JP2019152955A - Vehicle controller - Google Patents

Abstract

To provide a vehicle controller capable of avoiding interference between an interrupting vehicle and an own vehicle to maintain a smooth traffic flow.SOLUTION: A vehicle controller comprises: detecting a targeted interruption vehicle that may interrupt a self-lane from an adjacent lane and a targeted and monitored vehicle that travels behind the targeted interruption vehicle; performing a preparation for avoidance for expanding a parallel traveling judgment area in a lane direction of the adjacent lane and for reducing a parallel traveling judgment time when a predetermined operation of the targeted and monitored vehicle in relation to the targeted interruption vehicle is detected; and, after the preparation for avoidance is performed, performing an avoidance operation for avoiding interference between the targeted interruption vehicle and an own vehicle when it is detected that the targeted interruption vehicle is staying in the parallel traveling judgment area for the parallel traveling judgment time or more.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a vehicle control device, and more particularly to a vehicle control device that supports driving of a vehicle in place of a driver.

  Patent Document 1 discloses a technique for allowing a merged vehicle to smoothly merge at a merge point where a traveling lane on which the host vehicle travels and a merged lane merge. In this technology, when there is a merging vehicle that cuts into the driving lane from the merging lane, when the merging vehicle is assumed to travel at a constant speed, the deceleration of the own vehicle necessary for smooth merging and the own vehicle When it is assumed that the vehicle travels at a constant speed, the vehicle is compared with the deceleration of the merging vehicle necessary for smooth merging, and an action determination is made as to whether the host vehicle should go ahead of the merging vehicle based on the comparison result.

JP 2017-132408 A

  In the technique of the above-mentioned Patent Document 1, the interruption scene is limited to the junction point between the traveling lane and the junction lane, and the behavior determination when another vehicle interrupts from the adjacent lane to the own lane is not disclosed. For example, an interrupt due to a driver's free will, a mid-forced interrupt when necessary, specifically, an interrupt caused by the movement of a vehicle behind the vehicle such as a slap driving, etc. There is. As one method of behavior determination in the former case, for example, it is conceivable to start an avoidance operation such as deceleration control based on a change in the lateral position of the vehicle to be interrupted. However, in the latter case, the movement of the vehicle to be interrupted tends to be steep, so if only the movement and state of the vehicle to be interrupted are monitored, the avoidance action will be delayed, and the vehicle that There is a possibility that a sufficient safety margin cannot be secured with the vehicle.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a vehicle control device capable of maintaining smooth traffic while avoiding interference between a vehicle that has been interrupted and the host vehicle. To do.

  In order to solve the above-described problem, the present invention avoids parallel running with other vehicles when another vehicle staying in the parallel running determination area set in the adjacent lane is detected for more than the parallel running determination time. It is intended for a vehicle control device that controls the operation of the host vehicle. The vehicle control device includes an object recognition unit, an interruption target vehicle detection unit, a monitoring target vehicle detection unit, an avoidance preparation execution unit, and an avoidance operation execution unit. The object recognizing unit recognizes an object existing around the host vehicle. The interrupt target vehicle detection unit detects an interrupt target vehicle that may be interrupted from the adjacent lane to the own lane among the objects recognized by the object recognition unit. The monitoring target vehicle detection unit detects a monitoring target vehicle that travels behind the interrupt target vehicle from among the objects recognized by the object recognition unit. The avoidance preparation execution unit executes avoidance preparation for expanding the parallel running determination area in the lane direction of the adjacent lane and shortening the parallel running determination time when a predetermined operation of the monitoring target vehicle with respect to the interrupt target vehicle is detected. The avoidance preparation execution unit detects interference between the interrupt target vehicle and the host vehicle when it is detected that the interrupt target vehicle stays in the parallel determination determination area after the avoidance preparation. Execute avoidance action to avoid.

