JP2019025932A - Traveling control device for vehicle - Google Patents

Abstract

To provide a traveling control device for vehicle that can perform a lane change considering the grade of a preceding vehicle subject to overtaking.SOLUTION: A traveling control device for vehicle (10) includes front recognition means (20) that recognizes an own vehicle traveling lane and another preceding vehicle traveling on the traveling lane, and side recognition means (30) that recognizes another preceding vehicle traveling on a neighboring traveling lane and a following vehicle. The traveling control device for vehicle (10) has a function of cruising in accordance with a target speed when another preceding vehicle is not recognized by the front recognition means. The function includes performing a lane change to a neighboring lane in the case where another preceding vehicle is recognized by the front recognition means and the own vehicle approaches a predetermined vehicle-to-vehicle distance, plus when another preceding vehicle and a following vehicle do not exist within a predetermined vehicle-to-vehicle distance on the neighboring lane. Furthermore, the traveling control device for vehicle (10) has a function to distinguish the grade of another preceding vehicle that is recognized by the front recognition means and a function to change the starting conditions of the lane change depending on the grade.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a travel control device for a vehicle, and more particularly to a travel control device for a vehicle having an automobile line changing function.

  Various technologies that allow the vehicle to partially perform recognition, judgment, and operation that have been performed by the driver in order to reduce the burden on the driver, such as ACC (Adaptive Cruise Control), LKA (Lane Keeping Assist) Etc. have been put to practical use. Further, a technology has been developed that changes lanes by automatic steering when the speed of the preceding vehicle is lower than the set speed of the host vehicle during follow-up running by ACC.

  For example, in Patent Document 1, a vehicle to be overtaken that is to be overtaken in front of the traveling lane of the host vehicle is detected based on the surrounding environment information and the traveling information, and the rear of the traveling lane behind the host vehicle is detected based on the surrounding environment information It is described that a vehicle is detected as a vehicle following the original lane, the vehicle to be overtaken and the vehicle following the vehicle lane are monitored, and the overtaking traveling with respect to the vehicle to be overtaken is variably controlled based on the monitoring result.

Japanese Patent Laid-Open No. 2006-4443

  By the way, in determining whether or not to change lanes, it is natural that requirements such as the distance between the vehicles to be overtaken (the time between the vehicles) and the speed should be taken into account. Large vehicles and motorcycles differ in size and behavior. Patent Document 1 describes that vehicle information is acquired by inter-vehicle communication, but there is no suggestion regarding use for situation determination.

  The present invention has been made in view of the above situation, and an object of the present invention is to provide a vehicle travel control device capable of changing lanes in consideration of the vehicle type of a preceding vehicle to be overtaken. is there.

In order to solve the above problems, the present invention provides:
Forward recognition means for recognizing the own vehicle traveling lane and a preceding other vehicle traveling in the traveling lane;
Side recognition means for recognizing a preceding other vehicle and a following other vehicle traveling in an adjacent traveling lane,
A vehicle travel control device comprising:
When the preceding other vehicle is not recognized by the front recognition unit, the vehicle travels at a constant speed according to a target vehicle speed, and when the preceding other vehicle is recognized by the front recognition unit and approaches a predetermined inter-vehicle distance, In the case where there is no preceding other vehicle and subsequent other vehicle within the predetermined inter-vehicle distance, the one having the function of changing the lane to the adjacent traveling lane,
It has a function of discriminating the vehicle grade of the preceding other vehicle recognized by the forward recognition means and a function of changing the start condition of the lane change according to the vehicle grade.

  According to the vehicle travel control apparatus of the present invention, a function of determining the vehicle grade of the preceding other vehicle and a function of changing the lane change start condition according to the vehicle grade (large vehicle, ordinary vehicle, motorcycle, etc.) By having the above, it is possible to avoid the influence of the behavior of the preceding other vehicle, which is advantageous in implementing a vehicle line change with a high preventive safety effect.

