JP2019142277A - Vehicle control system - Google Patents

Abstract

To provide a vehicle control system that is able to improve safety when stop of the own vehicle following a stop operation of a preceding vehicle takes place in the course of a lane change.SOLUTION: A preceding vehicle following control unit stops an own vehicle following a stop operation of a preceding vehicle on the basis of preceding vehicle following control. The preceding vehicle following control unit starts the own vehicle following a start operation of the preceding vehicle. However, in a case where the own vehicle is cased to carry out following stop in the course of a lane change operation, the preceding vehicle following control unit determines whether a stop position of the own vehicle is on a lane section line or not. In a case where it is determined that the stop position of the own vehicle is on the lane section line, the preceding vehicle following control unit inhibits execution of following start at the point in time.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a vehicle control system. In particular, the present invention relates to a vehicle control system that performs preceding vehicle following control.

  Japanese Unexamined Patent Application Publication No. 2013-123993 discloses a system that performs preceding vehicle following control (ACC: Adaptive Cruise Control). This conventional system stops the host vehicle following the stop operation of the preceding vehicle as part of the preceding vehicle following control. In the conventional system, when the start operation of the preceding vehicle is detected while the host vehicle is stopped, a notification to that effect is sent to the driver of the host vehicle and an inquiry about whether the host vehicle can start is made. However, when a start reservation from the driver is received separately while the host vehicle is stopped, the conventional system starts the host vehicle without executing the start notification.

JP 2013-123993 A JP-A-6-171482

  By the way, a lane change may be performed based on the driver's intention during the execution of the preceding vehicle following control. When the lane change is performed, the tracking target in the preceding vehicle following control is switched from the preceding vehicle on the change source lane to the preceding vehicle on the change destination lane. However, if any stop operation of these preceding vehicles is detected during such a lane change, the host vehicle may stop following the stop operation. And when the stop position of the own vehicle in this case is on a lane marking, the course after the start becomes unclear. Therefore, even if the start reservation is accepted while the host vehicle is stopped, it is difficult to start the host vehicle.

  The present invention has been made in view of the above-described problems, and is a vehicle control system capable of improving safety when stopping the host vehicle following a stop operation of a preceding vehicle is performed during a lane change. The purpose is to provide.

The present invention is a vehicle control system for solving the above-described problems, and has the following characteristics.
The vehicle control system includes a vehicle information acquisition unit, a lane information acquisition unit, a preceding vehicle follow-up control unit, and a lane change request acquisition unit.
The vehicle information acquisition unit acquires vehicle information around the host vehicle.
The lane information acquisition unit acquires lane information around the host vehicle.
The preceding vehicle follow-up control unit performs preceding vehicle follow-up control for controlling the own vehicle so as to follow the preceding vehicle ahead of the own vehicle based on the vehicle information and the lane information.
The lane change request acquisition unit receives a lane change request from a driver. The preceding vehicle following control unit follows the starting operation when the starting operation of the preceding vehicle is detected based on the vehicle information while the host vehicle is stopped based on the preceding vehicle following control. Start the vehicle.
When the lane change request is issued during execution of the preceding vehicle following control, the preceding vehicle following control unit changes the traveling lane of the host vehicle based on the lane change request.
The preceding vehicle follow-up control unit follows the stop operation when the stop operation of the preceding vehicle to be followed in the preceding vehicle follow-up control is detected based on the vehicle information during the change of the travel lane. Stop the vehicle.
The preceding vehicle follow-up control unit determines whether or not the stop position of the own vehicle is on a lane marking line based on the lane information when the own vehicle stops following the stop operation. When the preceding vehicle follow-up control unit determines that the stop position is on the lane line, the preceding vehicle follow-up control unit prohibits the start of the host vehicle following the start operation of the preceding vehicle to be followed.

  According to the present invention, when the stop operation of the preceding vehicle to be tracked is detected, the host vehicle is stopped and it is determined whether or not the stop position of the host vehicle is on the lane marking. Further, when it is determined that the stop position is on the lane line, the start of the own vehicle following the start operation of the preceding vehicle to be tracked is prohibited. Accordingly, it is possible to expect a start operation by the driver, not an automatic start based on the preceding vehicle following control. Therefore, it is possible to improve safety when the host vehicle is stopped during the lane change following the stop operation of the preceding vehicle.

