the merge point, for example, It is obtained by dividing the distance from the other vehicle to the junction point by the vehicle speed of the other vehicle. The arrival time of the host vehicle at the junction point is obtained, for example, by dividing the distance from the current position of the host vehicle to the junction point by the vehicle speed of the host vehicle.

  The target vehicle speed setting unit 43 sets a target vehicle speed Vm when the host vehicle joins the main line. More specifically, the target vehicle speed setting unit 43 obtains the average vehicle speed of each other vehicle based on the vehicle speed of each other vehicle received by the transmission / reception unit 7 from each other vehicle or the roadside communication device, Based on the average vehicle speed, the target vehicle speed Vm is set. The average vehicle speed itself may be set to the target vehicle speed Vm.

  The section setting unit 44 divides a branch line on which the host vehicle travels into a vehicle speed adjustment section Lv and a steering section Ls. The steering section Ls is a section in which the steering operation for main line merging by the driver of the host vehicle is supported, and is set to a predetermined length before the merging point Pg. For example, the steering section Ls is set to a length (that is, Ls = Δt × Vm) obtained by multiplying the target vehicle speed Vm by a certain time Δt (for example, Δt = 5 seconds) that does not depend on the length of the branch line. The vehicle speed adjustment section Lv is a section in which the driver of the host vehicle is supported for vehicle speed operation for joining the main line, and is a length obtained by subtracting the steering section Ls from the length Lo of the branch line on which the host vehicle travels (that is, Lv = Lo−Lv) and set to the front from the start end of the steering section Ls.

  In addition, when the length Lo of the branch line, the steering section Ls, and the vehicle speed adjustment section Lv are each expressed by the target passing time when the host vehicle passes through them (that is, expressed in terms of time), the target passing time of the branch line is the target The target passing time in the steering section Ls is a fixed time Δt, and the target passing time in the vehicle speed adjustment section Lv is a value obtained by subtracting the fixed time Δt from the target reaching time ΔTm (= ΔTm−Δt). That is, under the driving assistance of the merging assistance device 1 for vehicles, the host vehicle needs to pass the branch line with the target arrival time ΔTm, and at that time, the target passage time of (ΔTm−Δt) passes through the vehicle speed adjustment section Lv. It is necessary to pass through the steering section Ls with a target passing time of a certain time Δt.

  The reference vehicle speed line setting unit 45 sets the reference vehicle speed line S. The reference vehicle speed line S defines a vehicle speed change that serves as an example (that is, a reference) during traveling in the vehicle speed adjustment section Lv of the host vehicle, and the vehicle speed of the host vehicle is not greatly increased or decreased (that is, a slight vehicle speed). And a vehicle speed line that reaches the final target vehicle speed Vm at the end of the vehicle speed adjustment section Lv.

  The vehicle speed control support unit 46 supports a vehicle speed operation (for example, an accelerator operation) for the main line merging of the driver of the host vehicle. When the host vehicle enters the vehicle speed adjustment section Lv, the vehicle speed control support unit 46 controls the vehicle speed meter 10 to display the target vehicle speed Vm on the vehicle speed meter 10. At that time, the vehicle speed control support unit 46 changes the target vehicle speed displayed on the vehicle speed meter 10 from the current vehicle speed of the host vehicle, for example, and reaches the target vehicle speed Vm (that is, the final target vehicle speed) at the end of the vehicle speed adjustment section Lv. As shown, the display may be changed in stages along the reference vehicle speed line S. As a result, when the host vehicle enters the steering section Ls, the vehicle speed operation of the driver is supported so that the vehicle speed of the host vehicle reaches the target vehicle speed Vm.

  Further, when the vehicle speed of the host vehicle reaches the target vehicle speed Vm in the vehicle speed adjustment section Lv, the vehicle speed control support unit 46 maintains the vehicle speed of the host vehicle at the target vehicle speed Vm until the main line merging of the host vehicle ends, for example. (Automobile speed control) Specifically, when the host vehicle has an auto-cruise function (that is, a function of maintaining a constant vehicle speed set without continuing to step on the accelerator pedal), the vehicle speed control support unit 46 sets the vehicle speed of the host vehicle to the target vehicle speed Vm. When the vehicle speed reaches, the auto cruise function is automatically turned on to set the set vehicle speed to the current vehicle speed (ie, the target vehicle speed Vm).

