JP2019148908A - Vehicle control device - Google Patents

Abstract

To provide a vehicle control device capable of avoiding interference with another vehicle that has cut into an own lane from an adjacent lane because of a certain event existing in front of an adjacent vehicle.SOLUTION: A vehicle control device recognizes objects existing in the periphery of an own vehicle and detects a disturbance event that disturbs traveling of a vehicle on an adjacent lane. When a disturbance event is detected, the vehicle control device performs preparation for avoidance in order to prepare for cutting-in from the adjacent lane. The vehicle control device detects a monitoring object vehicle having a possibility to cut into an own lane from the adjacent lane from recognized objects. When the monitoring object vehicle is detected after performing preparation for avoidance, the vehicle control device performs an avoidance operation to avoid interference between the monitoring object vehicle and the own vehicle.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a vehicle control device, and more particularly to a vehicle control device suitable for use in a vehicle that can autonomously travel on a road permitted to change lanes.

  Patent Document 1 discloses a technique related to vehicle control in a case where there is a merging vehicle that interrupts the traveling lane from the merging lane at a merging point where the traveling lane on which the host vehicle travels and the merging lane merge. According to the prior art disclosed in this document, when it is assumed that the merging vehicle travels at a constant speed, it is assumed that the own vehicle deceleration required for smooth merging and the own vehicle travels at a constant vehicle speed. And the deceleration of the merging vehicle required for smooth merging is compared. And the action judgment of whether the own vehicle should go ahead of a joining vehicle from the comparison result is performed.

JP 2017-132408 A

  Various scenes are assumed as a scene where another vehicle enters the own lane. However, in the prior art described in Patent Document 1, the interruption scene is limited to the junction of the traveling lane and the junction lane. Patent Document 1 does not disclose behavior determination corresponding to a scene in which another vehicle interrupts at a place other than the joining point of the traveling lane and the joining lane.

  Examples of scenes of interruption of other vehicles from the adjacent lane include, for example, an interruption by the driver's free will and a half-forced interruption that is necessary, specifically, some event that exists in front of the adjacent vehicle. There are interrupts caused by it. As one method of behavior determination in the former case, for example, it is conceivable to start an avoiding operation such as deceleration control based on a change in the lateral position of an adjacent vehicle. However, in the latter case, the movement of the adjacent vehicle tends to be steep, so if only the movement and state of the adjacent vehicle are monitored, the avoidance operation is delayed, and the adjacent vehicle and the own vehicle that have interrupted are delayed. There is a possibility that a sufficient safety margin cannot be secured.

  An object of the present invention is to provide a vehicle control device capable of avoiding interference with another vehicle that has entered the own lane from an adjacent lane due to some event existing in front of the adjacent vehicle.

  A vehicle control device according to the present invention includes an object recognition unit that recognizes an object existing around a host vehicle, an obstruction event detection unit that detects an obstruction event that obstructs driving of a vehicle in an adjacent lane, and a monitored vehicle detection unit And an avoidance preparation execution unit and an avoidance operation execution unit. The monitoring target vehicle detection unit is configured to detect a monitoring target vehicle that is likely to interrupt the own lane from the adjacent lane from among the objects recognized by the object recognition unit. The avoidance preparation execution unit is configured to execute an avoidance preparation for preparing for an interruption from an adjacent lane when an interference event is detected by the interference event detection unit. The avoidance operation executing unit is configured to execute an avoidance operation for avoiding interference between the monitoring target vehicle and the host vehicle when the monitoring target vehicle is detected by the monitoring target vehicle detection unit after execution of avoidance preparation. .

  According to the vehicle control device of the present invention, it is possible to detect the occurrence of a situation in which an interruption is necessary due to an obstruction event by detecting an obstruction event that obstructs the traveling of the vehicle in the adjacent lane. . Then, if an obstruction event is detected, avoidance preparation is executed first, and after the avoidance preparation is executed, an avoidance operation is executed when a vehicle that may be interrupted from the adjacent lane is actually detected. Therefore, it is possible to avoid the interference between the vehicle that has been interrupted and the own vehicle and maintain smooth traffic without causing the passenger to feel uncomfortable due to the premature avoidance operation or the sudden avoidance operation.