  According to the present invention, a situation in which a vehicle traveling behind an interruption target vehicle is monitored as a monitoring target vehicle, and the interruption target vehicle interrupts from the adjacent lane to the own lane due to the behavior of the rear vehicle. Can be detected. When a predetermined movement of the monitored vehicle to the interruption target vehicle is detected, first, the parallel determination area is expanded in the lane direction of the adjacent lane and the avoidance preparation for shortening the parallel determination time is executed, and then the interruption is performed. When it is detected that the target vehicle stays in the parallel running determination area for at least the parallel running determination time, it is possible to take a two-stage action of executing an avoidance operation. Accordingly, 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.

FIG. 3 is a conceptual diagram for explaining driving support control by the vehicle control device according to the first embodiment. It is a conceptual diagram for demonstrating the outline | summary of the avoidance operation | movement which a vehicle control apparatus performs. It is a conceptual diagram for demonstrating the outline | summary of the avoidance operation | movement with the avoidance preparation which both control apparatuses perform. It is a figure which shows schematic structure of the vehicle control apparatus of Embodiment 1. FIG. 4 is a flowchart showing a routine of driving support control executed in the first embodiment.

  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. Embodiment 1 FIG.
1-1. Overview of Driving Support Control by Vehicle Control Device FIG. 1 is a conceptual diagram for explaining driving support control by a vehicle control device according to the present embodiment. The vehicle control device is mounted on a vehicle, and performs driving support control for supporting driving in place of a driver driving the vehicle. In the following description, a vehicle equipped with a vehicle control device is referred to as “own vehicle”, and other vehicles are referred to as “other vehicles”. A lane in which the host vehicle is traveling is referred to as “own lane”, and a lane adjacent to the own lane is referred to as “adjacent lane”. Further, among other vehicles, a vehicle that may interrupt the own lane from an adjacent lane is referred to as an “interrupt target vehicle”, and a vehicle that travels behind the interrupt target vehicle is referred to as a “monitor target vehicle”.

  As shown in FIG. 1, the host vehicle may run in parallel in a region (for example, obliquely rearward) that becomes a blind spot from an interrupt target vehicle traveling in an adjacent lane. In such a situation, there is a possibility that the vehicle to be interrupted may cut into the own lane at a close distance without noticing the presence of the own vehicle. Therefore, the vehicle control device performs an avoidance operation for controlling the driving of the host vehicle so as to avoid the parallel running with the other vehicle when the other vehicle staying in the parallel running determination region for the parallel running determination time or more is detected. Execute. Hereinafter, details of the avoidance operation will be described with reference to the drawings.

  FIG. 2 is a conceptual diagram for explaining an outline of an avoidance operation performed by the vehicle control device. Note that the avoidance operation shown in this figure is an avoidance operation when avoidance preparation described later is not executed. The vehicle control device detects an interruption target vehicle (vehicle A) that may be interrupted into the own lane among other vehicles traveling in the adjacent lane. Then, the vehicle control device determines whether or not the interrupt target vehicle is running in parallel with the host vehicle in a region where there is a possibility of interference with the host vehicle. In the following description, this determination is referred to as “parallel determination”. In the parallel running determination, more specifically, the determination condition is that the vehicle to be interrupted stays in the parallel running determination area for the parallel running determination time or more. When the vehicle control device detects that the determination condition is satisfied, the vehicle control device performs an avoidance operation for avoiding interference between the interrupt target vehicle and the host vehicle.

  Here, the parallel running determination area is a predetermined area extending from the rear end of the host vehicle toward the lane direction of the adjacent lane. The boundary on the front end side of the parallel running determination area can be set, for example, at the position of the rear end of the interrupt target vehicle when the host vehicle deviates from the blind spot of the interrupt target vehicle. According to the setting of the parallel running determination area, when the vehicle to be interrupted is traveling in the parallel running determination area, there is a possibility of interference with the own vehicle due to the interruption of the vehicle to be interrupted on the own lane. Judgment can be made.