  The steering assisting unit 47 assists the driver of the host vehicle in steering operation for joining the main line. More specifically, the steering support unit 47 displays the timing of the steering operation for main line merging on the display unit 11 at an appropriate timing for performing the steering operation for main line merging on the display unit 11 while traveling in the steering section Ls of the host vehicle. Steering support information to be notified (for example, display information such as “operate the steering wheel to join” or “turn the steering wheel 15 degrees to the right”) is displayed.

  In this embodiment, as described above, the vehicle speed control support unit 46 supports the vehicle speed operation by displaying the target vehicle speed Vm, and the steering support unit 47 supports the steering operation by displaying the steering support information. However, the vehicle speed operation support and the steering operation support may be performed by voice guidance instead of display.

≪Operation explanation≫
First, with reference to FIGS. 2 to 8, an outline of the operation of the vehicle merging support apparatus 1 will be described.
As shown in FIG. 2, when the own vehicle Kg enters the branch line Ds of the expressway (for example, when passing through the toll gate R), the vehicle merging support apparatus 1 uses the inter-vehicle communication or the road-to-vehicle communication to The arrival time ΔTm and the merging point Pg are determined. Then, the vehicle merging support apparatus 1 supports the vehicle speed operation and the steering operation for merging the own vehicle Kg traveling on the branch line Ds to the merging lane Dh1 of the main line Dh. In FIG. 2, the symbol Dh2 is the overtaking lane of the main line Dh, the symbol Kt is the other vehicle, and the symbol Wg is the merging inter-vehicle distance.

  As shown in FIG. 3, when the vehicle merging support device 1 assists the driver of the host vehicle Kg with the vehicle speed operation and the steering operation, first, the branch line Ds is divided into the vehicle speed adjustment section Lv and the steering section Ls. Divide into Then, the vehicle merging support apparatus 1 allows the driver of the host vehicle Kg to change the vehicle speed of the host vehicle Kg along the reference vehicle speed line S when the host vehicle Kg is traveling in the vehicle speed adjustment section Lv. The vehicle speed operation is supported, and when the host vehicle Kg is traveling in the steering section Ls, the driver of the host vehicle Kg performs steering support so that the steering operation is performed at an appropriate steering timing. The concept of setting the vehicle speed adjustment section Lv, the steering section Ls, and the reference vehicle speed line S is as follows.

  That is, as shown in FIG. 4A, when the length Lo of the branch line Ds is relatively long (for example, when Lo = 400 m), the target arrival time ΔTm is 20 s and the target vehicle speed Vm is 80 km / h. If (= 22 m / s), the target passing time when the host vehicle Kg passes the steering section Ls is set to a fixed time Δt (for example, 5 s), and the steering section Ls is 110 m (= Vm × Δt). = 22 m / s × 5 s). That is, the steering section Ls is set so as to start from 110 m before the joining point Pg. The target passing time when the host vehicle Kg passes through the vehicle speed adjustment section Lv is set to 15 s (= ΔTm−Δt = 20 s−5 s), and the vehicle speed adjustment section Lv is 290 m (= Lo−Ls = 400 m−). 110 m), and is set so as to start from 290 m before the steering section Ls.

  In this case, as shown in FIG. 4B, a reference vehicle speed line S for use in assisting the driver's vehicle speed operation is set. That is, the vehicle speed of the host vehicle Kg becomes Vo (for example, Vo = 20 km / h) at the start end of the vehicle speed adjustment section Lv (for example, the point of the toll booth R on the highway), and the target passing time of 15 s from the start end of the vehicle speed adjustment section Lv. When the vehicle travels 290 m and reaches the end of the vehicle speed adjustment section Lv, the vehicle speed of the host vehicle Kg changes smoothly (for example, linearly) and reaches the target vehicle speed Vm (= 80 km / h). S is set. The reference vehicle speed line S in this case is also referred to as a reference vehicle speed line S without a limit vehicle speed, since no limit vehicle speed is set on the branch line Ds.

