JP2019156295A - Travel controller, vehicle and travel control method - Google Patents

Abstract

To provide a travel controller capable of performing offset control in which a lateral movement amount is changed according to a relative distance with other vehicle.SOLUTION: A travel controller comprises: a detection unit for detecting other vehicle which travels in the surrounding of the own vehicle; a position determination unit for determining a relative position of whether other vehicle is positioned at a front side of the own vehicle or at a rear side of the own vehicle; an acquisition unit for acquiring the relative distance between the detected other vehicle and the own vehicle; and a control unit for executing offset control for laterally moving the vehicle to a lateral direction where the vehicle is separated from other vehicle on the basis of the relative distance. The control unit sets a first distance and a second distance for starting the offset control to become larger when other vehicle is at a rear side of the vehicle, relative to the first distance and second distance when other vehicle is at a front side of the vehicle. When the relative distance becomes a set first distance or shorter distance, the control unit starts first offset control with a first lateral movement amount, and when the relative distance becomes a set second distance or shorter distance, the control unit performs second offset control with a second lateral movement amount.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a travel control device, a vehicle, and a travel control method.

  Patent Document 1 discloses a technique for correcting the steering angle in a direction away from the overtaking lane when the overtaking vehicle exists within a distance behind the host vehicle.

Japanese Patent No. 5743286

  However, in the configuration of Patent Document 1, when the own vehicle is overtaken by the rear vehicle, the driver may not be aware of it, and suddenly offset laterally may cause the driver to feel uncomfortable. .

  In view of the above-described problems, an object of the present invention is to provide a travel control technique capable of performing offset control in which a lateral movement amount is changed in accordance with a relative distance from another vehicle.

A travel control device according to an aspect of the present invention is a travel control device that controls both travels, and a detection unit that detects other vehicles traveling around the vehicle,
Position determination means for determining a relative position of whether the other vehicle detected by the detection means is located behind the vehicle or whether the other vehicle is located in front of the vehicle;
A relative distance acquisition means for acquiring a relative distance between the detected other vehicle and the vehicle;
Control means for performing offset control for laterally moving the vehicle in a lateral direction away from the other vehicle based on the relative distance; and
The control means includes
When the other vehicle is located behind the vehicle, the first distance for starting the offset control and the second distance shorter than the first distance are set, and the other vehicle is placed in front of the vehicle. Set larger than the first distance and the second distance when located,
Starting the first offset control of the first lateral movement amount when the relative distance is equal to or less than the set first distance;
When the relative distance is equal to or less than the set second distance, the second offset control of the second lateral movement amount larger than the first lateral movement amount is started.

  ADVANTAGE OF THE INVENTION According to this invention, the traveling control technique which can perform the offset control which changed the amount of lateral movement according to the relative distance with another vehicle can be provided.

The figure which illustrates the basic composition of a travel control device. The figure which shows the structural example of the control block diagram of a traveling control apparatus. The figure explaining the flow of offset control in a run control device. The figure which illustrates offset control in case other vehicles overtake the own vehicle. The figure which illustrates offset control in case the own vehicle overtakes other vehicles. The figure which illustrates the change of the run track of the own vehicle in the case of FIG. The figure which shows the example of a setting of 1st distance and 2nd distance. The figure which shows the example of a setting of 1st horizontal movement amount and 2nd horizontal movement amount.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The components described in this embodiment are merely examples, and are not limited by the following embodiments.

(Configuration of travel control device)
FIG. 1A is a diagram illustrating a basic configuration of a travel control device 100 that controls the travel of a vehicle. The travel control device 100 includes a sensor S, a camera CAM, an in-vehicle monitor camera MON, and a computer COM. The sensor S includes, for example, a radar S1, a lidar S2 (Light Detection and Ranging (LIDAR)), a gyro sensor S3, a GPS sensor S4, a vehicle speed sensor S5, a steering angle sensor S6, and a gripping sensor S7. The travel control device 100 can control the lateral movement amount (offset movement amount) that intersects the traveling direction of the vehicle according to the relative distance between the vehicle and the other vehicle.