1 is a block diagram showing a schematic configuration of a vehicle to which a vehicle control device according to an embodiment of the present invention is applied. It is a block diagram which shows the function of ECU as a vehicle control apparatus which concerns on embodiment of this invention. It is a figure explaining the 1st scene to which this invention is applied. It is a flowchart which shows the routine of the avoidance control corresponding to a 1st scene. It is a figure explaining the 2nd scene to which this invention is applied. It is a flowchart which shows the routine of the avoidance control corresponding to a 2nd scene. It is a figure explaining the 3rd scene to which this invention is applied. It is a flowchart which shows the routine of the avoidance control corresponding to a 3rd scene. It is a figure explaining the 4th scene to which the present invention is applied. It is a figure explaining the 5th scene to which this invention is applied. It is a flowchart which shows the routine of the avoidance control corresponding to the 4th and 5th scene.

  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 this number. 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. Configuration of Vehicle A vehicle control device according to an embodiment of the present invention is a vehicle control device that realizes an automatic driving level of level 2 or higher in the level definition of SAE (Society of Automotive Engineers), for example. The vehicle control apparatus according to the embodiment of the present invention is applied to a vehicle having a schematic configuration shown in FIG.

  As shown in FIG. 1, the vehicle 2 includes a GPS unit 20, a map information unit 22, a camera 24, a radar 26, and a LIDAR 28 as information acquisition means for automatic driving. These are electrically connected to an electronic control unit (hereinafter referred to as ECU) 30 as a vehicle control device.

  The GPS unit 20 is means for acquiring position information indicating the current position of the host vehicle based on the GPS signal. The ECU 30 can know the current position of the vehicle 2 based on the position information provided from the GPS unit 20. For example, the map information unit 22 is formed in a storage such as an HDD or an SSD mounted on the vehicle. The map information included in the map information unit 22 includes various types of information such as the road position, road shape, and lane structure.

  The camera 24 transmits image information obtained by photographing the periphery of the vehicle 2 to the ECU 30. The ECU 30 can recognize other vehicles existing around the vehicle 2 and road boundary lines including white lines by performing known image processing on the image information transmitted from the camera 24. The radar 26 is a millimeter wave radar device mounted on the vehicle 2. Other vehicle information reflecting the relative position and relative speed of the other vehicle with respect to the vehicle 2 is transmitted from the radar 26 to the ECU 30. The LIDAR 28 is a LIDAR (Laser Imaging Detection and Ranging) device mounted on the vehicle 2. Other vehicle information reflecting at least the relative position of the other vehicle with respect to the vehicle 2 is transmitted from the LIDAR 28 to the ECU 30. The ECU 30 can recognize the relative positions and relative speeds of other vehicles and other objects existing around the vehicle 2 based on the other vehicle information transmitted from the radar 26 and the LIDAR 28.

  The camera 24, the radar 26, and the LIDAR 28 are autonomous sensors for acquiring information related to the external situation of the vehicle 2. Apart from these autonomous sensors 24, 26, 28, the vehicle 2 is provided with a vehicle sensor (not shown) that acquires information relating to the motion state of the vehicle 2. The vehicle sensor includes, for example, a speed sensor that measures the traveling speed of the vehicle from the rotational speed of the wheels, an acceleration sensor that measures acceleration acting on the vehicle, a yaw rate sensor that measures the turning angular velocity of the vehicle, and a steering angle sensor that measures the steering angle. Etc. are included.

  The vehicle 2 is provided with a steering actuator 4 for steering the vehicle 2, a braking actuator 6 for decelerating the vehicle 2, and a drive actuator 8 for accelerating the vehicle 2. The steering actuator 4 includes, for example, a power steering system, a steer-by-wire steering system, and a rear wheel steering system. The brake actuator 6 includes, for example, a hydraulic brake and a power regenerative brake. The drive actuator 8 includes, for example, an engine, an EV system, a hybrid system, and a fuel cell system.

  The vehicle 2 is provided with a notification unit 10. The notification unit 10 is, for example, a winker or a brake lamp that is a display device that can be visually recognized from the outside. The notification unit 10 notifies information related to behavior determination of the vehicle 2 to other vehicles located around the vehicle 2 based on the control command value transmitted from the ECU 30.

  The ECU 30 has at least one processor and at least one memory. The memory stores various data including a map and various programs. Various functions are realized in the ECU 30 by reading a program stored in the memory and executing it by the processor. The ECU 30 constituting the vehicle control device may be a set of a plurality of ECUs.