  On the other hand, as shown in FIG. 5A, when the length Lo of the branch line Ds is relatively short (for example, when Lo = 250 m), the target arrival time ΔTm is 15 s and the target vehicle speed Vm is 80 km / h. If (= 22 m / s), the target passing time when the host vehicle Kg passes the steering section Ls is set to a fixed time Δt (for example, 5 s), and the steering section Ls is 110 m (= Vm × Δt). = 22 m / s × 5 s). That is, the steering section Ls is set so as to start from 110 m before the joining point Pg. The target passing time when the host vehicle Kg passes through the vehicle speed adjustment section Lv is set to 10 s (= ΔTm−Δt = 15 s−5 s), and the vehicle speed adjustment section Lv is 140 m (= Lo−Ls = 250 m−). 110 m), and is set to start from 140 m before the steering section Ls. Thus, even if the length Lo of the branch line Ds is shorter than that in the case of FIG. 4 (that is, regardless of the length Lo of the branch line Ds), the target passage time of the steering section Ls is set to a constant time. .

  In this case, a reference vehicle speed line (that is, a reference vehicle speed line without a limit vehicle speed) S is set as shown in FIG. That is, the vehicle speed of the host vehicle Kg becomes Vo (for example, Vo = 20 km / h) at the start end of the vehicle speed adjustment section Lv (for example, the point of the toll booth R on the highway), and the target passage time of 10s from the start end of the vehicle speed adjustment section Lv When the vehicle travels 140 m and reaches the end of the vehicle speed adjustment section Lv, the vehicle speed of the host vehicle Kg changes smoothly (for example, linearly) to reach the target vehicle speed Vm (= 80 km / h). S is set.

  When the length Lo of the branch line Ds is relatively long or curved, the vehicle speed limit Va is limited to the branch line Ds between the start end of the branch line Ds (for example, the toll gate R) and a predetermined section (restricted vehicle speed section La). (For example, Va = 40 km / h) may be set. In this case, a reference vehicle speed line (that is, a reference vehicle speed line with a limit vehicle speed) S is set as shown in FIG.

  That is, the vehicle speed of the host vehicle Kg becomes Vo (for example, Vo = 20 km / h) at the start end of the vehicle speed adjustment section Lv, and the vehicle speed of the host vehicle Kg is smooth from the start end of the vehicle speed adjustment section Lv with the limit vehicle speed Va on the branch line Ds as the upper limit. Until the host vehicle Kg passes through the limit vehicle speed section La, the vehicle speed of the host vehicle Kg is maintained below the limit vehicle speed Va, and then the host vehicle Kg passes through the limit vehicle speed section La and the limit vehicle speed is increased. When the vehicle speed of the host vehicle Kg changes smoothly again from the time ta is released and the host vehicle Kg reaches the end of the vehicle speed adjustment section Lv, the vehicle speed of the host vehicle Kg reaches the target vehicle speed Vm. The reference vehicle speed line S is set.

  Further, in the vehicle speed adjustment section Lv, as shown in FIG. 7, the target vehicle speed Vm is displayed on the vehicle speed meter 10, thereby assisting the driver of the host vehicle Kg in the vehicle speed operation.

  Specifically, the vehicle speed meter 10 is configured by a pointer-type vehicle speed meter, for example, and includes a dial plate 10a, a main pointer 10b, and a sub-pointer 10c. The dial 10a is a display in which numbers indicating the vehicle speed are displayed in an arc. The main pointer 10b is rotatably provided on the dial 10a, and indicates the current vehicle speed of the host vehicle Kg from among the vehicle speeds displayed on the dial 10a. The auxiliary pointer 10c is rotatably provided on the dial 10a, and indicates the target vehicle speed Vm from among the vehicle speeds displayed on the dial 10a. In this case, the target vehicle speed Vm is displayed on the vehicle speed meter 10 by indicating the target vehicle speed Vm with the auxiliary pointer 10c.