It is a block diagram which shows the structural example of the vehicle control system which concerns on embodiment of this invention. It is a block diagram which shows the function structural example of vehicle control ECU shown in FIG. It is a figure explaining the 1st case where the own vehicle stops automatically in the middle of a lane change operation. It is a figure explaining the 2nd case where the own vehicle stops automatically in the middle of lane change operation. 5 is a flowchart illustrating a flow of processing when the vehicle control ECU causes the host vehicle M to perform various operations based on the preceding vehicle following control in the embodiment of the present invention.

  Embodiments of the present invention will be described below with reference to the drawings. However, in the embodiment shown below, when referring to the number of each element, quantity, quantity, range, etc., unless otherwise specified or clearly specified in principle, the reference However, the present invention is not limited to these numbers. Further, the structures, steps, and the like described in the embodiments below are not necessarily essential to the present invention unless otherwise specified or clearly specified in principle.

1. Description of Overall Configuration of Vehicle Control System FIG. 1 is a block diagram illustrating a configuration example of a vehicle control system 100 according to an embodiment of the present invention. This system is mounted on a vehicle. A vehicle (hereinafter also referred to as “own vehicle M”) on which the present system is mounted is, for example, an automobile using an internal combustion engine such as a diesel engine or a gasoline engine as a power source, an electric car using an electric motor as a power source, or an internal combustion engine. And a hybrid car equipped with an electric motor. The electric motor is driven by a battery such as a secondary battery, a hydrogen fuel cell, a metal fuel cell, or an alcohol fuel cell.

  When there is a preceding vehicle in front of the host vehicle M, the vehicle control system 100 makes the inter-vehicle distance with the preceding vehicle the target inter-vehicle distance (or the inter-vehicle time with the preceding vehicle becomes the target inter-vehicle time. N) Carry out preceding vehicle following control. When there is no preceding vehicle ahead of the host vehicle M, the vehicle control system 100 performs constant speed control (CC: Cruise Control) so that the vehicle speed of the host vehicle M becomes the target vehicle speed.

  In the present embodiment, as part of the preceding vehicle follow-up control, the own vehicle M is stopped following the stop operation of the preceding vehicle, and then the own vehicle M is started following the start operation of the preceding vehicle. Think. In the present embodiment, the lane (hereinafter also referred to as “travel lane”) on which the host vehicle M travels based on a lane change request from the driver D of the host vehicle M during execution of the preceding vehicle following control. Consider a change.

  A series of travel operations from stop to start of the host vehicle M (hereinafter also referred to as “restart operation”) and travel lane change operation based on a lane change request “hereinafter also referred to as“ lane change operation ”. The vehicle control system 100 includes a sensor group 10, an HMI (Human Machine Interface) unit 20, a vehicle control ECU (Electronic Control Unit) 30, a travel device ECU 40, and a travel device. 50, a lamp device ECU 60, and a lamp device 70.

  The sensor group 10 detects the situation around the host vehicle M and the traveling state of the host vehicle M. The sensor group 10 sends the detected information to the vehicle control ECU 30.

  As the sensor group 10 for detecting the situation around the host vehicle M, a rider (LIDAR: Laser Imaging Detection and Ranging), a radar, a camera, and the like are exemplified. The rider detects a target around the host vehicle M using light. The targets around the host vehicle M include moving targets and stationary targets. Examples of the moving target include surrounding vehicles, motorcycles, bicycles, and pedestrians. Examples of stationary targets include roadside objects, white lines, signs, and the like. The radar detects a target around the host vehicle M using radio waves. The camera images the situation around the host vehicle M.

  Examples of the sensor group 10 that detects the traveling state of the host vehicle M include a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a brake sensor, an accelerator opening sensor, a steering torque sensor, and a blinker sensor. The vehicle speed sensor detects the speed of the host vehicle M. The acceleration sensor detects the acceleration of the host vehicle M. The yaw rate sensor detects the yaw rate acting on the host vehicle M. The brake sensor detects the operation amount of the brake pedal. The accelerator opening sensor detects the operation amount of the accelerator pedal. The steering torque sensor detects the rotation angle (steering angle) of the steering wheel. The winker sensor detects the operation of the winker lever.