  Further, the computer COM is connected to a CPU (C1) that controls processing related to automatic driving control of a vehicle to be controlled (hereinafter also referred to as own vehicle), a memory C2, and a network NET, and is connected to other vehicles that travel around the own vehicle. The communication device C3 that can acquire the information is included. The sensor S and the camera CAM acquire various types of vehicle information and input them to the computer COM. Here, a two-wheel or four-wheel vehicle existing around a vehicle (own vehicle) on which the computer COM is mounted is also referred to as another vehicle.

  The CPU (C1) of the computer COM performs image processing on the image information input from the camera CAM. The CPU (C1) extracts a target (object) existing around the host vehicle based on the camera image information subjected to the image processing and the sensor information input from the sensor S (radar S1, lidar S2).

  Examples of the target include a static target that does not move with the passage of time (for example, a stationary object such as a lane, a road width, a road width of a traveling lane (a driving lane) on which the vehicle travels), and a passage of time. And a moving dynamic target (for example, another vehicle traveling in front of or behind the host vehicle in an adjacent lane on which the host vehicle travels).

  The gyro sensor S3 detects the rotational motion and posture of the host vehicle. The computer COM can determine the course of the host vehicle based on the detection result of the gyro sensor S3, the vehicle speed detected by the vehicle speed sensor S5, and the like. The GPS sensor S4 detects the current position (position information) of the host vehicle in the map information. The steering angle sensor S6 detects the steering angle of the vehicle. The detection result of the steering angle sensor S6 is input to the computer COM, and the CPU (C1) of the computer COM can determine the steering angle of the vehicle based on the detection result of the steering angle sensor S6.

  The grip sensor S7 (grip detection unit) is built in, for example, the steering of the vehicle, and can detect whether or not the driver (driver) of the vehicle is gripping the steering. The grip sensor S7 inputs the detected steering grip information to the computer COM. The CPU (C1) of the computer COM determines whether or not the driver is gripping the steering, that is, whether it is a hands-on state or a hands-off state, based on the steering grip information input from the grip sensor S7. Can do.

  The in-vehicle monitor camera MON (imaging unit) is arranged so as to be able to photograph the inside of the vehicle, and photographs a face image of the driver (driver) of the vehicle. The in-car monitor camera MON inputs the photographed driver's appearance information to the computer COM. The computer COM performs image processing of the driver's face image input from the in-vehicle monitor camera MON, so that the driver's appearance such as the driver's facial expression, face orientation, line of sight, eye open / closed degree, driving posture, etc. It is possible to ask for information.

  The CPU (C1) of the computer COM can determine the driver's arousal level (whether the driver is dozing or is in a state where the driving operation can be normally performed) based on the image processing of the face image.

  For example, when the movement of the driver is not detected within a predetermined time period, the CPU (C1) of the computer COM determines that the driver is dozing. Further, a lamp is provided in the in-vehicle monitor camera MON, and the CPU (C1) of the computer COM turns on the lamp at predetermined time intervals. When the driver's line of sight reacts to the lighting of the lamp, the CPU (C1) determines that the driver can normally perform the driving operation.

  The communication device C3 performs wireless communication with a server that provides map information and traffic information, and acquires these information. The computer COM stores the acquired information in the memory C2 functioning as a storage device, accesses the database of map information and traffic information built in the memory C2, and can perform route search from the current location to the destination, etc. It is.

  Further, the communication device C3 acquires road traffic information through communication with the server SV of the network NET, so that information on other vehicles traveling around the host vehicle (for example, the relative distance between the host vehicle and the other vehicle, Relative speed information). The server SV of the network NET can distribute the road traffic information collected from the infrastructure equipment arranged on the road, and the communication device C3 uses the vehicle (based on the road traffic information distributed from the server SV). Information on the distance (relative distance) with other vehicles around the host vehicle) and the speed (relative speed) of the other vehicle can be acquired.