  In this case, as shown in FIG. 8, the target vehicle speed Vm indicated by the sub-guide 10c reaches the final target vehicle speed at the end of the vehicle speed adjustment section Lv based on the reference vehicle speed line S. Stepwise according to the increase in the vehicle speed of the host vehicle Kg (or the elapsed time since the host vehicle Kg passed the start end of the vehicle speed adjustment section Lv, or the current travel position of the host vehicle Kg in the vehicle speed adjustment section Lv). To be changed. In FIG. 8, the target vehicle speed Vm indicated by the auxiliary pointer 10c is changed stepwise, for example, 40 km / h → 65 km / h → 80 km / h. The driver operates the vehicle speed so that the vehicle speed of the host vehicle Kg matches the target vehicle speed Vm indicated by the sub-guide 10c, thereby smoothly operating the vehicle speed of the host vehicle Kg to the vehicle speed required for the main line merge. Can do.

  Further, in the steering section Ls, the steering support information is displayed on the display unit 11 of FIG. 7 at an appropriate timing, thereby assisting the driver of the host vehicle Kg in the steering operation. The driver can smoothly join the host vehicle Kg to the main line Dh by performing a steering operation for main line merging when the steering assist information is displayed on the display unit 11.

Next, a time-series flow of the operation of the vehicle merging support apparatus 1 will be described with reference to FIGS.
As shown in FIG. 9, at step S1, the merge point setting unit 41 reads road map data from the road map database 6b. In step S2, the merging point setting unit 41 determines whether or not the host vehicle Kg has entered the branch line Ds of the expressway (specifically, for example, has passed the toll gate R) based on the read road map data. Determine whether. As a result of the determination, if the host vehicle Kg has not entered the branch line Ds (NO in S2), the process returns to step S1, while if the host vehicle Kg has entered the branch line Ds (YES in S2). If), the process proceeds to step S3. In step S3, the merging point setting unit 41 determines whether or not the merging support switch 8 is turned on. If the result of this determination is that the joining support switch 8 has not been turned on (NO in S3), the process returns to step S1, while if the joining support switch 8 has been turned on (YES in S3) In the case), the process proceeds to step S4, and the driving assistance of the merging assistance device 1 for a vehicle is activated.

  In step S4, the merge point setting unit 41 sets a merge point Pg where the branch line Ds on which the host vehicle Kg travels merges with the merge lane Dh1 of the main line Dh based on the road map data read from the road map database 6b.

  In step S5, the target arrival time setting unit 42 performs inter-vehicle communication with the other vehicle Kt traveling on the merging lane Dh1 via the transmission / reception unit 7, or via the transmission / reception unit 7. Road-to-vehicle communication is performed with roadside communication devices installed around the expressway, and each of the other vehicles Kt that travel on the merging lane Dh1 travels within a certain range of the host vehicle Kg. Other vehicle information related to the vehicle speed and position of the other vehicle Kt is acquired.

  Then, in step S6, the target arrival time setting unit 42 sets each of the other vehicles Kt traveling in the merge lane Dh1 based on the merge point Pg set in step S4 and the other vehicle information acquired in step S5. A time for the merging inter-vehicle interval Wg, which is a predetermined inter-vehicle interval, to reach the merging point Pg is calculated, and the time is set as a target arrival time ΔTm for the host vehicle Kg to reach the merging point Pg. To do.

  Then, in step S7, the target vehicle speed setting unit 43 obtains the average vehicle speed of each other vehicle Kt traveling on the junction lane Dh1 based on the other vehicle information acquired in step S5, and from the average vehicle speed, the host vehicle Kg The target vehicle speed Vm at the time of main line merging is set.