  The HMI unit 20 is an interface for providing information to the driver D of the host vehicle M and receiving information from the driver D. The HMI unit 20 sends information input from the driver D to the vehicle control ECU 30. The HMI unit 20 provides the information input from the vehicle control ECU 30 to the driver D.

  The HMI unit 20 includes, for example, an input device, a display device, a speaker, and a microphone. Examples of the input device include a touch panel, a keyboard, a switch, and a button. The driver D can input information to the HMI unit 20 using an input device. The driver D can switch between an “ON mode” in which the preceding vehicle following control is executed and an “OFF mode” in which the control is not executed using the input device. The driver D can set the target inter-vehicle distance (or target inter-vehicle time) in the preceding vehicle following control using the input device.

  The vehicle control ECU 30 performs various processes necessary for executing the preceding vehicle following control when the ON mode is selected. The vehicle control ECU 30 is typically a microcomputer that includes a processor, a memory, and an input / output interface. The vehicle control ECU 30 receives various information via the input / output interface. And vehicle control ECU30 performs various processes required for execution of preceding vehicle follow-up control based on the received information.

  Further, the vehicle control ECU 30 determines that there is a lane change request when the information received while the ON mode is selected includes the operation information of the winker lever by the driver D. The vehicle control ECU 30 determines that there is a lane change request when the information received while the ON mode is selected includes the steering wheel operation information by the driver D. When it is determined that there is a lane change request, the vehicle control ECU 30 performs various processes necessary for the lane change operation.

  The travel device ECU 40 is a microcomputer having a typical configuration similar to that of the vehicle control ECU 30. The traveling device ECU 40 is composed of a plurality of ECUs. These ECUs perform various processes necessary for operating the traveling device 50 in accordance with information input from the vehicle control ECU 30. The traveling device 50 is of an electronic control type, and includes a traveling driving force output device, a steering device, and a brake device. The traveling driving force output device is a power source (such as an internal combustion engine or an electric motor) that generates traveling driving force. The steering device steers the wheels. The brake device generates a braking force.

  The lamp device ECU 60 is a microcomputer having a typical configuration similar to that of the vehicle control ECU 30. The lamp device ECU 60 controls the lighting operation of the lamp device 70 in accordance with information input from the vehicle control ECU 30. The lamp device 70 includes a headlight, a backlight, a blinker lamp, a brake lamp, and the like.

2. Description of Configuration of Vehicle Control ECU 30 FIG. 2 is a block diagram illustrating a functional configuration example of the vehicle control ECU 30 illustrated in FIG. The vehicle control ECU 30 includes a vehicle information acquisition unit 32, a lane information acquisition unit 34, a lane change request acquisition unit 36, and a preceding vehicle follow-up control unit 38 as functional blocks related to the preceding vehicle following control. . These functional blocks are realized when the processor of the vehicle control ECU 30 executes a control program stored in the memory. The control program may be stored in a computer-readable recording medium.

  The vehicle information acquisition unit 32 acquires information on surrounding vehicles (hereinafter also referred to as “peripheral vehicle information”) necessary for execution of the preceding vehicle following control. Specifically, the vehicle information acquisition unit 32 is based on information from the sensor group 10 such as a rider or a millimeter wave radar, and the surrounding speed such as the relative speed of the surrounding vehicle with respect to the own vehicle M, the distance between the surrounding vehicle and the own vehicle M, etc. Get vehicle information. In this specification, the peripheral vehicle is a vehicle that travels around the host vehicle M and travels in the same direction as the host vehicle M.

  The lane information acquisition unit 34 acquires lane information necessary for executing the preceding vehicle following control. Specifically, the lane information acquisition unit 34 is based on information from the sensor group 10 such as a rider or a camera, the shape of the traveling lane, the lane marking of the traveling lane, and the lane adjacent to the traveling lane (for example, the overtaking lane). Get lane information such as presence / absence. In addition, when the vehicle control system 100 can acquire separately the map information containing the data regarding a lane, and the positional information on the own vehicle M, you may acquire lane information based on these information.