  Even if the vehicle to be interrupted stays in the parallel running determination area, there is a case where the possibility of actual interference is low if the stay is temporary. For example, when the vehicle to be interrupted passes the own vehicle, such as when the vehicle to be interrupted passes through the parallel running determination area. The parallel running determination time is a condition for eliminating the case where the possibility of actual interference is low among the cases where the interrupt target vehicle stays in the parallel running determination area.

  The avoidance operation is an operation for avoiding interference between the vehicle to be interrupted and the host vehicle, and corresponds to, for example, a deceleration operation of the host vehicle or a lane change by a lateral operation of steering. According to such an avoidance operation, the avoidance operation for avoiding the interference with the interrupt target vehicle is performed before the interrupt target vehicle actually interrupts, so that the interference with the interrupt target vehicle is prevented in advance. Can do.

  The inventor of the present application has recognized the following problems regarding the above-described driving support control. That is, when the vehicle to be interrupted falls into a state where it is beaten by another vehicle behind, the driver of the vehicle to be interrupted is more likely to make an immediate interrupt. In other words, the monitoring target vehicle (vehicle B) traveling behind the interruption target vehicle may perform some sort of driving on the interruption target vehicle. In this case, there is a possibility that the driver of the vehicle to be interrupted is distracted by hurrying over the lane and cannot accurately grasp the surrounding situation. As a result, even if the vehicle to be interrupted does not stay in the parallel running determination area for longer than the parallel running determination time, there is a possibility that the vehicle will be forced to steer or decelerate and get into the own lane.

  Therefore, the vehicle control device according to the present embodiment executes avoidance preparation corresponding to preparation for avoidance operation in a situation where the vehicle to be interrupted is beaten from the rear vehicle. FIG. 3 is a conceptual diagram for explaining an outline of avoidance operation accompanied by avoidance preparation executed by the vehicle control device. The vehicle control device detects a monitoring target vehicle that travels behind the interruption target vehicle. Then, the vehicle control device determines whether or not a predetermined operation of the start target vehicle with respect to the interrupt target vehicle is detected. The predetermined operation here is an operation corresponding to a rolling operation performed by the monitored vehicle on the vehicle to be interrupted, for example, horn, passing, inter-vehicle distance expansion / contraction, meandering operation, Furthermore, operations such as a rapid approach of the monitoring target vehicle to the interruption target vehicle are applicable. When these predetermined operations are detected, the vehicle control device executes avoidance preparation. The avoidance preparation here is an operation for changing the condition for the parallel running determination, and more specifically, an operation for expanding the parallel running determination area in the lane direction of the adjacent lane and shortening the parallel running determination time.

  After executing the avoidance preparation, when the vehicle control device detects that the condition for the parallel running determination is satisfied, more specifically, it is detected that the vehicle to be interrupted stays in the parallel running determination area for the parallel running determination time or more. In this case, an avoidance operation for avoiding interference between the interrupt target vehicle and the host vehicle is executed.

  According to the parallel running determination after the avoidance preparation is performed, the parallel determination is more easily established than in the normal time when the avoidance preparation is not performed. That is, in the parallel running determination after execution of avoidance preparation, the situation in which the vehicle to be interrupted is a stay time less than the normal parallel determination time and the situation where the vehicle is traveling ahead of the normal parallel determination area are also included. It can be the target of running determination. Such a situation includes a situation in which an interruption target vehicle is beaten from a monitoring target vehicle and suddenly interrupts. For this reason, the vehicle control device can execute the avoidance operation in advance in case the interruption target vehicle beaten from the monitoring target vehicle interrupts the own lane. Accordingly, 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.

1-2. Configuration Example of Vehicle Control Device Next, a configuration example of a vehicle control device that performs the above-described driving support control will be described. FIG. 4 is a diagram illustrating a schematic configuration of the vehicle control device according to the first embodiment. The vehicle control device shown in FIG. 4 is mounted on a vehicle, and performs an avoidance operation that avoids interference with an interrupt target vehicle that interrupts the own lane.