  In step S8, the section setting unit 44 sets a steering section Ls (= Vm × Δt) in the branch line Ds based on a predetermined time Δt (for example, Δt = 5 s) set in advance and the target vehicle speed Vm. In step S9, the section setting unit 44 sets the vehicle speed adjustment section Lv () on the branch line Ds based on the length Lo of the branch line Ds acquired from the road map database 6b and the steering section Ls set in step S8. = Lo-Ls). Since the start end of the vehicle speed adjustment section Lv coincides with the start end of the branch line Ds (for example, the point of the toll gate R), the host vehicle Kg adjusts the vehicle speed by the approach of the host vehicle Kg to the branch line Ds in step S2. The vehicle has entered the section Lv.

  In step S10, the reference vehicle speed line setting unit 45 determines whether or not the limited vehicle speed Va is set to a part of the branch line Ds on which the host vehicle Kg travels based on the road map database 6b. As a result of this determination, if the limited vehicle speed Va is not set for a part of the branch line Ds (NO in S10), the process proceeds to step S11, and the reference vehicle speed line setting unit 45 determines that the reference vehicle speed without the limited vehicle speed is Line S is set. Then, the process proceeds to step S14 in FIG. On the other hand, as a result of the determination in step S10, if the limited vehicle speed Va is set to a part of the branch line Ds (YES in S10), the process proceeds to step S12, and the reference vehicle speed line setting unit 45 The existing reference vehicle speed line S is set. Then, the process proceeds to step S23 in FIG.

  Then, as shown in FIG. 10, in step S14, the vehicle speed control support unit 46 displays the target vehicle speed Vm on the vehicle speed meter 10 according to the reference vehicle speed line S without the limit vehicle speed set in step S11. In step S15, based on the detection result of the steering torque sensor 9, the steering assist unit 47 determines whether or not the driver of the host vehicle Kg has performed a steering operation while traveling in the vehicle speed adjustment section Lv of the host vehicle Kg. Determine. If the result of this determination is that the driver of the host vehicle Kg has performed a steering operation (YES in S15), the process proceeds to step S16, and the steering assist unit 47 stops the steering operation from the alarm control unit 12. The alarm to the effect is output. Then, the process proceeds to step S17. On the other hand, if the result of determination in step S15 is that the driver is not performing a steering operation (NO in S15), the process skips step S16 and proceeds to step S17.

  In step S <b> 17, the vehicle speed control support unit 46 determines whether the vehicle speed of the host vehicle Kg has reached the target vehicle speed Vm based on the detection result of the vehicle speed sensor 5. As a result of this determination, when the vehicle speed of the host vehicle Kg has not reached the target vehicle speed Vm (NO in S17), the process returns to step S14, and the processes of steps S14 to S17 are repeated. As a result, the driver of the host vehicle Kg can perform the driving operation by concentrating only on the vehicle speed operation among the vehicle speed operation and the steering operation for merging the main lines, and to the target vehicle speed Vm without greatly accelerating or decelerating the vehicle speed of the host vehicle Kg. Can be reached.

  On the other hand, as a result of the determination in step S17, if the vehicle speed of the host vehicle Kg has reached the target vehicle speed Vm (YES in S17), the vehicle speed control support unit 46 in step S18 causes the main vehicle Kg to join the main line. The vehicle speed of the host vehicle Kg is controlled to be automatically maintained at the target vehicle speed Vm until the vehicle finishes (automobile speed control). As a result, the driver can concentrate on the steering operation for the subsequent main line merge. In step S19, the vehicle speed control support unit 46 stops displaying the target vehicle speed Vm on the vehicle speed meter 10.

  In step S20, the steering support unit 47 determines whether or not the host vehicle Kg has entered the steering section Ls based on the road map data read from the road map database 6b. As a result of this determination, when the host vehicle Kg has not entered the steering section Ls (NO in S20), the process of step S20 is repeated. On the other hand, when the host vehicle Kg has entered the steering section Ls (YES in S20), the process proceeds to step S21, and the steering support unit 47 displays the steering support information on the display unit 11 at an appropriate timing. The driver of the host vehicle Kg can smoothly join the host vehicle Kg to the main line Dh by performing a steering operation for main line merging at the timing when the steering support information is displayed on the display unit 11. In addition, since the driver performs the steering operation after the vehicle speed operation, the driver can concentrate on the steering operation.