2. ECU Function as Vehicle Control Device FIG. 2 is a block diagram showing a part of the function of the ECU 30 as the vehicle control device according to the present embodiment. In FIG. 2, among the various functions of the ECU 30, functions related to avoiding interference with another vehicle that has interrupted the other lane from the other lane are extracted and expressed in blocks. The ECU 30 as the vehicle control device functions as an object recognition unit 31, a disturbance event detection unit 32, a monitoring target vehicle detection unit 33, an avoidance preparation execution unit 34, and an avoidance operation execution unit 35. However, these do not exist as hardware in the ECU 30, but are realized by software when a program stored in the memory is executed by the processor. The ECU 30 has various other functions, but illustrations thereof are omitted. Hereinafter, functions of the ECU 30 as the vehicle control device will be described with reference to the drawings.

  The object recognizing unit 31 recognizes an object existing around the host vehicle based on information from the camera 24, the radar 26, or the LIDAR 28. Object recognition may be performed based on information of any one of these autonomous sensors 24, 26, and 28, or object recognition may be performed by sensor fusion in which a plurality of autonomous sensors 24, 26, and 28 are combined. . In object recognition, the type of object, for example, whether the object is a moving object or a stationary object is determined, and if it is a moving object, its position and speed are calculated. The position and speed of the moving body are calculated, for example, in a reference coordinate system with the width direction of the host vehicle as the horizontal axis and the traveling direction as the vertical axis with respect to the host vehicle.

  The jamming event detection unit 32 detects an event (hereinafter referred to as a jamming event) that hinders driving of a vehicle in an adjacent lane. The detection of the jamming event is performed based on information from the autonomous sensors 24, 26, 28, information from the map information unit 22, information from a road-to-vehicle communication system or vehicle-to-vehicle communication system (not shown), and the like. Details of the jamming event will be described later with specific examples.

  The monitoring target vehicle detection unit 33 detects, from the objects recognized by the object recognition unit 31, a monitoring target vehicle that may be interrupted from the adjacent lane to the own lane. The determination as to whether the vehicle is a monitoring target vehicle is made according to a predetermined determination criterion prepared for each type of disturbance event. Details of the determination as to whether the vehicle is a monitoring target vehicle will be described later with a specific example.

  The avoidance preparation execution unit 34 executes preparation for avoidance in preparation for an interruption from the adjacent lane when the interference event detection unit 32 detects an interference event. The avoidance operation executing unit 35 executes an avoidance operation for avoiding interference between the monitor target vehicle and the host vehicle when the monitor target vehicle is detected by the monitor target vehicle detection unit 33 after execution of avoidance preparation. The avoidance operation executing unit 35 executes deceleration of the host vehicle as an avoidance operation or changing the lane by a steering operation. However, depending on the positional relationship and the speed relationship with the monitoring target vehicle, the host vehicle can be accelerated as an avoidance operation. An optimal avoidance operation is selected so that interference with other vehicles around the host vehicle does not occur.

  The content of the avoidance preparation by the avoidance preparation execution unit 34 is determined by the content of the avoidance operation. When the avoidance operation is to decelerate the host vehicle, preparation for avoidance is exemplified by preliminarily closing the position of the brake pad or lowering the gear in advance. According to the former example, it is possible to quickly apply the brake when the brake is operated, and according to the latter example, it is possible to increase the effectiveness of the engine brake when the accelerator is operated to the return side. When the avoidance action is to change the lane by a steering operation, examples of preparation for avoidance include cutting the steering in advance within the range of play of the steering system, or offsetting in the lateral direction within the own lane. Is done. According to the former example, it is possible to quickly change the direction of the vehicle, and according to the latter example, it is possible to shorten the travel time to the adjacent lane. When the avoidance operation is to accelerate the host vehicle, the preparation for avoidance is exemplified by lowering the gear in advance so as to increase the response to the depression of the accelerator.

  The above functions of the ECU 30 as the vehicle control device are used in avoidance control for interruption of another vehicle from the adjacent lane. The content of the avoidance control varies depending on the scene where the disturbance event occurs. Hereinafter, the contents of the avoidance control executed by the ECU 30 will be described for each scene.

3. 3. Avoidance control for each scene 3-1. First scene where a disturbing event occurs 3-1-1. Outline of the first scene The first scene to which the present invention is applied is a scene in which an adjacent vehicle interrupts the own lane to avoid a merging vehicle. This will be described with reference to FIG.