  The lane change request acquisition unit 36 acquires a lane change request during execution of the preceding vehicle following control. Specifically, the lane change request acquisition unit 36 determines the presence / absence of a lane change request based on information from the sensor group 10 such as the winker sensor and the steering torque sensor while the ON mode is selected. If the lane change request acquisition unit 36 determines that there is a lane change request, the lane change request acquisition unit 36 determines whether the lane change request requests a change to the left side or the right side in the traveling direction.

  The preceding vehicle follow-up control unit 38 determines each control amount of the traveling device 50 necessary to follow the traveling operation of the preceding vehicle based on the surrounding vehicle information and the lane information. The preceding vehicle to be followed in the preceding vehicle following control is a surrounding vehicle that satisfies a predetermined condition. Examples of the predetermined condition include the presence in front of the host vehicle M in the travel lane, and the distance between the host vehicle M and the host vehicle M being within a predetermined range. When the preceding vehicle follow-up control unit 38 determines each control amount of the travel device 50, the preceding vehicle follow-up control unit 38 transmits these control amounts to the travel device ECU 40.

  When the stop operation of the preceding vehicle is detected based on the surrounding vehicle information, the preceding vehicle follow-up control unit 38 first determines the control amounts of the travel driving force output device and the brake device, and performs the stop operation on the host vehicle M. Make it. Subsequently, the preceding vehicle follow-up control unit 38 continues this stop operation by the brake hold. After that, when the start operation of the preceding vehicle is detected based on the surrounding vehicle information, the preceding vehicle follow-up control unit 38 determines the control amount of the traveling driving force output device, and after a predetermined time (for example, after 3 seconds). The brake hold is released and the host vehicle M is started.

  In the present embodiment, a condition is given for releasing the brake hold. As this cancellation | release condition, it is mentioned that it is confirmed that the front of the own vehicle M is clear based on the information from the sensor groups 10, such as a rider and a camera. “The front of the host vehicle M is clear” means that there is a target that becomes an obstacle within the range defined by the lane marking of the driving lane, the bumper tip of the host vehicle M, and the rear end of the preceding vehicle. It means not.

  When the lane change request is acquired, the preceding vehicle follow-up control unit 38 first confirms based on the surrounding vehicle information and the lane information that there is no surrounding vehicle that can interfere with the lane change operation on the lane to be changed. To do. After this confirmation, the preceding vehicle follow-up control unit 38 sets a start position and a target position for the lane change operation. When there is a surrounding vehicle that can interfere with the lane change operation, the preceding vehicle follow-up control unit 38 predicts the displacement of the future position of the surrounding vehicle using a predetermined speed model, and sets the start position and the target position. . Then, the preceding vehicle follow-up control unit 38 determines the control amounts of the travel driving force output device and the steering device that are necessary for traveling the host vehicle M along a smooth track connecting the start position and the target position.

3. Features of the present embodiment As described above, in the present embodiment, the restart operation and the lane change operation are performed during the execution of the preceding vehicle following control. Therefore, it is expected that there will be a case where the vehicle M is caused to perform a re-start operation during the lane change operation. Such a case will be described with reference to FIGS. In these drawings, a preceding vehicle LM1 traveling in front of the host vehicle M is depicted as a peripheral vehicle. In addition to this, a preceding vehicle LM2 and a following vehicle FM traveling on a lane adjacent to the traveling lane (hereinafter also referred to as “adjacent lane”) are depicted as surrounding vehicles.

  In the cases shown in FIGS. 3 and 4, it is assumed that the preceding vehicle LM1 is a tracking target in the preceding vehicle following control. In these cases, it is assumed that the preceding vehicle LM1 is traveling at a low speed and a lane change request is issued for the purpose of overtaking the preceding vehicle LM1. In these cases, it is assumed that the target position of the lane change operation is set between the preceding vehicle LM2 and the following vehicle FM on the adjacent lane.