  In step S22, the steering support unit 47 determines whether or not the host vehicle Kg has joined the main line Dh based on the road map data read from the road map database 6b. As a result of the determination, if the result of this determination is that the host vehicle Kg has not joined the main line Dh (NO in S22), the process of step S22 is repeated. On the other hand, if the host vehicle Kg joins the main line Dh (YES in S22), the process ends.

  On the other hand, as shown in FIG. 11, in step S23, the vehicle speed control support unit 46 follows the reference vehicle speed line S with the limited vehicle speed set in step S12, so that the host vehicle Kg is the limited vehicle speed section La (restricted vehicle speed) of the branch line Ds. Until passing through Va), the vehicle speed meter 10 displays the vehicle speed with the upper limit vehicle speed Va as the target vehicle speed Vm.

  In step S24, the vehicle speed control support unit 46 determines whether or not the host vehicle Kg has passed the limited vehicle speed section La based on the road map data read from the road map database 6b. If the result of this determination is that the host vehicle Kg has not passed through the limited vehicle speed section La (NO in S24), the process also returns to step S23, and the processes of steps S23 and S24 are repeated. As a result, the driver is guided to operate the vehicle speed to the vehicle speed with the upper limit vehicle speed Va as the upper limit in the limited vehicle speed section La.

  On the other hand, if the result of the determination in step S24 is that the host vehicle Kg has passed through the limited vehicle speed section La (YES in S24), the process proceeds to step S25, and the vehicle speed control support unit 46 is set in step S12. The target vehicle speed Vm exceeding the limit vehicle speed Va is displayed on the vehicle speed meter 10 according to the reference vehicle speed line S with the limit vehicle speed. As a result, the driver is prompted to operate the vehicle speed exceeding the limit vehicle speed Va.

  And although the process of step S26-S33 is performed in order, since the process of step S26-S33 is the same process as the process of step S15-S22, respectively, description is abbreviate | omitted.

≪Main effects≫
As described above, according to the vehicle merging support apparatus 1 according to this embodiment, the host vehicle Kg travels while the host vehicle Kg travels the target vehicle speed setting unit 43 that sets the target vehicle speed Vm at the time of main line merging, and the branch line Ds of the host vehicle Kg. A vehicle speed control support unit 46 that assists the driver of the host vehicle Kg to operate the vehicle speed so that the vehicle speed of the host vehicle Kg reaches the target vehicle speed Vm, and after the vehicle speed of the host vehicle Kg reaches the target vehicle speed Vm, And a steering assisting unit 47 that assists the driver's steering operation to join Dh.

  According to this configuration, driving assistance is performed separately for the vehicle speed operation and the steering operation for main line merging, so that the driver can be concentrated on these operations (vehicle speed operation and steering operation). As a result, the safety at the time of main line merging can be improved and the burden of the driving operation of the driver at the time of main line merging can be reduced.

  In addition, the vehicle speed control support unit 46 maintains the vehicle speed of the host vehicle Kg at the target vehicle speed Vm after the vehicle speed of the host vehicle Kg reaches the target vehicle speed Vm. It is not necessary to perform the vehicle speed operation to maintain Vm, and it is possible to concentrate on the steering operation.

  Further, the vehicle speed control support unit 46 changes the vehicle speed of the host vehicle Kg to a vehicle speed with the upper limit of the limited vehicle speed Va when the limited vehicle speed Va is set on the branch line Ds, and the target after the limited vehicle speed Va is released. To assist the driver in operating the vehicle speed so as to reach the vehicle speed Vm. When the limited vehicle speed Va is set to the branch line Ds, vehicle speed control support according to the limited vehicle speed Va can be performed. As a result, the safety at the time of joining the main line can be further improved.