It is a block diagram which shows the traveling control apparatus which concerns on this invention embodiment. It is a schematic top view which shows lane change in case a preceding other vehicle is a normal vehicle. It is a schematic top view which shows lane change in case a preceding other vehicle is a two-wheeled vehicle. It is a schematic top view which shows the horizontal position (vehicle width direction position) of a two-wheeled vehicle. It is a schematic plan view showing lane change when the preceding other vehicle is a large vehicle. It is a flowchart which shows the traveling control which concerns on this invention embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
In FIG. 1, the vehicle travel control system according to the present invention includes a front recognition means 20 for recognizing the own vehicle travel lane and a preceding other vehicle traveling in the travel lane, a preceding other vehicle and a subsequent other vehicle traveling in the adjacent traveling lane. Side recognition means 30, sensor group 40 for acquiring vehicle information, and control controller 10.

  The forward recognition means 20 includes a forward camera 21 that captures an image of the front of the host vehicle, a forward distance sensor 22 that detects a distance and position from a preceding vehicle that travels in front of the host vehicle, and the like. The front camera 21 includes image processing means for detecting the position of the own vehicle traveling lane (left and right dividing line), the presence or absence of right and left adjacent traveling lanes, and the shape (vehicle size) of the preceding vehicle from the captured image. . As the forward distance sensor 22, a millimeter wave radar can be preferably used.

  The side recognition means 30 includes a right front distance sensor 31 that detects a distance and a position with a preceding other vehicle on the right front, a left front distance sensor 32 that detects a distance and a position with the preceding other vehicle on the left front, It comprises a right rear distance sensor 33 that detects the distance and position with the following other vehicle, and a left rear distance sensor 34 that detects the distance and position with the left rear subsequent vehicle. As these distance sensors 31 to 34, LIDAR (laser image detection / ranging) can be suitably used.

  The inner world sensor group for acquiring the vehicle information 40 includes a speed sensor, a steering angle sensor, a yaw rate sensor, an acceleration sensor, and the like, and each detected value is input to the control controller 10.

  The controller 10 controls automatic driving control such as ACC control, LKA control, and lane change control in cooperation with a steering controller 11 that performs steering control, an engine controller 12 that performs speed control (acceleration / deceleration control), and a brake controller 13. A computer storing a program and data for storing data, a CPU for performing arithmetic processing, a RAM for reading the program and data and storing dynamic data and arithmetic processing results, and an input / output interface .

  In the ACC control, when the preceding other vehicle is not recognized by the forward recognition unit 20, the acceleration / deceleration control of the engine controller 12 and the brake controller 13 performs constant speed traveling according to the target vehicle speed (cruise control set speed), and the forward recognition unit 20 When a preceding other vehicle is recognized and approaches a set time gap (inter-vehicle time = inter-vehicle distance / own vehicle speed), the set time gap is maintained and follow-up running is performed.

  The LKA control detects the lane marking and the vehicle position based on the image data acquired by the front camera 21 and assists the steering force so as to travel in the center of the lane by the steering control by the steering controller 11. Further, by linking the LKA control and the ACC control, it is possible to perform partial automatic lane driving corresponding to limited automatic steering.

  In the state where the LKA control is operated in conjunction with the ACC control, when the preceding other vehicle is recognized by the front recognition unit 20 and approaches the set time gap, the side recognition unit 30 causes the adjacent traveling lane to exist. And if it is confirmed that there is no preceding other vehicle and subsequent other vehicle within the predetermined inter-vehicle distance range, the LKA function is canceled with the driver's turn signal operation as a trigger, and the lane change to the adjacent driving lane Is started.

  By the way, as already described, the size and behavior of vehicles differ between ordinary vehicles and large vehicles and motorcycles. Therefore, in the travel control system according to the present invention, the front camera 21 and the front distance sensor 22 constituting the front recognition means 20 are used to identify the preceding vehicle to be overtaken, and the start condition for changing the lane is determined according to the vehicle type. It is set to be set.

  For example, a preceding vehicle is detected as a moving object from an image acquired by the front camera 21 by image processing (feature points, optical flow extraction, interframe difference, etc.), and the distance from the preceding vehicle detected by the front distance sensor 22 is detected. The vehicle size can be identified by measuring the size (width, height) shape (aspect ratio) of the preceding vehicle or the size of the license plate.

  Specifically, the size and shape of the vehicle can be identified from the fact that in the case of a two-wheeled vehicle, the lateral width is not more than a predetermined value (for example, 1 m or less) and the aspect ratio is vertically long. In the case of a truck car, a small truck has a width of 2 m or less, a medium truck has a width of 2 to 2.5 m, and a large truck or a large bus has a width of 2.5 to 3 m. The size (length x width) of the license plate is defined as 22 cm x 44 cm for large cars, 16.5 cm x 33 cm for ordinary cars, and 12.5 cm x 23 cm for motorcycles. The preceding vehicle can also be identified by the character recognition of the license plate.

