JP2019026060A - Vehicular drive support apparatus - Google Patents

Abstract

To merge into a lane without giving discomfort to a vehicle nearby when changing lanes.SOLUTION: Control includes; setting a second correction amount ab of acceleration larger in the case of a following vehicle 32 existing than a first correction amount af of acceleration in the case of a preceding vehicle 31 existing; setting acceleration larger in the case of the following vehicle 32 existing than that in the case of a preceding vehicle 31 existing; tracking the preceding vehicle 31 by gradually accelerating in the case of the preceding vehicle 31 existing after changing lanes to a passing lane 22; and accelerating quickly to go with the flow without disturbing the travel of the following vehicle 32 in the case of the following vehicle 32 existing.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a vehicle driving support device for driving a vehicle according to a set situation.

  As a vehicle driving support device for driving a vehicle in accordance with a set situation, for example, the vehicle is driven following a preceding vehicle while maintaining a predetermined inter-vehicle distance, or an object existing in the traveling direction is detected. There is known an active cruise control device that automatically decelerates and stops a vehicle.

  When driving with a vehicle driving support device (active cruise control device) and changing the lane to move the vehicle between the preceding vehicle and the following vehicle, it is necessary to maintain the distance between the preceding vehicle and the following vehicle appropriately. There is. For this reason, for example, when a lane change is performed, a technique for setting a target inter-vehicle distance to be an appropriate inter-vehicle distance with respect to a preceding vehicle after the lane change has been proposed (see Patent Document 1). ).

  With the conventionally proposed technology, it is possible to prevent a sudden approach of the following vehicle by appropriately controlling the inter-vehicle distance with respect to the preceding vehicle after the lane change. However, even if the inter-vehicle distance is properly controlled with respect to the preceding vehicle, no direct measures are taken for the following vehicle. It is the reality that is entrusted. Therefore, the current situation is that the driver of the following vehicle may feel uncomfortable.

JP-A-5-159198

  The present invention has been made in view of the above situation, and when a vehicle is driven according to a set situation, the vehicle driving can perform merging without giving a sense of incongruity to surrounding vehicles. An object is to provide a support device.

  In order to achieve the above object, a driving support apparatus for a vehicle according to the present invention according to claim 1 controls the driving state including acceleration so as to keep the inter-vehicle distance at a set inter-vehicle distance according to the situation of surrounding vehicles. In the vehicle driving support device including the distance control means, the inter-vehicle distance control means sets the acceleration correction amount when there is a preceding vehicle as the surrounding vehicle after changing the lane as the first correction amount. The acceleration correction amount when there is a succeeding vehicle as the surrounding vehicle after changing the lane is set as a second correction amount that is larger than the first correction amount.

  In the present invention according to claim 1, since the second correction amount of acceleration when there is a following vehicle is set to be larger than the first correction amount of acceleration when there is a preceding vehicle, When there is a preceding vehicle, the vehicle can accelerate slowly to follow the preceding vehicle, and when there is a following vehicle, it can quickly accelerate to get on the traveling flow of the following vehicle.

  Therefore, when the lane change is performed when the vehicle is driven according to the set situation, it is possible to smoothly merge without giving a sense of incongruity to surrounding vehicles.

  A vehicle driving support apparatus according to a second aspect of the present invention is the vehicle driving support apparatus according to the first aspect, wherein the first correction amount and the second correction amount set by the inter-vehicle distance control means. Is derived according to the inter-vehicle distance from the surrounding vehicle when the vehicle speed is equal to or lower than the reference vehicle speed, which is a predetermined vehicle speed, and derived according to the relative speed with respect to the surrounding vehicle when the vehicle speed exceeds the reference vehicle speed. It is characterized by.

  In the present invention according to claim 2, the first correction amount and the second correction amount of the acceleration are derived according to the inter-vehicle distance from the surrounding vehicle when the vehicle speed is equal to or lower than the reference vehicle speed that is a predetermined vehicle speed. It is derived according to the relative speed with the surrounding vehicle when the vehicle speed is exceeded.

  For example, when the vehicle speed is equal to or lower than the reference vehicle speed, the acceleration correction amount is reduced as the inter-vehicle distance increases, and the acceleration correction control is performed within a predetermined inter-vehicle distance range. Further, when the vehicle speed exceeds the reference vehicle speed and the relative speed with the surrounding vehicle is high (when the surrounding vehicle speed is high), the acceleration correction amount is increased to perform acceleration correction control.