  As shown in FIG. 4, the vehicle control device includes a vehicle ECU (Electronic Control Unit) 10 mounted on the host vehicle. The vehicle control device includes a camera 1, a radar 2, a communication device 3, a navigation device 4, a microphone array 5, and a vehicle state detection sensor 6 connected to the input side of the vehicle ECU 10. Further, the vehicle control device includes a drive device 21, a braking device 22, and a steering device 23 connected to the output side of the vehicle ECU 10.

  The camera 1 is an information acquisition unit that acquires peripheral information of the host vehicle, such as a front camera that captures an image ahead of the host vehicle, a left rear camera and a right rear camera that captures left and right rear images of the host vehicle. It functions as. An image captured by the camera 1 is transmitted to the vehicle ECU 10 as image data as needed, and the vehicle ECU 10 performs image processing on each image data. The peripheral information acquired by the camera 1 is road information such as position information, vehicle information, white line information, and signal information of other vehicles traveling in the adjacent lane.

  The radar 2 is, for example, a laser radar, a millimeter wave radar, or the like, and functions as information acquisition means for acquiring surrounding information of the own vehicle. The radar 2 transmits laser waves or the like to the front and rear of the host vehicle, and receives the reflected waves to acquire the surrounding information of the host vehicle. The peripheral information acquired by the radar 2 is, for example, presence / absence information of other vehicles, distance to other vehicles, angle (that is, relative position) and speed (relative speed) information, position information of electric poles, buildings, and the like. Each information detected by the radar 2 is transmitted to the vehicle ECU 10 as needed.

  The communication device 3 functions as information acquisition means for receiving surrounding information from a roadside device provided on the road via an antenna provided in the host vehicle. The roadside machine is a beacon device that transmits, for example, traffic jam information, traffic information for each lane, regulation information such as suspension, information on traffic conditions at blind spots, and the like. The communication device 3 also functions as information acquisition means for communicating with other vehicles around the host vehicle directly via an antenna or via a relay machine (not shown). The peripheral information acquired here is information related to position information, speed information, and an operation state of the other vehicle (for example, whether the direction indicator is operated). Each information received in the communication device 3 is transmitted to the vehicle ECU 10 as needed.

  The navigation device 4 detects the current position of the host vehicle from the GPS satellite via the antenna, and also detects the traveling speed of the host vehicle and provides route guidance to the destination using a GPS, a speed sensor, a gyroscope, and the like. Is what you do. The navigation device 4 incorporates map data including detailed road information. This map data includes, for example, information on the shape of the road, the number of lanes, the lane width, and the like. Information on the current position, road information, and the like acquired by the navigation device 4 are transmitted to the vehicle ECU 10 as needed.

  The microphone array 5 identifies the direction of the sound source by detecting the sound wave directivity. The sound source whose direction is specified by the microphone array 5 is, for example, a sound source of a horn of another vehicle. Each information detected by the microphone array 5 is transmitted to the vehicle ECU 10 as needed.

  The vehicle state detection sensor 6 detects the traveling state of the host vehicle. Examples of the vehicle state detection sensor 6 include a vehicle speed sensor, a lateral acceleration sensor, and a yaw rate sensor. Information detected by the vehicle state detection sensor 6 is transmitted to the vehicle ECU 10.

  The drive device 21 is a drive source of the host vehicle, and an engine is exemplified. The driving force generated by the drive device 21 is transmitted to the drive wheels via a power transmission path (not shown). The engine as the driving device 21 is controlled by the vehicle ECU 10 with respect to the fuel injection amount, the injection timing, the throttle opening, and the like, thereby controlling the driving force of the host vehicle.