  Next, start conditions for each of a normal vehicle, a motorcycle, and a large vehicle will be described.

(Standard-sized car)
FIG. 2 shows a situation in which the preceding other vehicle 2 (ordinary vehicle) is present in front of the traveling lane 51 of the own vehicle 1 and the subsequent other vehicle (ordinary vehicle) is present behind the adjacent traveling lane 52 on the right side. . In this case, the start condition for changing the vehicle line is that the front inter-vehicle distance x is equal to or greater than the predetermined inter-vehicle distance x1. The predetermined inter-vehicle distance (x1) is determined according to the traveling speed based on the braking distance. For example, in the case of a normal vehicle, the braking distance is 54 m when traveling at 80 km / h and the braking distance is 84 m when traveling at 100 km / h. Is set.

  Although it depends on the use of the host vehicle 1, the percentage of ordinary cars is large in terms of the total amount of travel. Therefore, the initial conditions are the starting conditions when the preceding other cars are ordinary cars. In such a case, control for applying each start condition is performed.

(Motorcycle)
As shown in FIG. 3, when the two-wheeled vehicle 4 is traveling in front of the traveling lane 51 of the host vehicle 1, the front distance sensor 22 detects the relative distance to the two-wheeled vehicle 4 (front inter-vehicle distance x). The lateral position y of the two-wheeled vehicle 4 with respect to the center of the lane is detected by the camera 21 and the front distance sensor 22. Since motorcycles can easily change the positioning in the lane, the lane change is implemented in a situation where a sufficient lateral distance is secured.

  As shown in FIG. 4, according to the lateral position y of the two-wheeled vehicle 4, the traveling position of the two-wheeled vehicle 4 is divided into a lane center yc, a lane rightward yr, and a lane leftward yl. For example, when the width of the driving lane 51 is 3.5 m, the lane center yc if y <± 0.5 m, the lane rightward yr if 0.5 m ≦ y ≦ 1.75 m, −0.5 m ≧ y ≧ If it is −1.75 m, the lane is on the left side yl.

  When the preceding two-wheeled vehicle 4 is traveling in the lane center yc or the lane leftward yl, the lane change is started if the relative distance x with the two-wheeled vehicle 4 is within the predetermined inter-vehicle distance x1. On the other hand, when it is determined that the lateral position of the two-wheeled vehicle 4 is on the lane rightward yr, the lane change is stopped.

(Large car)
Next, as shown in FIG. 5, when the large vehicle 5 is traveling in front of the traveling lane 51 of the own vehicle 1, the predetermined inter-vehicle distance, which is a reference for starting the lane change, is set for a normal vehicle or a motorcycle ( The distance is changed to a predetermined inter-vehicle distance x2 larger than x1).

  When the vehicle ahead is a large vehicle, the forward view is limited when approaching. In addition, since large vehicles have a large inertia and tend to drive to maintain the vehicle speed, when a large vehicle approaches a preceding vehicle, a sudden lane change is expected. Therefore, by limiting the lane at a distance x2 that is longer than that of a normal vehicle, it is possible to cope with the limitation of visibility and the behavior of a large vehicle.

  Therefore, if there is no preceding other vehicle and subsequent other vehicle within the predetermined inter-vehicle distance x1 of the adjacent traveling lane 52 for the reasons described above, the predetermined inter-vehicle distance before approaching the large vehicle 5 to the predetermined inter-vehicle distance x1. The lane change is started when x2 is reached.

  For example, when the large vehicle 5 travels 80 km / h (22.2 m / s), the inter-vehicle time is extended by 2 seconds and changed to a predetermined inter-vehicle distance x2 = x1 + 2 (s) × 22.2 (m / s). If the braking distance of 54 m when traveling at a speed of 80 km / h is defined as a predetermined inter-vehicle distance x1, the predetermined inter-vehicle distance x2 after the change is 98.4 m.