  As shown on the left side of FIG. 3 or FIG. 4, when the target position is set between the preceding vehicle LM2 and the following vehicle FM, a lane change operation for interrupting between the preceding vehicle LM2 and the following vehicle FM is started. However, if the stop operation of the preceding vehicle LM1 is detected during the lane change operation, the lane change operation is canceled and the host vehicle M stops following the stop operation. That is, following the stop operation of the preceding vehicle LM1 is performed with priority over the lane change operation. This state is shown on the right side of FIG. 3 or FIG.

  The reason why the host vehicle M stops following is because the preceding vehicle LM1 is recognized as a tracking target in the preceding vehicle following control. Assume that the target to be tracked is switched from the preceding vehicle LM1 to the preceding vehicle LM2 at the end of the lane change operation, and that the stopping operation of the preceding vehicle LM2 is detected before the lane change operation is completed. In this case, the lane change operation is canceled when the stop operation of the preceding vehicle LM2 is detected, and the host vehicle M stops following the stop operation.

  In the cases shown in FIGS. 3 and 4, attention should be paid to the stop position of the host vehicle M. That is, in FIG. 3, the own vehicle M is stopped on the lane of the change source, while in FIG. 4, the own vehicle M is stopped on the lane marking. The difference in the stop position is because, for example, the timing at which the stop operation of the preceding vehicle LM1 (or the preceding vehicle LM2) is recognized is different.

  In the case shown in FIG. 3, the host vehicle M is stopped on the original lane. Therefore, the own vehicle M starts following the start operation of the preceding vehicle LM1. This follow-up start is performed in the same manner even when the follow-up target in the preceding vehicle follow-up control is switched to the preceding vehicle LM2, and the own vehicle M stops following the stop operation of the preceding vehicle LM2 on the change destination lane. Is called. However, in the case shown in FIG. 4, since the host vehicle M is stopped on the lane line, it is difficult to determine whether the front of the host vehicle M is clear. Alternatively, it may be determined that the front of the host vehicle M is not clear. In such a case, the brake hold is not released and the follow-up start is difficult.

  Therefore, in the present embodiment, when the own vehicle M stops following during the lane change operation, the preceding vehicle following control unit 38 determines whether or not the stop position of the own vehicle M is on the lane marking. And when it determines with the stop position of the own vehicle M being on a lane marking, the preceding vehicle follow-up control part 38 prohibits execution of a follow-up start at that time. That is, the preceding vehicle follow-up control unit 38 determines to stop following start without determining the brake hold release condition described above. Further, when the preceding vehicle follow-up control unit 38 determines to stop following start, the preceding vehicle follow-up control unit 38 transmits information to that effect to the HMI unit 20. Therefore, according to the present embodiment, it is possible to notify the driver D that the host vehicle M will not follow and start at a time earlier than when the start operation of the preceding vehicle is detected. That is, it is possible to prompt a safe manual start by the driver D from an early point after the follow-up stop.

  In the present embodiment, it is only determined whether or not the stop position of the host vehicle M is on the lane marking line, but this stop position is combined with the time-series data of the steering angle during the lane change operation. It can also be done. For example, when it is determined that the stop position of the host vehicle M immediately after the rudder angle time series data starts to change is on the lane marking, it can be predicted that the host vehicle M has stopped following the lane change operation. . This determination is effective in predicting that the host vehicle M has stopped following the lane line during the lane change operation when a lane change request is issued based on the operation of the winker lever.

  As another example, if it is determined that the stop position of the host vehicle M immediately after the rate of change of the time-series data of the rudder angle temporarily increases is on the lane line, the host vehicle is in the middle of the lane change operation. It can be predicted that M has stopped following. This determination is effective for predicting that the host vehicle M has stopped following the lane line during the lane change operation when a lane change request is issued based on the operation of the steering wheel.

4). Specific Process FIG. 5 is a flowchart for explaining a process flow when the vehicle control ECU 30 causes the host vehicle M to perform a re-start operation based on the preceding vehicle following control in the present embodiment. In the routine shown in FIG. 5, the ON mode for executing the preceding vehicle following control is selected, and a predetermined control cycle is performed while the preceding vehicle to be followed in the preceding vehicle following control exists in front of the host vehicle M. It shall be executed repeatedly.