  Further, when the driver performs a steering operation before assisting the steering operation by the steering support unit 47 during traveling on the branch line of the host vehicle Kg, the alarm control unit 12 that warns the driver that the steering operation is stopped is provided. Therefore, it is possible to suppress the driver from performing the steering operation before assisting the steering operation by the steering support unit 47 during traveling on the branch line of the host vehicle Kg. As a result, the driver can be concentrated on the vehicle speed operation. , Safety at the time of main line merging can be improved.

  In addition, since the vehicle speed adjustment section Lv in which the vehicle speed operation support is performed by the vehicle speed control support section 46 and the steering section Ls in which the steering operation support is performed by the steering support section 47 is provided, the section setting section 44 is provided. The branch line Ds can be divided into the vehicle speed adjustment section Lv and the steering section Ls, and this also allows the driver to concentrate on the vehicle speed operation and the steering operation.

  Further, since the steering section Ls is set to a length obtained by multiplying the target vehicle speed Vm by a fixed time Δt that does not depend on the length of the branch line Ds, a passing time (= steering section) of the host vehicle Kg passing through the steering section Ls. Ls / target vehicle speed Vm) is constant time Δt regardless of the length of the branch line Ds. For this reason, even when the length of the branch line Ds is short, sufficient time for the steering operation can be secured.

  Further, the vehicle speed control support unit 46 sets a reference vehicle speed line S for causing the vehicle speed of the host vehicle Kg to reach the target vehicle speed Vm within the vehicle speed adjustment section Lv, and the vehicle speed of the host vehicle Kg is set along the reference vehicle speed line S. Since the driver's vehicle speed operation is supported so as to reach the target vehicle speed Vm, the vehicle speed of the host vehicle Kg can be suppressed from being greatly accelerated or decelerated while reaching the target vehicle speed Vm. As a result, the vehicle speed of the host vehicle Kg can be made to reach the target vehicle speed Vm smoothly with a lean vehicle speed operation.

  In addition, the vehicle speed control support unit 46 displays information on the target vehicle speed Vm on the vehicle speed meter 10 of the host vehicle Kg, thereby assisting the driver of the host vehicle Kg in driving the vehicle speed. It is easy to understand and can support the vehicle speed operation.

  In addition, the steering support unit 47 displays an instruction to perform a steering operation for main line merging of the host vehicle Kg on the display unit 11 to support the driver's steering operation. It is easy to understand visually and can assist the steering operation.

<Modification>
In the above embodiment, the vehicle speed control support unit 46 only displays the target vehicle speed Vm on the vehicle speed meter 10 in the vehicle speed adjustment section Lv as the vehicle speed support, but the vehicle speed control support section 46 does not display the vehicle speed adjustment section Lv. When the vehicle speed of the host vehicle Kg exceeds or is insufficient from the reference vehicle speed line S with respect to the driver's vehicle speed operation, the engine output (for example, opening of the throttle valve is set so that the excess or deficiency is offset). The vehicle speed of the host vehicle Kg may be controlled (vehicle speed assist control). That is, the vehicle speed of the host vehicle Kg may be controlled to the target vehicle speed Vm by offsetting the excess or insufficiency vehicle speed by the driver's vehicle speed operation by the engine control of the vehicle speed control support unit 46. Thereby, even when the driver's skill in operating the vehicle speed is low, the vehicle speed of the host vehicle Kg can be made to reach the target vehicle speed Vm along the reference vehicle speed line S.

  Similarly, in the above embodiment, the steering support unit 47 only displays the steering support information on the display unit 11 in the steering section Ls as the steering support. However, the steering support unit 47 displays the steering section Ls in the steering section Ls. When the steering torque exceeds or is insufficient from the necessary steering torque required for main line merging with respect to the driver's steering operation, the steering mechanism 14 is controlled so that the excess or deficiency is offset. Then, the steering torque of the host vehicle Kg may be controlled (steering assist control). That is, the steering torque may be controlled to the necessary steering torque by offsetting the excess or insufficient steering torque by the steering operation of the driver by the steering torque control of the steering assist unit 47. Thus, even when the driver's steering skill is low, the host vehicle Kg can be smoothly joined from the branch line Ds to the main line Dh.