  According to a third aspect of the present invention, there is provided the vehicle driving support apparatus according to the first or second aspect, wherein the lane change is a change to an overtaking lane on an automobile-only road. It is characterized by.

  In the present invention according to claim 3, when the lane is changed to the overtaking lane on the automobile exclusive road (highway), the preceding vehicle and the following vehicle can be merged in an appropriate state.

  The vehicle driving support device of the present invention can perform merging without causing a sense of incongruity to surrounding vehicles when a lane change is performed when the vehicle is driven according to a set situation.

It is a block block diagram of the driving assistance device for vehicles concerning one example of the present invention. It is a flowchart of the driving assistance device for vehicles concerning one example of the present invention. It is a flowchart of the driving assistance device for vehicles concerning one example of the present invention. It is a graph showing the relationship between the inter-vehicle distance and acceleration. It is a graph showing the relationship between relative velocity and acceleration. It is a graph showing the relationship between a vehicle speed and acceleration. It is explanatory drawing showing the condition of merge.

  FIG. 1 is a block diagram of a vehicle driving support apparatus according to an embodiment of the present invention, and FIGS. 2 and 3 are flowcharts illustrating the operation of the vehicle driving support apparatus according to an embodiment of the present invention. is there. 4 is a graph for explaining the relationship between the inter-vehicle distance and the correction amount, FIG. 5 is a graph for explaining the relationship between the relative speed and the correction amount, and FIG. 6 is a graph for explaining the relationship between the vehicle speed and the acceleration. FIG. 7 shows the state of merging.

  As shown in FIG. 1, a travel control unit 1 is provided as a vehicle driving support device. The travel control means 1 controls the operation of the brake and the output of the engine to follow a surrounding vehicle (peripheral vehicle: preceding vehicle, subsequent vehicle) in a traveling state maintaining a predetermined inter-vehicle distance (set inter-vehicle distance). Means for traveling, that is, means for causing the vehicle to travel according to the set situation. The travel control means 1 is controlled by the command from the control means 2 to control the brake operation and the engine output.

  The control means 2 includes a vehicle speed sensor 3 for detecting the speed of the host vehicle, a preceding vehicle and a succeeding vehicle, a camera 4 for photographing surrounding conditions, an inter-vehicle distance detecting means 5 for detecting a distance between the preceding vehicle and the following vehicle, Information of relative speed detection means 6 for detecting a relative speed with respect to the preceding vehicle or the following vehicle (for example, a relative speed of the preceding vehicle or the following vehicle with respect to the host vehicle) is input. And the detection information of the turn signal switch 7 (turn signal switch) is input as a means for detecting a lane change.

  In the control means 2, the brake operation and engine output are controlled based on information from the vehicle speed sensor 3, the camera 4, the inter-vehicle distance detection means 5, and the relative speed detection means 6.

  The control means 2 is provided with an inter-vehicle distance control means 11 and controls the inter-vehicle distance between the preceding vehicle and the following vehicle at the time of lane change based on the information of the turn signal switch 7. That is, the acceleration at the time of lane change is controlled so that the merging with the preceding vehicle and the following vehicle at the time of lane change is performed smoothly.

  For example, if you are driving on an automobile-only road (highway) and you change the lane from the driving lane to the passing lane (if you change lanes), your vehicle will be accelerated at a preset acceleration, leading vehicle, following vehicle The travel of the host vehicle is controlled so as to quickly get on the flow of the vehicle. Then, when there is a preceding vehicle, the acceleration correction amount is set (derived) as the first correction amount, and when there is a following vehicle, the acceleration correction amount is set as a second correction amount that is larger than the first correction amount. Is (derived).

  Since the second correction amount of acceleration when there is a following vehicle is set to be larger than the first correction amount of acceleration when there is a preceding vehicle, there is a preceding vehicle after changing the lane in the overtaking lane Can slowly accelerate and follow the preceding vehicle, and if there is a following vehicle, it can quickly accelerate and get on the flow without disturbing the running of the following vehicle.

  The acceleration control when changing the lane to the overtaking lane will be described with reference to flowcharts based on FIGS. 2 and 3 are flowcharts for explaining the processing of the inter-vehicle distance control means 11 in the vehicle driving support device.