  The CPU (C1) of the computer COM executes a traveling control program stored in the memory C2, thereby causing a relative distance acquisition unit C11, a control unit C12, a type determination unit C13, a road width determination unit C14, and a wakefulness determination unit. C15 functions as a position determination unit C16. The relative distance acquisition unit C11 acquires the relative distance between the other vehicle and the vehicle based on the information about the other vehicle detected by the detection unit (camera CAM, sensor S (radar S1, lidar S2), CPU (C1)). To do. Based on the relative distance acquired by the relative distance acquisition unit C11, the control unit C12 performs offset control for laterally moving the vehicle away from other vehicles.

  For example, the control unit C12 starts the first offset control of the first lateral movement amount when the relative distance becomes equal to or less than the first distance, and the relative distance is equal to or less than the second distance that is shorter than the first distance. In this case, the second offset control of the second lateral movement amount that is larger than the first lateral movement amount is performed. Here, the control unit C12 can perform the offset control with reference to at least one of the relative position and the relative speed between the other vehicle and the vehicle.

  The type determination unit C13 determines the type of the other vehicle detected by the detection unit (sensor S (radar S1, lidar S2) and camera CAM, CPU (C1)).

  The CPU (C1) acquires the size information of the other vehicle related to the vehicle height and width of the other vehicle based on the camera image information subjected to the image processing and the sensor information input from the sensor, and the type determination unit C13 Based on the acquired size information, the type (size) of the other vehicle is determined.

  The type determination unit C13 compares the acquired size information with type threshold information (first type threshold, second type threshold indicating a size larger than the first type threshold) for determining the type of the vehicle. Then, the type of the other vehicle is determined. For example, when the size information is smaller than the first type threshold, the type determination unit C13 determines that the vehicle is a small vehicle. Further, the type determination unit C13 determines that the vehicle is a medium-sized vehicle when the size information is equal to or greater than the first type threshold and is smaller than the second type threshold. Furthermore, the type determination unit C13 determines that the vehicle is a large vehicle when the size information is equal to or greater than the second type threshold.

  Here, the control unit C12 changes the first lateral movement amount and the second lateral movement amount based on the type of other vehicle determined by the type determination unit C13 (eg, large vehicle, medium size vehicle, small vehicle, etc.). To do.

  The road width determination unit C14 is configured such that the road width of the traveling lane on which the vehicle (own vehicle) detected by the detection unit (sensor S (radar S1, lidar S2) and camera CAM, CPU (C1)) travels is equal to or greater than the road width threshold. It is determined whether or not.

  The CPU (C1) acquires the road width information of the travel lane on which the host vehicle travels based on the camera image information subjected to the image processing and the sensor information input from the sensor. The road width determination unit C14 compares the acquired road width information with a road width threshold value that is a reference for determination processing, and determines whether the road width of the traveling lane is equal to or greater than the road width threshold value. When the road width of the traveling lane of the vehicle (the host vehicle) is equal to or larger than the road width threshold based on the determination result of the road width determination unit C14, the control unit C12 determines the first lateral movement amount and the second lateral movement amount based on the first lateral movement amount. 1 offset control and 2nd offset control are performed.

  On the other hand, the control unit C12 executes the first offset control and the second offset control when the road width of the traveling lane of the vehicle (own vehicle) is narrower than the road width threshold according to the determination result of the road width determination unit C14. Suppress.

  The arousal level determination unit C15 determines the driver's arousal level based on image processing of the driver's face image captured by the in-vehicle monitor camera MON (imaging unit). When it is determined by the arousal level determination unit C15 that the awakening level is normally operable, the control unit C12 performs the first offset control and the second based on the first lateral movement amount and the second lateral movement amount. The offset control is executed.

  On the other hand, when it is determined by the wakefulness determination unit C15 that the wakefulness is not in a state where the driving operation can be normally performed, the control unit C12 suppresses the first lateral movement amount and the second lateral movement amount. The suppression of the first lateral movement amount and the second lateral movement amount includes, for example, execution of offset control with reduced lateral movement amount and prohibition of offset control.