  In FIG. 3, a main line of two lanes on one side having a first traveling lane 71 and a second traveling lane (overtaking lane) 72 and a merging lane 74 that merges with the first traveling lane 71 are depicted. The host vehicle 51 is traveling on the second traveling lane 72. In addition, there are an adjacent vehicle 61 that travels diagonally forward of the host vehicle 51 in the first travel lane 71, and a merging vehicle 62 that travels a merge lane 74 slightly ahead of the adjacent vehicle 61. In this situation, the joining vehicle 62 eventually enters the first travel lane 71. For this reason, there is a possibility that the adjacent vehicle 61 traveling in the first traveling lane 71 changes the lane from the first traveling lane 71 to the second traveling lane 72 in an attempt to avoid the joining vehicle 62.

  In the above scene, the jamming event detection unit 32 detects the merging vehicle 62 traveling on the merging lane 74 as a jamming event that disturbs the traveling of the adjacent vehicle 61. In addition, when the monitoring target vehicle detection unit 33 detects that the adjacent vehicle 61 may be interrupted from the first traveling lane 71 to the second traveling lane 72, the monitoring target vehicle detection unit 33 detects the adjacent vehicle 61 as the monitoring target vehicle.

3-1-2. Avoidance Control Corresponding to First Scene FIG. 4 is a flowchart showing a routine of avoidance control corresponding to the scene. The contents of the avoidance control routine corresponding to the scene will be described in order from step S101.

  The determinations in steps S101, S102, and S103 are performed by the disturbing event detection unit 32. In step S101, it is determined whether or not the host vehicle is traveling in a region where the merge lane exists. For this determination, for example, map information from the map information unit 22 and / or image information from the camera 24 is used. When the determination result of step S101 is negative, this routine ends.

  If the determination result of step S101 is affirmative, the determination of step S102 is performed. In step S102, it is determined whether the host vehicle is traveling in an overtaking lane. For this determination, for example, a white line recognition result based on map information from the map information unit 22 and / or image information from the camera 24 is used. When the determination result of step S102 is negative, the routine ends.

  If the determination result of step S102 is affirmative, the determination of step S103 is performed. In step S103, it is determined whether or not the joining vehicle is traveling on the joining lane. For this determination, for example, the map information from the map information unit 22 and the recognition result of the object by the object recognition unit 31 are used. When the determination result of step S103 is negative, this routine ends.

  When all the determination results of steps S101, S102, and S103 are affirmative, the disturbance event detection unit 32 detects the merged vehicle 62 traveling on the merged lane 74 as a disturbance event. When a disturbance event is detected by the disturbance event detection unit 32, avoidance preparation for preparing for an interruption from the adjacent lane is executed by the avoidance preparation execution unit 34 in step S104. In step S104, for example, preparation for decelerating the host vehicle or preparation for changing the lane of the host vehicle is executed.

  The determination of steps S105, S106, S107, and S108 after execution of avoidance preparation is performed by the monitoring target vehicle detection unit 33. In step S105, it is determined whether or not a vehicle traveling in a lane adjacent to the merge lane is detected. For this determination, for example, the map information from the map information unit 22 and the recognition result of the object by the object recognition unit 31 are used. If the determination result of step S105 is negative, this routine ends while continuing avoidance preparation.

  If the determination result of step S105 is affirmative, the determinations of steps S106, S107, and S108 are performed. In step S106, it is determined whether the distance between the vehicle detected in step S105 and the joining vehicle is equal to or smaller than a predetermined threshold value. In step S107, it is determined whether the distance between the vehicle detected in step S105 and the host vehicle is equal to or less than a predetermined threshold. In step S <b> 108, it is determined whether the vehicle detected in step S <b> 105 has decelerated from the joining vehicle. For these determinations, for example, position information and vehicle speed information of each vehicle obtained from the autonomous sensors 24, 26, and 28 are used. If all of the determination results of steps S106, S107, and S108 are negative, this routine ends while continuing avoidance preparation.

  If any one of the determination results of steps S106, S107, and S108 is affirmative, the monitored vehicle detection unit 33 detects the vehicle detected in step S105 as the monitored vehicle. If the monitoring target vehicle is detected by the monitoring target vehicle detection unit 33, in step S109, the avoidance operation corresponding to the avoidance preparation executed in step S104 is executed by the avoidance operation executing unit 35.

3-2. Second scene in which a disturbing event occurs 3-2-1. Outline of the second scene In the second scene to which the present invention is applied, an adjacent vehicle tries to avoid an object other than a vehicle that appears in the front of the adjacent lane or an area other than the road that appears in the front of the adjacent lane. It is a scene that cuts into the own lane. This will be described with reference to FIG.