  As shown in FIG. 2, it is determined in step S1 whether or not there is a lane change. Judgment of a lane change is judged by the detection condition of the turn signal switch 7 (refer FIG. 1). If it is determined in step S1 that there is a lane change, it is determined in step S2 whether or not the speed of the host vehicle is equal to or lower than a reference vehicle speed H that is a predetermined vehicle speed. If it is determined in step S1 that there is no lane change, the process ends.

  If it is determined in step S2 that the speed of the host vehicle is equal to or lower than the reference vehicle speed H, a control routine based on the inter-vehicle distance is executed in step S3, and the speed of the host vehicle is not lower than the reference vehicle speed H in step S2. If it is determined that the vehicle speed exceeds the reference vehicle speed H, a control routine based on the relative speed is executed in step S4.

  In the control routine based on the inter-vehicle distance in step S3, the first correction amount and the second correction amount of acceleration at the time of lane change are calculated based on a map set according to the inter-vehicle distance (details will be described later). In the control routine based on the relative speed in step S4, based on a map set in accordance with a relative speed with respect to the preceding vehicle or the following vehicle (for example, a relative speed of the preceding vehicle or the following vehicle with respect to the own vehicle) (details will be described later). ), The first correction amount and the second correction amount of acceleration at the time of lane change are calculated, and the subroutine ends and returns.

  For example, when the vehicle speed is equal to or lower than the reference vehicle speed H, the acceleration correction amount (first correction amount, second correction amount) is decreased as the inter-vehicle distance with the surrounding vehicle increases, and within a predetermined inter-vehicle distance range. Acceleration correction control is performed (see FIGS. 4A and 4B described later). Further, when the vehicle speed exceeds the reference vehicle speed H, when the relative speed with the surrounding vehicle is large (when the surrounding vehicle speed is high), the acceleration correction amount (first correction amount, second correction amount) is increased. Then, acceleration correction control is performed (see FIGS. 5A and 5B described later).

  The subroutine of step S3 and step S4 will be specifically described with reference to FIGS. Steps S3 and S4 are the same as shown in FIG. 3 because the map on which the calculation is based is the difference between the map corresponding to the inter-vehicle distance and the map corresponding to the relative speed.

  4 is a map for calculating a correction amount according to the inter-vehicle distance, and FIG. 5 is a map for calculating a correction amount according to the relative speed. FIG. A map for calculating the first correction amount af, and (b) shows a map for calculating the second correction amount ab of acceleration when there is a following vehicle.

  When the vehicle speed is equal to or lower than the reference vehicle speed H, as shown in FIG. 4A, the first correction amount af of acceleration when there is a preceding vehicle is set to a value y until the inter-vehicle distance df increases. . As shown in FIG. 4 (b), the second correction amount ab of acceleration when there is a following vehicle is set to a value x that is larger than the value y until the inter-vehicle distance df increases.

  When the vehicle speed exceeds the reference vehicle speed, as shown in FIG. 5 (a), the first correction amount af of acceleration when there is a preceding vehicle is set to a value y when the relative speed of the preceding vehicle increases. Yes. As shown in FIG. 5 (b), the second correction amount ab of acceleration when there is a following vehicle is set to a value x that is larger than the value y when the relative speed of the following vehicle increases.

  As shown in FIG. 3, it is determined whether or not there is a following vehicle in step S11, and if it is determined that there is a following vehicle, based on the map shown in FIG. 4 (b) or FIG. 5 (b), In step S12, the second correction amount ab = x. If it is determined in step S11 that there is no subsequent vehicle, the second correction amount ab = 0 is set in step S13.

  After the second correction amount ab = x in step S12, or after the second correction amount ab = 0 in step S13, it is determined in step S14 whether there is a preceding vehicle. If it is determined in step S14 that there is a preceding vehicle, the first correction amount af = y is set in step S15 based on the map shown in FIG. 4A or 5A. If it is determined in step S14 that there is no preceding vehicle, the first correction amount af = 0 is set in step S16.

  As shown in FIGS. 4 and 5, the value x of the second correction amount ab is set to be larger than the value y of the first correction amount af. That is, when there is a preceding vehicle, the acceleration correction amount is set as the first correction amount af, and when there is a following vehicle, the acceleration correction amount value is larger than the first correction amount af, the second correction amount ab. Is set as

  In step S17, the first correction amount af and the second correction amount ab are added to calculate the acceleration correction amount ar. That is, when only the preceding vehicle exists, the correction amount ar becomes the first correction amount af (second correction amount ab = 0), and when only the following vehicle exists, the correction amount ar becomes the second correction amount. The amount is ab (first correction amount af = 0). When both the preceding vehicle and the following vehicle are present, the correction amount ar is a value obtained by collecting the first correction amount af and the second correction amount ab.