  The position determination unit C16 determines the relative position of whether the other vehicle detected by the detection unit is located behind the vehicle (own vehicle) or whether the other vehicle is located in front of the vehicle (own vehicle). When the other vehicle is located behind the vehicle, the control unit C12 sets the second distance that is shorter than the first distance and the first distance at which the offset control is started, and the other vehicle is in front of the vehicle. It is set larger than the first distance and the second distance in the case of being located.

  In addition, the control unit C12 determines the first lateral movement amount and the second lateral movement amount when the other vehicle is located behind the vehicle (own vehicle), and the other vehicle is located ahead of the vehicle (own vehicle). It is set smaller than the first lateral movement amount and the second lateral movement amount.

  The grip sensor S7 (grip detection unit) is built in the steering of the vehicle, and can detect whether or not the driver of the vehicle is gripping the steering, and the control unit C12 includes the grip sensor S7 (grip detection). And the second offset control is executed based on the first lateral movement amount and the second lateral movement amount when the driver holds the steering wheel based on the detection result of the .

  On the other hand, when the driver does not grip the steering wheel based on the detection result of the grip sensor S7 (grip detection unit), the control unit C12 suppresses the first lateral movement amount and the second lateral movement amount. The suppression of the first lateral movement amount and the second lateral movement amount includes, for example, execution of offset control with reduced lateral movement amount and prohibition of offset control.

  When the travel control device 100 shown in FIG. 1A is mounted on a vehicle, a computer COM is installed in a recognition processing system ECU or an image processing system ECU that processes information from the sensor S (radar S1, lidar S2) and the camera CAM, for example. The ECU may be arranged in an ECU in a control unit that performs drive control of the vehicle or an ECU for automatic driving. For example, as shown in FIG. 1B described below, the functions may be distributed to a plurality of ECUs constituting the travel control device 100 such as an ECU for the sensor S, an ECU for the camera, and an ECU for automatic driving.

  FIG. 1B is a diagram illustrating a configuration example of a control block diagram of the travel control device 100 for controlling the vehicle 1. In FIG. 1B, the outline of the vehicle 1 is shown in a plan view and a side view. The vehicle 1 is a sedan type four-wheeled passenger car as an example.

  The control unit 2 in FIG. 1B controls each part of the vehicle 1. The control unit 2 includes a plurality of ECUs 20 to 29 that are communicably connected via an in-vehicle network. Each ECU (Electronic Control Unit) includes a processor represented by a CPU (Central Processing Unit), a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores a program executed by the processor, data used by the processor for processing, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like.

  Hereinafter, functions and the like which the ECUs 20 to 29 are in charge of will be described. Note that the number of ECUs and the functions in charge can be appropriately designed for the vehicle 1, and can be further subdivided or integrated as compared with the present embodiment.

  ECU20 performs the travel control regarding the automatic driving | operation of the vehicle 1 (own vehicle) which concerns on this embodiment. In automatic operation, at least one of steering and acceleration / deceleration of the vehicle 1 is automatically controlled. Processing related to specific control related to automatic driving will be described in detail later.

  The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism that steers the front wheels in accordance with the driving operation (steering operation) of the driver with respect to the steering wheel 31. In addition, the electric power steering device 3 includes a motor that assists the steering operation or that exhibits a driving force for automatically steering the front wheels, a sensor that detects a steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20 to control the traveling direction of the vehicle 1.

  The ECUs 22 and 23 control the detection units 41 to 43 that detect the surrounding situation of the vehicle and perform information processing on detection results. The detection unit 41 is an imaging device that detects an object around the vehicle 1 by imaging (hereinafter may be referred to as a camera 41). The camera 41 is attached to the vehicle interior side of the front window at the front of the roof of the vehicle 1 so that the front of the vehicle 1 can be photographed. By analyzing the image captured by the camera 41, it is possible to extract the outline of the target and the lane markings (white lines, etc.) on the road.