  FIG. 5 shows a three-lane road on one side having a first travel lane 71, a second travel lane 72, and a third travel lane (overtaking lane) 73. The host vehicle 51 travels in the first travel lane 71 at the left end, and the adjacent vehicle 61 travels diagonally forward of the host vehicle 51 in the second travel lane 72. An object 81 other than the traveling vehicle exists in front of the adjacent vehicle 61 traveling in the second traveling lane 72. The object 81 includes, for example, a fallen object, a failed vehicle, a pedestrian, and the like. In this situation, the adjacent vehicle 61 traveling in the second traveling lane 72 may change the lane from the second traveling lane 72 to the first traveling lane 71 in an attempt to avoid the object 81.

  In the above scene, the interference event detection unit 32 detects the object 81 on the second travel lane 72 as an interference event that interferes with the traveling of the adjacent vehicle 61. Further, when an entry prohibition area (for example, an area under construction) in which the adjacent vehicle 61 cannot enter is provided in front of the adjacent vehicle 61 on the second lane 72, the entry prohibition area is an interference event. Detected as When the monitoring target vehicle detection unit 33 detects that the adjacent vehicle 61 may be interrupted from the second traveling lane 72 to the first traveling lane 71, the monitoring target vehicle detection unit 33 detects the adjacent vehicle 61 as the monitoring target vehicle.

3-2-2. Avoidance Control Corresponding to Second Scene FIG. 6 is a flowchart showing a routine of avoidance control corresponding to the scene. Hereinafter, the contents of the avoidance control routine corresponding to the scene will be described in order from step S201.

  The determination in steps S201, S202, and S203 is performed by the disturbing event detection unit 32. In step S201, it is determined whether there is a person in front of the adjacent lane. For this determination, for example, an object recognition result by the object recognition unit 31 is used. In step S202, it is determined whether an entry prohibition area exists in front of the adjacent lane. For this determination, for example, road information from a road-vehicle communication system is used. In step S203, it is determined whether there is a fallen object ahead of the adjacent lane. For this determination, for example, an object recognition result by the object recognition unit 31 or falling object information from the road-vehicle communication system is used.

  When any one of the determination results of steps S201, S202, and S203 is affirmative, the disturbance event detection unit 32 determines that there is an interference event that obstructs the traveling of the vehicle in the adjacent lane. However, there is a difference in the response to the disturbing event between the case where the determination result in step S201 is affirmative and the case where the determination result in step S202 or S203 is affirmative.

  When a person is detected in front of the adjacent lane in step S201, the highest priority is to avoid contact between the detected person and the vehicle. Therefore, if the determination result of step S201 is affirmative, the process of step S208 is selected. That is, in this case, the avoidance operation executing unit 35 executes the avoidance operation in advance without waiting for the avoidance preparation to be executed and without waiting for the monitoring target vehicle to be detected. As the avoidance operation, for example, the host vehicle is decelerated or the host vehicle is caused to change lanes.

  If the determination result of step S202 or S203 is affirmative, the process of step S204 is selected. In step S204, avoidance preparation for preparing for an interruption from the adjacent lane is executed by the avoidance preparation executing unit 34. In step S204, for example, preparation for decelerating the host vehicle or preparation for changing the lane of the host vehicle is executed.

  The determination in steps S205, S206, and S207 after execution of the avoidance preparation is performed by the monitored vehicle detection unit 33. In step S205, it is determined whether or not a vehicle traveling in the vicinity of the host vehicle on the adjacent lane has been detected. For this determination, for example, the recognition result of the moving body by the object recognition unit 31 is used. If the determination result of step S205 is negative, the routine ends while continuing avoidance preparation.

  If the determination result of step S205 is affirmative, the determinations of steps S206 and S207 are performed. In step S206, it is determined whether or not the vehicle detected in step S205 blinks the blinker. The blinker blinker can be regarded as a sign of intention to change lanes. For this determination, for example, image information from the camera 24 is used. In step S207, it is determined whether the vehicle detected in step S205 has moved laterally in the direction of the own lane. For this determination, for example, vehicle position information and vehicle speed information obtained from the autonomous sensors 24, 26, and 28 are used. If all of the determination results in steps S206 and S207 are negative, the present routine ends with continuing avoidance preparation.