  The braking device 22 includes a brake device and a brake actuator, and automatically applies a braking force to each wheel regardless of the driver's brake operation. The brake device is a general brake device such as a full-air drum brake that generates a braking force (braking force) on the front wheels and the rear wheels using air pressure in accordance with the depression of the brake pedal by the driver. The brake actuator generates a braking force of an arbitrary magnitude on each wheel as an automatic brake, based on a command from the vehicle ECU 10, separately from the brake operation by the driver.

  The steering device 23 includes a steering and a steering actuator, and automatically controls the steering angle regardless of the driver's steering operation. Steering is a general steering device that changes the direction of wheels according to a steering operation by a driver. The steering actuator changes the direction of the wheels as automatic steering based on a command from the vehicle ECU 10 separately from the steering operation by the driver.

1-3. Description of the function of the vehicle ECU The vehicle ECU 10 includes a CPU that executes various arithmetic processes, a ROM that stores programs and data necessary for the control, a RAM that temporarily stores calculation results in the CPU, A computer having an input / output port for inputting / outputting signals between them.

  In the vehicle ECU 10 according to the first embodiment, driving support control for avoiding interference with the vehicle to be interrupted that interrupts the own lane is performed. The vehicle ECU 10 functions as an object recognition unit 11, an interrupt target vehicle detection unit 12, a monitoring target vehicle detection unit 13, an avoidance preparation execution unit 14, and an avoidance as functional blocks for realizing the above-described driving support control or control associated therewith. An operation execution unit 15 is included.

  The object recognition unit 11 is a functional block for detecting an object existing around the host vehicle based on information transmitted from the camera 1, the radar 2, the communication device 3, and the navigation device 4. The recognition result in the object recognition unit 11 is transmitted to the interrupt target vehicle detection unit 12, the monitoring target vehicle detection unit 13, and the avoidance preparation execution unit 14.

  The interrupt target vehicle detection unit 12 is a functional block for detecting an interrupt target vehicle that may be interrupted from the adjacent lane to the own lane based on the recognition result transmitted from the object recognition unit 11. Information of the interrupt target vehicle detected by the interrupt target vehicle detection unit 12 is transmitted to the monitoring target vehicle detection unit 13 and the avoidance operation execution unit 15.

  The monitoring target vehicle detection unit 13 is a functional block for detecting a monitoring target vehicle traveling behind the interruption target vehicle based on the recognition result transmitted from the object recognition unit 11. Information on the monitoring target vehicle detected by the monitoring target vehicle detection unit 13 is transmitted to the avoidance preparation execution unit 14 and the avoidance operation execution unit 15.

  The avoidance preparation execution unit 14 is a functional block for executing avoidance preparation. Specifically, the avoidance preparation execution unit 14 includes the peripheral information acquired from the camera 1, the radar 2, the communication device 3, and the navigation device 4, which are function information acquisition means, the information detected by the microphone array 5, and the vehicle to be interrupted. Based on the information on the vehicle to be interrupted transmitted from the detection unit 12 and the information on the vehicle to be monitored transmitted from the monitoring target vehicle detection unit 13 by the information acquisition unit, the predetermined vehicle to be monitored with respect to the vehicle to be interrupted is monitored. Detecting the movement of The predetermined operation here is an operation corresponding to the rolling operation performed by the monitoring target vehicle on the interruption target vehicle. Moreover, the avoidance preparation execution part 14 changes the determination conditions of parallel running determination as avoidance preparation, when a predetermined operation | movement is detected. A specific predetermined operation detected by the avoidance preparation execution unit 14 and a specific avoidance preparation executed by the avoidance preparation execution unit 14 will be described in detail with reference to a flowchart described later.

  The avoidance operation execution unit 15 is a functional block for executing an avoidance operation for avoiding interference between the vehicle to be interrupted and the host vehicle. Specifically, the avoidance operation execution unit 15 performs parallel running determination based on the information on the interrupt target vehicle transmitted from the interrupt target vehicle detection unit 12. And the avoidance operation | movement execution part 15 performs avoidance operation | movement, when establishment of the said parallel running determination is detected. The specific parallel running determination and avoidance operation executed by the avoidance operation execution unit 15 will be described in detail with reference to a flowchart described later.