  The present invention is not limited only to the configuration of the above-described embodiment and modification examples, and includes a combination of the above-described embodiment and modification examples, and many embodiments can be obtained.

  The present invention is suitable for application to a merging support device for a vehicle that supports merging from a branch line of the host vehicle to the main line.

DESCRIPTION OF SYMBOLS 1 ... Vehicle merge support apparatus 10 ... Vehicle speed meter 11 ... Display part 12 ... Alarm control part 43 ... Target vehicle speed setting part 44 ... Section setting part 46 ... Vehicle speed control support part 47 ... Steering support part Lo ... Branch line Lv ... Vehicle speed adjustment area Ls ... steering section S ... reference vehicle speed line Va ... restricted vehicle speed Vm ... target vehicle speed

Claims (11)

A merging support device for a vehicle that supports merging from a branch line of a host vehicle to a main line,
A target vehicle speed setting unit for setting a target vehicle speed at the time of joining the main line of the host vehicle;
A vehicle speed control support unit that assists the driver of the host vehicle to operate the vehicle speed so that the vehicle speed of the host vehicle reaches the target vehicle speed during travel of the host vehicle;
A merging support apparatus for a vehicle, comprising: a steering support unit that assists the driver's steering operation for the host vehicle to join the main line after the vehicle speed of the host vehicle reaches the target vehicle speed. The merging assistance device for vehicles according to claim 1, wherein the vehicle speed control support unit maintains the vehicle speed of the host vehicle at the target vehicle speed after the vehicle speed of the host vehicle reaches the target vehicle speed. The vehicle speed control support unit changes the vehicle speed of the host vehicle to a vehicle speed with the limit vehicle speed as an upper limit when the limit vehicle speed is set on the branch line, and reaches the target vehicle speed after the limit vehicle speed is released The vehicle merging support device according to claim 1, wherein the vehicle assisted operation of the driver is supported. When the driver performs a steering operation before assisting the steering operation by the steering support unit while traveling on the branch line of the host vehicle, an alarm control unit is provided that issues an alarm to the driver to stop the steering operation. The merging support device for a vehicle according to any one of claims 1 to 3. The vehicle speed control section where the vehicle speed control support is performed by the vehicle speed control support section and the section setting section which sets the steering section where the steering operation support by the steering support section is performed as the branch line. The vehicle merging support device according to one of the above. 6. The vehicle merging support apparatus according to claim 5, wherein the steering section is set to a length obtained by multiplying the target vehicle speed by a fixed time that does not depend on a length of the branch line. The vehicle speed control support unit sets a reference vehicle speed line for causing the vehicle speed of the host vehicle to reach the target vehicle speed within the vehicle speed adjustment section, and the vehicle speed of the host vehicle is set to the target vehicle speed along the reference vehicle speed line. The merging assistance device for a vehicle according to claim 6, wherein the vehicle speed operation of the driver is assisted so as to reach the vehicle. In the vehicle speed adjustment section, the vehicle speed control support unit, when the vehicle speed of the host vehicle exceeds or is insufficient from the reference vehicle speed line with respect to the driver's vehicle speed operation, the excess or insufficient vehicle speed. The merging support device for a vehicle according to claim 7, wherein the vehicle speed of the host vehicle is controlled so that the offset is offset. In the steering section, when the steering torque of the host vehicle exceeds or is insufficient from the necessary steering torque required for the main line merging of the host vehicle in the steering section, The merging support device for a vehicle according to claim 5, wherein the steering torque of the host vehicle is controlled so that an excess or a shortage of steering torque is canceled out. The vehicle speed control support unit supports vehicle speed operation of a driver of the host vehicle by displaying information on the target vehicle speed on a vehicle speed meter of the host vehicle. The vehicle merging support device as described. With a display,
The steering support unit supports the driver's steering operation by displaying an instruction to perform a steering operation for main line merging of the host vehicle on the display unit. The vehicle merging support apparatus according to one item.

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