  In the routine shown in FIG. 5, the vehicle control ECU 30 first determines whether or not the host vehicle M is stopped (step S10). The determination in step S10 is performed based on detection information such as a speed sensor, an acceleration sensor, an accelerator opening sensor, and a brake sensor, for example. If the determination result of step S10 is negative, the vehicle control ECU 30 exits this routine.

  If the determination result of step S10 is affirmative, the vehicle control ECU 30 determines whether or not the host vehicle M is stopped across the lane marking (step S12). The determination in step S12 is performed based on detection information such as a rider and a camera, for example. When the determination result of step S12 is negative, the vehicle control ECU 30 performs the processes after step S14. When the determination result of step S12 is affirmative, the vehicle control ECU 30 performs the processes after step S20.

  In step S14, the vehicle control ECU 30 determines whether or not the preceding vehicle has started. The determination in step S14 is performed based on detection information from a millimeter wave radar, for example. If the determination result of step S14 is negative, the vehicle control ECU 30 exits this routine.

  If the determination result of step S14 is affirmative, the vehicle control ECU 30 determines whether or not a brake hold release condition is satisfied (step S16). The determination in step S16 is performed based on detection information such as a rider and a camera, for example. If the determination result of step S16 is affirmative, the host vehicle M is started after a lapse of a predetermined time (for example, after 3 seconds) calculated from the time when the determination result of step S14 is obtained (step S18). When the determination result of step S16 is negative, the vehicle control ECU 30 performs a process of step S24.

  In step S <b> 20, the vehicle control ECU 30 transmits a first notification to the HMI unit 20. The first notification is, for example, a notification that “following start has been stopped due to the stop position of the host vehicle M”.

  Subsequent to step S20, the vehicle control ECU 30 determines whether or not the preceding vehicle has started (step S22). The process of step S22 is the same as the process of step S14. If the determination result of step S22 is negative, the vehicle control ECU 30 exits this routine.

  If the determination result in step S22 is affirmative, the vehicle control ECU 30 transmits a second notification to the HMI unit 20. Specifically, the second notification is a notification of “prompt manual start”.

5. As described above, according to the present embodiment, when it is determined that the stop position of the host vehicle M in the middle of the lane change operation is on the lane line, the stop of the follow-up start is determined at that time. Further, information indicating that cancellation of the follow-up start is determined is output from the HMI unit 20. Therefore, according to the present embodiment, it is possible to notify the driver D that the host vehicle M will not follow and start at a time earlier than when the start operation of the preceding vehicle is detected. That is, it is possible to prompt a safe manual start by the driver D from an early point after the follow-up stop.

10 sensor group 20 HMI unit 30 vehicle control ECU
32 vehicle information acquisition unit 34 lane information acquisition unit 36 lane change request acquisition unit 38 preceding vehicle follow-up control unit 40 travel device ECU
50 traveling device 60 lamp device ECU
70 lamp device 100 vehicle control system M own vehicle LM1, LM2 preceding vehicle FM succeeding vehicle

Claims (1)

A vehicle information acquisition unit that acquires vehicle information around the host vehicle;
A lane information acquisition unit for acquiring lane information around the host vehicle;
Based on the vehicle information and the lane information, a preceding vehicle follow-up control unit that performs preceding vehicle follow-up control for controlling the own vehicle to follow the preceding vehicle ahead of the own vehicle;
A lane change request acquisition unit for receiving a lane change request from a driver;
A vehicle control system comprising:
The preceding vehicle following control unit is
When the starting operation of the preceding vehicle is detected based on the vehicle information while the host vehicle is stopped based on the preceding vehicle following control, the host vehicle is started following the starting operation,
When the lane change request is issued during execution of the preceding vehicle following control, the traveling lane of the host vehicle is changed based on the lane change request,
During the change of the travel lane, when the stop operation of the preceding vehicle to be tracked in the preceding vehicle tracking control is detected based on the vehicle information, the host vehicle is stopped following the stop operation,
When the host vehicle stops following the stop operation, it is determined whether or not the stop position of the host vehicle is on a lane marking based on the lane information;
When it determines with the said stop position being on the said lane marking, the vehicle control system which prohibits the start of the said own vehicle which followed the start operation | movement of the preceding vehicle of the said tracking object is characterized.

Images