  The detection unit 42 (rider detection unit) is, for example, Light Detection and Ranging (LIDAR) (hereinafter sometimes referred to as a lidar 42), and detects a target around the vehicle 1 by light, Measure the distance to the target. In the present embodiment, a plurality of riders 42 are provided around the vehicle. In the example shown in FIG. 1B, for example, five riders 42 are provided, one at each corner of the front portion of the vehicle 1, one at the rear center, and one at each side of the rear. ing. The detection unit 43 (radar detection unit) is, for example, a millimeter wave radar (hereinafter may be referred to as a radar 43), detects a target around the vehicle 1 by radio waves, and determines a distance from the target. Measure distance. In the present embodiment, a plurality of radars 43 are provided around the vehicle. In the example illustrated in FIG. 1B, for example, five radars 43 are provided, one at the front center of the vehicle 1, one at each front corner, and one at each rear corner. ing.

  The ECU 22 performs control of one camera 41 and each rider 42 and information processing of detection results. The ECU 23 performs control of the other camera 41 and each radar 43 and information processing of detection results. By providing two sets of devices that detect the surroundings of the vehicle, the reliability of the detection results can be improved, and by providing different types of detection units such as cameras, lidars, and radars, analysis of the surrounding environment of the vehicle Can be performed in many ways. Note that the ECU 22 and the ECU 23 may be combined into one ECU.

  The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c and performs information processing on detection results or communication results. The gyro sensor 5 detects the rotational movement of the vehicle 1. The course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5, the wheel speed, and the like. The GPS sensor 24 b detects the current position of the vehicle 1. The communication device 24c performs wireless communication with a server that provides map information and traffic information, and acquires these information. The ECU 24 can access the map information database 24a constructed in the storage device, and the ECU 24 searches for a route from the current location to the destination. The database 24a can be arranged on the network, and the communication device 24c can access the database 24a on the network and acquire information.

  The ECU 25 includes a communication device 25a for inter-vehicle communication. The communication device 25a performs wireless communication with other vehicles in the vicinity and exchanges information between the vehicles.

  The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1 and includes, for example, an engine and a transmission. For example, the ECU 26 controls the output of the engine in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, the vehicle speed detected by the vehicle speed sensor 7c, or the like. The gear position of the transmission is switched based on the information. When the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20 to control acceleration / deceleration of the vehicle 1.

  The ECU 27 controls a lighting device (headlight, taillight, etc.) including the direction indicator 8. In the case of the example of FIG. 1B, the direction indicator 8 is provided in the front part of the vehicle 1, the door mirror, and the rear part.

  The ECU 28 performs control of the input / output device 9 and image processing of the driver's face image input from the in-vehicle monitor camera 90. Here, the in-vehicle monitor camera 90 corresponds to the in-vehicle monitor camera MON in FIG. 1A. The input / output device 9 outputs information to the driver and receives input of information from the driver. The voice output device 91 notifies the driver of information by voice. The display device 92 notifies the driver of information by displaying an image. The display device 92 is disposed on the driver's seat surface, for example, and constitutes an instrument panel or the like. In addition, although an audio | voice and a display were illustrated here, you may alert | report information by a vibration or light. In addition, information may be notified by combining a plurality of voice, display, vibration, or light.

  The input device 93 is a switch group that is arranged at a position where the driver can operate and gives an instruction to the vehicle 1, but a voice input device may also be included.

  The ECU 29 controls the brake device 10 and a parking brake (not shown). The brake device 10 is, for example, a disc brake device, and is provided on each wheel of the vehicle 1. The vehicle 1 is decelerated or stopped by applying resistance to the rotation of the wheel. For example, the ECU 29 controls the operation of the brake device 10 in response to a driver's driving operation (brake operation) detected by an operation detection sensor 7b provided on the brake pedal 7B. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the brake device 10 in response to an instruction from the ECU 20 to control deceleration and stop of the vehicle 1. The brake device 10 and the parking brake can be operated to maintain the vehicle 1 in a stopped state. Moreover, when the transmission of the power plant 6 includes a parking lock mechanism, this can be operated to maintain the vehicle 1 in a stopped state.