  The first correction amount af and the second correction amount ab when the following vehicle is present, when there is not, when there is a preceding vehicle, and the second correction amount ab are collectively calculated (0 in one case) It is also possible to calculate the correction amount ar when there is a following vehicle, when there is no following vehicle, when there is a preceding vehicle, and when there is no preceding vehicle.

  After calculating the correction amount ar in step S17, the correction amount ar is added to the reference acceleration B to calculate the acceleration A in step S18. As shown in FIG. 6, the correction amount ar (the portion indicated by the mesh in the figure) is added to the reference acceleration B when the vehicle speed H1 is exceeded, and the acceleration A is calculated.

  Since the second correction amount ab of acceleration when there is a following vehicle is set larger than the first correction amount af of acceleration when there is a preceding vehicle, there is a following vehicle than the acceleration A when there is a preceding vehicle. The acceleration A in the case increases, and after changing the lane to the overtaking lane, if there is a preceding vehicle, the vehicle can accelerate slowly and follow the preceding vehicle, and if there is a following vehicle, it accelerates quickly. Thus, it is possible to get on the flow without disturbing the running of the following vehicle.

  Therefore, when the vehicle is driven according to the situation set on the automobile exclusive road (highway), if the lane is changed to the overtaking lane, it smoothly merges with the preceding vehicle and the following vehicle in an appropriate state. It can be carried out.

  That is, as shown in FIG. 7A, when changing the lane from the traveling lane 21 to the passing lane 22, if there is a preceding vehicle 31, the first value having a small value according to the inter-vehicle distance df (or relative speed). The correction amount af is calculated and the acceleration A is set. As a result, the host vehicle 25 can be slowly accelerated (indicated by the arrow in the figure) to move to the passing lane 22 and follow the preceding vehicle 31.

  Further, as shown in FIG. 7B, when the lane change from the traveling lane 21 to the overtaking lane 22 is performed, if there is a following vehicle 32, the second value having a large value according to the inter-vehicle distance db (or relative speed). The correction amount ab is calculated and the acceleration A is set. As a result, the host vehicle 25 can quickly accelerate (indicated by a white arrow in the figure) to move to the overtaking lane 22 and ride on the flow of the following vehicle 32.

  Therefore, the above-described vehicle driving support device can perform merging without giving a sense of incongruity to surrounding vehicles when the lane is changed when the vehicle is driven according to the set situation.

  INDUSTRIAL APPLICABILITY The present invention can be used in the industrial field of a vehicle driving support device for driving a vehicle according to a set situation.

DESCRIPTION OF SYMBOLS 1 Travel control means 2 Control means 3 Vehicle speed sensor 4 Camera 5 Inter-vehicle distance detection means 6 Relative speed detection means 7 Turn signal switch 11 Inter-vehicle distance control means 21 Driving lane 22 Passing lane 25 Own vehicle 31 Predecessor vehicle 32 Subsequent vehicle

Claims (3)

In the vehicle driving support device including the inter-vehicle distance control means for controlling the driving state including the acceleration so as to keep the inter-vehicle distance at the set inter-vehicle distance according to the situation of the surrounding surrounding vehicle,
The inter-vehicle distance control means includes
The acceleration correction amount when there is a preceding vehicle as the surrounding vehicle after changing the lane is set as a first correction amount, and the acceleration when there is a following vehicle as the surrounding vehicle after changing the lane Is set as a second correction amount that is larger than the first correction amount. The vehicle driving support device according to claim 1,
The first correction amount and the second correction amount set by the inter-vehicle distance control means are:
When the vehicle speed is equal to or lower than a reference vehicle speed that is a predetermined vehicle speed, the vehicle speed is derived according to the distance between the surrounding vehicles and when the vehicle speed exceeds the reference vehicle speed, the vehicle speed is derived according to the relative speed with the surrounding vehicles. A vehicle driving support device. In the vehicle driving assistance device according to claim 1 or 2,
The lane change is a change to an overtaking lane on an automobile-only road.

Images