  When the determination result of step S206 or S207 is affirmative, the monitored vehicle detection unit 33 detects the vehicle detected in step S205 as the monitored vehicle. When the monitoring target vehicle is detected by the monitoring target vehicle detection unit 33, the avoidance operation corresponding to the avoidance preparation executed in step S204 is executed by the avoidance operation executing unit 35 in step S208.

3-3. Third scene in which a disturbing event occurs 3-3-1. Outline of Third Scene A third scene to which the present invention is applied is a scene in which an adjacent vehicle enters the own lane in order to avoid a forward vehicle that decelerates. This will be described with reference to FIG.

  In FIG. 7, a one-lane two-lane road having a first travel lane 71 and a second travel lane (overtaking lane) 72 and a stop 75 in contact with the first travel lane 71 are depicted. The host vehicle 51 travels in the second travel lane 72, and the adjacent vehicle 61 travels diagonally forward of the host vehicle 51 in the first travel lane 71. In front of the adjacent vehicle 61 traveling on the first lane 71, there is a bus 82 that is about to stop at the stop 75. In this situation, the adjacent vehicle 61 traveling in the first traveling lane 71 may change the lane from the first traveling lane 71 to the second traveling lane 72 in order to avoid the bus 82 that has been decelerated due to stopping. There is sex.

  In the above scene, the interference event detection unit 32 detects the bus 82 that is about to stop at the stop 75 as an interference event that obstructs the traveling of the adjacent vehicle 61. As a similar case, there is a case where there is an evacuated vehicle that is about to stop on the road shoulder in front of an adjacent vehicle. In this case, since the adjacent vehicle is prevented from traveling by the evacuated vehicle, the evacuated vehicle is detected as an obstruction event. When the monitoring target vehicle detection unit 33 detects that the adjacent vehicle 61 may be interrupted from the first traveling lane 71 to the second traveling lane 72, the monitoring target vehicle detection unit 33 detects the adjacent vehicle 61 as the monitoring target vehicle.

3-3-2. Avoidance Control Corresponding to Third Scene FIG. 8 is a flowchart showing a routine of avoidance control corresponding to the scene. The contents of the avoidance control routine corresponding to the scene will be described in order from step S301.

  The determination in step S301 is performed by the interference event detection unit 32. In step S301, it is determined whether there is a bus on the main line that is likely to stop at the bus stop. For this determination, for example, the map information from the map information unit 22 and the object recognition result by the object recognition unit 31 are used. Further, it is determined whether or not the object is likely to stop at the stop from the position information and speed information of the object recognized as a bus.

  When the determination result of step S301 is affirmative, the disturbance event detection unit 32 detects a bus that is about to stop at the stop as a disturbance event. When a disturbance event is detected by the disturbance event detection unit 32, in step S302, avoidance preparation for preparing for an interruption from an adjacent lane is executed by the avoidance preparation execution unit 34. In step S302, for example, preparation for decelerating the host vehicle or preparation for changing the lane of the host vehicle is executed.

  The determination in step S303 after execution of the avoidance preparation is performed by the monitoring target vehicle detection unit 33. In step S303, it is determined whether or not a vehicle traveling behind the bus detected in step S301 has been detected. For this determination, for example, the recognition result of the moving body by the object recognition unit 31 is used. If the determination result of step S303 is negative, the routine ends while continuing avoidance preparation.

  When the determination result of step S303 is affirmative, the monitored vehicle detection unit 33 detects the vehicle detected in step S303 as the monitored vehicle. Then, when the monitoring target vehicle is detected by the monitoring target vehicle detection unit 33, in step S307, the avoidance operation corresponding to the avoidance preparation executed in step S302 is executed by the avoidance operation executing unit 35.

  When the determination result of step S301 is negative, the determination of step S304 is performed by the disturbing event detection unit 32. In step S304, it is determined whether there is an evacuated vehicle on the main line that is likely to stop on the shoulder. Whether or not the vehicle is an evacuated vehicle is determined based on, for example, the traveling position and speed of the vehicle in the lane, and whether or not a hazard lamp or blinker is lit.

  When the determination result of step S304 is affirmative, the disturbance event detection unit 32 detects an evacuated vehicle that is about to stop on the shoulder as a disturbance event. When a disturbance event is detected by the disturbance event detection unit 32, avoidance preparation for preparing for an interruption from the adjacent lane is executed by the avoidance preparation execution unit 34 in step S305. In step S305, for example, preparation for decelerating the host vehicle or preparation for changing the lane of the host vehicle is executed.