(Offset control)
FIG. 2 is a diagram for explaining the flow of offset control in the travel control device 100. First, in step S20, the detection unit detects another vehicle that travels around the vehicle 1 (own vehicle).

  In step S21, the position determination unit C16 determines whether the other vehicle detected by the detection unit is located behind the vehicle (own vehicle) or whether the other vehicle is located ahead of the vehicle (own vehicle). Determine the relative position.

  Based on the determination result of the position determination unit C16, the control unit C12 sets the first distance and the second distance for starting the offset control based on the position of the other vehicle 300 with respect to the vehicle 1 (host vehicle). For example, when the other vehicle is located behind the vehicle, the control unit C12 sets the first distance to start offset control and the second distance that is shorter than the first distance, and the other vehicle It is set to be larger than the first distance and the second distance when the vehicle is located in front. A setting example of the first distance and the second distance will be specifically described later with reference to FIG.

  Further, based on the determination result of the position determination unit C16, the control unit C12 sets the lateral movement amount in the offset control based on the position of the other vehicle 300 with respect to the vehicle 1 (own vehicle). For example, the control unit C12 indicates the first lateral movement amount and the second lateral movement amount when the other vehicle is located behind the vehicle (own vehicle), and the other vehicle is located ahead of the vehicle (own vehicle). It is set smaller than the first lateral movement amount and the second lateral movement amount. The setting of the first distance and the second distance and the setting of the first lateral movement amount and the second lateral movement amount may be executed in step S23. A setting example of the first lateral movement amount and the second lateral movement amount will be specifically described later with reference to FIG.

  3 and 4 are diagrams for schematically explaining the offset control based on the detected traveling scene around the vehicle 1 (host vehicle). FIG. 3 is a diagram illustrating offset control when another vehicle is located behind the vehicle (own vehicle) and the other vehicle overtakes the own vehicle. In FIG. 3, the vehicle 1 (own vehicle) travels in a lane 301 and travels in the lane 301 from the lower side to the upper side in the drawing. The other vehicle 300 indicated by a solid line is located behind the vehicle 1 (own vehicle) and travels in a lane 302 adjacent to the lane 301. Moreover, the other vehicle 300 shown with a broken line has shown the other vehicle which is moving with progress of time.

  FIG. 4 is a diagram exemplifying offset control when the other vehicle is positioned in front of the vehicle (own vehicle) and the own vehicle overtakes the other vehicle. In FIG. 4, the vehicle 1 (own vehicle) travels on a lane 301 and travels on the lane 301 from the lower side to the upper side of the page. The vehicle 1 (own vehicle) indicated by a solid line is located behind the other vehicle 300 traveling in the adjacent lane 302, and the vehicle 1 (own vehicle) that is moving over time is indicated by a broken line in FIG. Yes.

  Returning to FIG. 2, in step S <b> 22, the relative distance acquisition unit C <b> 11 acquires the relative distance between the host vehicle and the other vehicle based on the result detected by the detection unit.

  In step S23, the control unit C12 compares the acquired relative distance with the first distance, and determines whether the relative distance is equal to or less than the first distance. Here, the first distance is a distance serving as a starting point of offset control for starting the first offset control of the first lateral movement amount. In FIG. 3, the first distance corresponds to the position indicated by the arrow 303, and in FIG. 4, the first distance corresponds to the position indicated by the arrow 404. Until the relative distance reaches the first distance, the control unit C12 does not perform the offset control.

  If it is determined in step S23 that the relative distance is greater than the first distance (S23-NO), the process returns to step S22. And the relative distance acquisition part C11 acquires the relative distance between the own vehicle and another vehicle based on the result detected by the detection part for every predetermined time progress. In this state, the control unit C12 does not perform offset control, but controls the host vehicle so as to continue traveling on the traveling track 500 that is currently traveling.