(Automobile line change flow)
Hereinafter, an automobile line change flow based on the above embodiment will be described with reference to FIG.
When the lane change is activated in the state where the ACC control and the LKA control are operating (step 100), the adjacent vehicle lane detection by the side recognition unit 30 is performed together with the detection of the front vehicle by the front recognition unit 20. (Step 101).

  In such a state, a forward vehicle is detected by the forward recognition means 20, an adjacent travel lane exists, and no preceding other vehicle and subsequent subsequent vehicle exist within a predetermined distance between the adjacent traveling lanes. Is confirmed, the front camera 21 and the front distance sensor 22 detect the front vehicle shape (step 102).

  When it is determined that the preceding vehicle is a two-wheeled vehicle (step 103), a start condition for the two-wheeled vehicle is set (step 120), and the lateral position of the two-wheeled vehicle is detected (step 121). If the two-wheeled vehicle is at the center or left side of the lane, the lane change is started at a forward distance x <predetermined inter-vehicle distance x1 (steps 113 and 114), but if it is determined that the two-wheeled vehicle is traveling on the right side of the lane, the lane The change is stopped (step 122).

  When it is determined that the preceding vehicle is a large vehicle (step 104), the start condition for the large vehicle is set (step 130), and the lane change is started at the forward distance x <predetermined inter-vehicle distance x2. (Steps 133 and 114). When the forward distance x does not reach the predetermined inter-vehicle distance x2, the forward vehicle detection by the forward recognition means 20 and the adjacent travel lane detection by the side recognition means 30 are continued.

  When it is determined that the preceding vehicle is not a motorcycle or a large vehicle but a normal vehicle, the start condition (default value) for the normal vehicle is maintained, and the lane change is started at the front distance x <predetermined inter-vehicle distance x1. (Steps 113 and 114). When the forward distance x does not reach the predetermined inter-vehicle distance x1, the forward vehicle detection by the forward recognition means 20 and the adjacent travel lane detection by the side recognition means 30 are continued.

  Although several embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications and changes can be made based on the technical idea of the present invention. I will add.

1 Vehicle (own vehicle, ordinary vehicle)
2 vehicles (preceding other vehicles, ordinary vehicles)
3 vehicles (following other vehicles)
4 Motorcycles (preceding other vehicles)
5 Large vehicles (preceding other vehicles)
DESCRIPTION OF SYMBOLS 10 Control controller 11 Steering controller 12 Engine controller 13 Brake controller 20 Front recognition means 21 Front camera 22 Front distance sensor 30 Side recognition means 31 Right front distance sensor 32 Left front distance sensor 33 Right rear distance sensor 34 Left rear distance sensor

Claims (4)

Forward recognition means for recognizing the own vehicle traveling lane and a preceding other vehicle traveling in the traveling lane;
Side recognition means for recognizing a preceding other vehicle and a following other vehicle traveling in an adjacent traveling lane,
A vehicle travel control device comprising:
When the preceding other vehicle is not recognized by the front recognition unit, the vehicle travels at a constant speed according to a target vehicle speed, and when the preceding other vehicle is recognized by the front recognition unit and approaches a predetermined inter-vehicle distance, In the case where there is no preceding other vehicle and subsequent other vehicle within the predetermined inter-vehicle distance, the one having the function of changing the lane to the adjacent traveling lane,
A travel control device for a vehicle having a function of discriminating a vehicle grade of a preceding other vehicle recognized by the forward recognition means and a function of changing a start condition of the lane change according to the vehicle grade.   2. The vehicle travel control device according to claim 1, wherein the function of determining the vehicle grade of the preceding other vehicle includes a function of determining whether the vehicle grade is a normal vehicle, a large vehicle, or a two-wheeled vehicle. .   When the preceding other vehicle is a large vehicle, the function of changing the start condition of the lane change according to the vehicle class is the function of changing the predetermined inter-vehicle distance as the start condition of the lane change when the preceding other vehicle is a normal vehicle. The travel control device for a vehicle according to claim 2, further comprising a function for making the size larger than the case.   The function of changing the lane change start condition according to the vehicle class includes a function of detecting a lateral position of the two-wheeled vehicle in the own vehicle traveling lane when the preceding other vehicle is a two-wheeled vehicle, and the two-wheeled vehicle 4. The vehicle travel control device according to claim 2, further comprising a function of not starting a lane change when the lateral position is closer to the adjacent travel lane than the set position.

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