  The determination in step S306 after execution of avoidance preparation is performed by the monitoring target vehicle detection unit 33. In step S306, it is determined whether a vehicle traveling behind the retracted vehicle detected in step S304 has been detected. For this determination, for example, the recognition result of the moving body by the object recognition unit 31 is used. If the determination result of step S306 is negative, the routine ends while continuing avoidance preparation.

  When the determination result of step S306 is affirmative, the monitored vehicle detection unit 33 detects the vehicle detected in step S306 as the monitored vehicle. When the monitoring target vehicle is detected by the monitoring target vehicle detection unit 33, in step S307, the avoidance operation corresponding to the avoidance preparation executed in step S305 is executed by the avoidance operation executing unit 35.

3-4. Fourth and fifth scenes in which a disturbing event occurs 3-4-1. Outline of Fourth Scene A fourth scene to which the present invention is applied is a scene in which an adjacent vehicle interrupts the own lane in order to avoid an opposite right turn vehicle entering the main line from the opposite lane. This will be described with reference to FIG.

  In FIG. 9, a main line of two lanes on one side having a first travel lane 71 and a second travel lane 72 and an opposite lane 76 facing the main line are depicted. The host vehicle 51 travels in the first travel lane 71 on the right side, and the adjacent vehicle 61 travels diagonally forward of the host vehicle 51 in the second travel lane 72 on the center side. On the opposite lane 76, an opposite right turn vehicle 83 is stopped and is about to enter the main line. In this situation, the adjacent vehicle 61 traveling in the second traveling lane 72 changes the lane from the second traveling lane 72 to the first traveling lane 71 in an attempt to avoid the opposite right turn vehicle 83 that is about to enter the main line. There is a possibility of coming.

  In the above scene, the interference event detection unit 32 detects the oncoming right turn vehicle 83 that is about to enter the main line from the oncoming lane 76 as an interference event that obstructs the traveling of the adjacent vehicle 61. When the monitoring target vehicle detection unit 33 detects that the adjacent vehicle 61 may be interrupted from the second traveling lane 72 to the first traveling lane 71, the monitoring target vehicle detection unit 33 detects the adjacent vehicle 61 as the monitoring target vehicle.

3-4-2. Outline of Fifth Scene A fifth scene to which the present invention is applied is a scene in which an adjacent vehicle interrupts the own lane to avoid a left turn vehicle entering the main line from the parking lot. This will be described with reference to FIG.

  In FIG. 10, a one-lane two-lane road having a first travel lane 71 and a second travel lane 72 and a parking lot 77 provided on the side of the first travel lane 71 are depicted. The host vehicle 51 travels in the second travel lane 72 on the right side, and the adjacent vehicle 61 travels diagonally forward of the host vehicle 51 in the first travel lane 71. A left turn vehicle 84 stops near the exit of the parking lot 77 and is turning left to enter the main line. In this situation, the adjacent vehicle 61 traveling in the first traveling lane 71 changes the lane from the first traveling lane 71 to the second traveling lane 72 in order to avoid the left turn vehicle 84 that is about to enter the main line. There is a possibility of coming.

  In the above scene, the interference event detection unit 32 detects the left turn vehicle 84 that is about to enter the main line from the parking lot 77 as an interference event that obstructs the traveling of the adjacent vehicle 61. When the monitoring target vehicle detection unit 33 detects that the adjacent vehicle 61 may be interrupted from the first traveling lane 71 to the second traveling lane 72, the monitoring target vehicle detection unit 33 detects the adjacent vehicle 61 as the monitoring target vehicle.

3-4-3. Avoidance Control Corresponding to Fourth and Fifth Scenes FIG. 11 is a flowchart showing an avoidance control routine corresponding to the scene. The contents of the avoidance control routine corresponding to the scene will be described below in order from step S401.

  The determination in step S401 is performed by the interference event detection unit 32. In step S401, it is determined whether or not the opposite right turn vehicle is stopped in the opposite lane. For this determination, for example, map information from the map information unit 22, white line recognition results based on image information from the camera 24, object recognition results by the object recognition unit 31, and the like are used.

  When the determination result in step S401 is affirmative, the disturbance event detection unit 32 detects the oncoming right turn vehicle as an interference event. If a disturbance event is detected by the disturbance event detection unit 32, in step S <b> 402, avoidance preparation for preparing for an interruption from an adjacent lane is executed by the avoidance preparation execution unit 34. In step S402, for example, preparation for decelerating the host vehicle or preparation for changing the lane of the host vehicle is executed.