  On the other hand, if it is determined in step S23 that the relative distance is equal to or smaller than the first distance (S23-YES), the process proceeds to step S24.

  In step S24, the control unit C12 starts the first offset control of the first lateral movement amount (310 in FIG. 3, 410 in FIG. 4). FIG. 5 is a diagram exemplifying a change in the traveling track 500 of the host vehicle in the case of FIG. 3. In the process of this step, the control unit C12 performs the first lateral movement from the traveling track 500 before starting the offset control. The travel trajectory is changed to change the amount to the first offset trajectory 510. In FIG. 5, the angle θ <b> 1 indicates the inclination angle of the track when the track is changed from the traveling track 500 to the first offset track 510 having the first lateral movement amount.

  In step S25, the control unit C12 compares the relative distance between the host vehicle and the other vehicle with a second distance that is shorter than the first distance (a distance approaching the host vehicle). Then, it is determined whether the relative distance is equal to or smaller than the second distance. Here, the second distance is a distance that is an expansion point of offset control for starting the second offset control of the second lateral movement amount that is larger than the first lateral movement amount. 3, the second distance corresponds to the position indicated by the arrow 304, and in FIG. 4, the second distance corresponds to the position indicated by the arrow 405.

  If it is determined in step S25 that the relative distance is greater than the second distance (S25-NO), the process returns to step S22, and the same process is repeated. The relative distance acquisition unit C11 acquires the relative distance between the host vehicle and the other vehicle based on the result detected by the detection unit every predetermined time. If it is determined in step S23 that the relative distance is equal to or smaller than the first distance (S23-YES), the control unit C12 continues the first offset control of the first lateral movement amount (S24).

  If it is determined in step S25 that the relative distance is equal to or smaller than the second distance (S25-YES), the process proceeds to step S26.

  In step S26, the control unit C12 starts the second offset control of the second lateral movement amount (320 in FIG. 3, 420 in FIG. 4). In the process of this step, for example, the control unit C12 changes the traveling trajectory so as to change from the first offset trajectory 510 having the first lateral movement amount shown in FIG. 5 to the second offset trajectory 520 having the second lateral movement amount. .

  In FIG. 5, the angle θ <b> 2 indicates the inclination angle of the trajectory when changing the trajectory from the first offset trajectory 510 of the first lateral movement amount to the second offset trajectory 520 of the second lateral movement amount. When the angle θ1 and the angle θ2 are compared, the control unit C12 determines the inclination angle θ1 of the trajectory when the trajectory is changed from the traveling trajectory 500 before starting the offset control to the first offset trajectory 510 of the first lateral movement amount. Control is performed so that the inclination angle θ2 of the trajectory when the trajectory is changed from the one offset trajectory 510 to the second offset trajectory 520 having the second lateral movement amount is smaller.

  In step S27, the control unit C12 determines whether or not the overtaking is completed based on the information on the relative distance acquired by the relative distance acquisition unit C11. For example, in FIG. 3, when the other vehicle 300 overtakes the vehicle 1 (own vehicle), and the rear end of the other vehicle 300 exceeds the front end of the vehicle 1 (own vehicle), it is determined that the overtaking is completed (FIG. 3). 3 arrow 305).

  In FIG. 4, when the vehicle 1 (own vehicle) overtakes the other vehicle 300, and when the rear end of the vehicle 1 (own vehicle) exceeds the front end of the other vehicle 300, it is determined that the overtaking is completed (arrow) 406). The position where the overtaking is completed is an offset amount reduction position for reducing the lateral movement amount in the offset control.

  If the overtaking is not completed in the determination in step S27 (S27-NO), the process returns to step S26, and the control unit C12 continues the second offset control of the second lateral movement amount.

  On the other hand, if it is determined in step S27 that the overtaking is completed (S27-YES), the process proceeds to step S28. In step S28, the control unit C12 performs offset control so as to reduce the offset amount. In this step, the control unit C12 performs first offset control in which the offset amount is reduced from the second lateral movement amount to the first lateral movement amount.