1-4. Specific Processing of Driving Support Control Next, specific processing of driving support control executed in the vehicle control device of the first embodiment having the above-described configuration will be described with reference to a flowchart. FIG. 5 is a flowchart showing a routine of driving support control executed in the first embodiment. Note that the routine shown in FIG. 5 is repeatedly executed by the vehicle ECU 10 at a predetermined control cycle (for example, 0.1 sec) while the host vehicle is traveling.

  When the routine shown in FIG. 5 is started, it is first determined whether or not there is an interrupt target vehicle (vehicle A) (step S100). Here, the vehicle ECU 10 determines whether or not an interrupt target vehicle is detected by the interrupt target vehicle detection unit 12. As a result, when the determination is not confirmed, there is no other vehicle that is in the own lane, and the routine is terminated.

  On the other hand, if the determination in step S100 is confirmed, it is next determined whether or not there is a monitoring target vehicle (vehicle B) (step S102). Here, the vehicle ECU 10 determines whether or not the monitoring target vehicle is detected by the monitoring target vehicle detection unit 13. As a result, when the determination is not satisfied, there is no other vehicle that hits the vehicle to be interrupted, and therefore, the process proceeds to a parallel running determination in step S118 described later without executing preparation for avoidance.

  On the other hand, if the determination in step S102 is confirmed, whether or not the inter-vehicle distance of the monitored vehicle (vehicle B) is closer to the interrupt target vehicle (vehicle A) than a predetermined reference distance. Determination is made (step S104). As the reference distance here, a predetermined value is read as an inter-vehicle distance at which the monitoring target vehicle (vehicle B) can perform a scooping operation with respect to the interruption target vehicle (vehicle A).

  If the determination in step S104 is not successful, then the monitored vehicle (vehicle B) approaches the interrupted vehicle (vehicle A) at a speed higher than a predetermined reference relative speed. It is determined whether or not (step S106). As the reference relative speed here, a predetermined value is read as a relative speed at which the monitoring target vehicle (vehicle B) may perform a scooping driving approaching the interrupt target vehicle (vehicle A). As a result, in the case where the determination is not accepted, there is no other vehicle that performs the rolling operation with respect to the vehicle to be interrupted (vehicle A). Transition to judgment. On the other hand, when the determination is approved, it is determined that the monitored vehicle (vehicle B) performs the rolling operation with respect to the interrupted vehicle (vehicle A), and the process proceeds to avoidance preparation in step S116 described later. To do.

  On the other hand, if the determination in step S104 is confirmed, the monitoring target vehicle (vehicle B) is changed to the interruption target vehicle (vehicle A) based on the information detected by the microphone array 5. On the other hand, it is determined whether or not the horn is sounding (step S108). As a result, when the determination is accepted, it is determined that the monitored vehicle (vehicle B) is performing a scooping operation with respect to the interrupt target vehicle (vehicle A), and preparation for avoidance of step S116 described later is performed. Migrate to

  If the determination in step S108 is not successful, it is next determined whether or not the monitored vehicle (vehicle B) is passing the interrupted vehicle (vehicle A) (step S110). ). As a result, when the determination is accepted, it is determined that the monitored vehicle (vehicle B) is performing a scooping operation with respect to the interrupt target vehicle (vehicle A), and preparation for avoidance of step S116 described later is performed. Migrate to

  If the determination in step S110 is not successful, then it is determined whether the monitored vehicle (vehicle B) has shortened or extended the inter-vehicle distance with respect to the interrupted vehicle (vehicle A). (Step S112). As a result, when the determination is accepted, it is determined that the monitored vehicle (vehicle B) is performing a scooping operation with respect to the interrupt target vehicle (vehicle A), and preparation for avoidance of step S116 described later is performed. Migrate to

  If the determination in step S112 is not successful, it is next determined whether or not the monitored vehicle (vehicle B) is in a meandering operation (step S114). As a result, in the case where the determination is not accepted, there is no other vehicle that performs the rolling operation with respect to the vehicle to be interrupted (vehicle A). Transition to judgment.