  The determination in step S403 after execution of the avoidance preparation is performed by the monitoring target vehicle detection unit 33. In step S403, it is determined whether a vehicle traveling in the adjacent lane has been detected. For this determination, for example, the recognition result of the moving body by the object recognition unit 31 is used. If the determination result of step S403 is negative, the routine ends while continuing avoidance preparation.

  When the determination result of step S403 is affirmative, the monitored vehicle detection unit 33 detects the vehicle detected in step S403 as the monitored vehicle. When the monitoring target vehicle is detected by the monitoring target vehicle detection unit 33, in step S407, the avoidance operation corresponding to the avoidance preparation executed in step S402 is executed by the avoidance operation executing unit 35.

  If the determination result of step S401 is negative, the determination of step S404 is performed by the disturbing event detection unit 32. In step S404, it is determined whether there is a left turn vehicle at the exit of the parking lot. For this determination, for example, the recognition result of the moving body by the object recognition unit 31 is used.

  If the determination result of step S404 is affirmative, the obstruction event detector 32 detects a left turn vehicle that is stopped at the exit of the parking lot as an obstruction event. When a disturbance event is detected by the disturbance event detection unit 32, in step S405, avoidance preparation for preparing for an interruption from the adjacent lane is executed by the avoidance preparation execution unit 34. In step S405, for example, preparation for decelerating the host vehicle or preparation for changing the lane of the host vehicle is executed.

  The determination in step S406 after the execution of the avoidance preparation is performed by the monitoring target vehicle detection unit 33. In step S406, it is determined whether a vehicle traveling in the adjacent lane has been detected. For this determination, for example, the recognition result of the moving body by the object recognition unit 31 is used. If the determination result of step S406 is negative, the routine ends while continuing avoidance preparation.

  If the determination result of step S406 is affirmative, the monitored vehicle detection unit 33 detects the vehicle detected in step S406 as a monitored vehicle. When the monitoring target vehicle is detected by the monitoring target vehicle detection unit 33, in step S407, the avoidance operation corresponding to the avoidance preparation executed in step S405 is executed by the avoidance operation executing unit 35.

4). Other Embodiments The ECU 30 as the vehicle control device may perform parallel running avoidance control for avoiding parallel running with another vehicle so that the host vehicle does not enter the blind spot of the other vehicle traveling in the adjacent lane. In the parallel running avoidance control, a parallel running determination area is set in the adjacent lane based on the host vehicle, and it is determined whether another vehicle traveling in the adjacent lane stays in the parallel running determination area for a certain period or more. And when the other vehicle staying in the parallel running determination area for a certain period or more is detected, vehicle control for avoiding parallel running with the other vehicle such as deceleration or lane change is performed.

  When the parallel avoidance control is performed, the avoidance preparation execution unit 34 expands the parallel determination area set in the parallel avoidance control in the lane direction and shortens the parallel determination time as preparation for avoidance. May be executed. In this case, the monitoring target vehicle detection unit 33 detects, as a monitoring target vehicle, a vehicle that stays in the parallel determination determination area expanded by avoidance preparation for the parallel determination time shortened by avoidance preparation.

2 Vehicle 4 Steering actuator 6 Brake actuator 8 Drive actuator 10 Notification unit 20 GPS unit 22 Map information unit 24 Camera 26 Radar 28 LIDAR
30 Vehicle control unit (ECU)
31 Object Recognition Unit 32 Interference Event Detection Unit 33 Monitoring Target Vehicle Detection Unit 34 Avoidance Preparation Execution Unit 35 Avoidance Operation Execution Unit

Claims (1)

An object recognition unit for recognizing an object existing around the host vehicle;
An interfering event detector for detecting an interfering event that obstructs the driving of a vehicle in an adjacent lane;
A monitoring target vehicle detection unit that detects a monitoring target vehicle that may be interrupted from the adjacent lane to the own lane among the objects recognized by the object recognition unit;
When the jamming event is detected by the jamming event detection unit, an avoidance preparation execution unit that executes avoidance preparation for preparing for an interruption from the adjacent lane,
An avoidance operation executing unit for executing an avoidance operation for avoiding interference between the monitored vehicle and the host vehicle when the monitored vehicle detection unit is detected by the monitored vehicle detection unit after execution of the avoidance preparation;
A vehicle control device comprising:

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