  On the other hand, when the determination in step 114 is confirmed, it is determined that the monitored vehicle (vehicle B) is performing a scooping operation with respect to the interrupt target vehicle (vehicle A), and avoidance preparation is executed. (Step S116). Here, specifically, among the parallel running determination conditions, the parallel running determination area is expanded in the lane direction of the adjacent lane and the parallel running determination time is shortened.

  Next, parallel running determination is executed (step S118). Specifically, it is determined whether or not the vehicle to be interrupted stays in the parallel running determination area for at least the parallel running determination time. As a result, if the determination is not satisfied, it is determined that there is a low possibility that the vehicle to be interrupted (vehicle A) will enter the own lane, and this routine ends without performing the avoidance operation described later. Is done.

  On the other hand, if the inversion is confirmed in step S118, it can be determined that there is a high possibility that the vehicle to be interrupted (vehicle A) will interrupt the own lane. In this case, the process proceeds to the next step and an avoidance operation is executed (step S120). Here, specifically, the driving device 21, the braking device 22 and the steering device 23 of the own vehicle are controlled to automatically decelerate the own vehicle, or on the side opposite to the adjacent lane on which the vehicle to be interrupted travels. An operation for automatically changing the lane to the adjacent lane is performed.

  According to such control, even when an interrupt target vehicle traveling in the editorial lane suddenly interrupts the own lane due to a driving operation from the monitored vehicle, it is possible to prevent interference with the interrupt target vehicle. It becomes possible.

1-5. Modified Example of Vehicle Control Device According to Embodiment 1 The vehicle control device according to Embodiment 1 can apply a configuration modified as follows.

  The predetermined operation performed by the monitoring target vehicle is not limited to the above as long as it is an operation corresponding to the act of feeling that the interruption target vehicle is beaten from the rear monitoring target vehicle.

DESCRIPTION OF SYMBOLS 1 Camera 2 Radar 3 Communication apparatus 4 Navigation apparatus 5 Microphone array 6 Vehicle state detection sensor 10 Vehicle ECU (Electronic Control Unit)
DESCRIPTION OF SYMBOLS 11 Object recognition part 12 Interruption object vehicle detection part 13 Monitoring object vehicle detection part 14 Avoidance preparation execution part 15 Avoidance operation execution part 21 Drive apparatus 22 Braking apparatus 23 Steering device

Claims (1)

In a vehicle control device that controls driving of a host vehicle so as to avoid parallel running with the other vehicle when another vehicle staying in the parallel running determination region set in the adjacent lane is detected for at least the parallel running determination time. ,
An object recognition unit for recognizing an object existing around the host vehicle;
Among the objects recognized by the object recognition unit, an interrupt target vehicle detection unit that detects an interrupt target vehicle that may interrupt the own lane from the adjacent lane,
A monitoring target vehicle detection unit that detects a monitoring target vehicle that travels behind the interruption target vehicle from among the objects recognized by the object recognition unit;
The avoidance preparation for executing the avoidance preparation for expanding the parallel determination area in the lane direction of the adjacent lane and shortening the parallel determination time when a predetermined operation of the monitoring target vehicle with respect to the interrupt target vehicle is detected. The execution part;
After the execution of the avoidance preparation, when it is detected that the vehicle to be interrupted stays in the parallel determination region for the parallel determination time or longer, interference between the vehicle to be interrupted and the host vehicle is avoided. An avoidance operation execution unit for executing an avoidance operation for
A vehicle control device comprising:

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