  In step S <b> 29, the relative distance acquisition unit C <b> 11 acquires the relative distance between the vehicle 1 (host vehicle) after completion of overtaking and the other vehicle 300 based on the result detected by the detection unit. And control part C12 compares the acquired relative distance and the 3rd distance, and judges whether the relative distance became more than the 3rd distance. Here, the third distance is a distance that is an end point of the offset control for ending the first offset control of the first lateral movement amount (an arrow 306 in FIG. 3 and an arrow 407 in FIG. 4).

  If it is determined in step S29 that the relative distance is smaller than the third distance (S29-NO), the process returns to step S28. In this case, since the relative distance is not separated up to the third distance for ending the offset control, the control unit C12 continues the first offset control.

  On the other hand, when the relative distance is greater than or equal to the third distance in step S29 (S28-YES), the process proceeds to step S30, and in step S30, the control unit C12 ends the first offset control (arrow in FIG. 3). 306, arrow 407 in FIG.

  As shown in FIGS. 3 and 4, when the vehicle 1 (own vehicle) passes the other vehicle ahead, or when the vehicle 1 (own vehicle) is overtaken by the other vehicle behind, the first distance and the second distance The distance setting is different. The setting of the first lateral movement amount and the second lateral movement amount is also different.

  FIG. 6 is a diagram illustrating a setting example of the first distance and the second distance set in the memory C2, and when the vehicle 1 (own vehicle) overtakes another vehicle ahead (FIG. 4), Y1 is set, and Y2 is set as the second distance (illustrated as Y2 = zero in FIG. 4).

  Further, when the vehicle 1 (own vehicle) is overtaken by another vehicle behind (FIG. 3), Y3 is set as the first distance and Y4 is set as the second distance. The first distance setting value Y3 is larger than the setting value Y1, and the second distance setting value Y4 is larger than the setting value Y2.

  FIG. 7 is a diagram showing a setting example of the first lateral movement amount and the second lateral movement amount set in the memory C2, and when the vehicle 1 (own vehicle) overtakes another vehicle ahead (FIG. 4). X1 is set as the first lateral movement amount, and X2 is set as the second lateral movement amount.

  Further, when the vehicle 1 (own vehicle) is overtaken by another vehicle behind (FIG. 3), X3 is set as the first lateral movement amount and X4 is set as the second lateral movement amount. The first lateral movement amount setting value X3 is a lateral movement amount smaller than the setting value X1, and the second lateral movement amount setting value X4 is a lateral movement amount smaller than the setting value X2.

  As described in step S21 in FIG. 2, the position determination unit C16 determines whether the other vehicle detected by the detection unit is located behind the vehicle (own vehicle) or the other vehicle is located in front of the vehicle (own vehicle). The controller C12 determines the relative position of the position, and the control unit C12 refers to the tables of FIGS. 6 and 7 based on the determination result of the position determination unit C16, and the first distance, the second distance, and the first horizontal A movement amount and a second lateral movement amount are set.

  When overtaking another vehicle from behind, the driver of the vehicle 1 (own vehicle) may not be able to see the other vehicle, and suddenly offset movement in the lateral direction may cause the driver to feel uncomfortable. . As shown in FIG. 6, the setting values of the first distance and the second distance when the vehicle 1 (host vehicle) is overtaken by another vehicle behind are shown as the respective values when the vehicle 1 (host vehicle) passes the other vehicle ahead. By setting the value larger than the set value and performing the offset control stepwise from a distance, the driver's uncomfortable feeling can be reduced.

  Further, when the vehicle 1 (own vehicle) passes, the driver can see the other vehicle ahead, and therefore the offset control start point is set closer to the other vehicle 300. That is, the setting values of the first distance and the second distance when the vehicle 1 (own vehicle) overtakes other vehicles ahead are compared with the set values when the vehicle 1 (own vehicle) is overtaken by other vehicles behind. Therefore, it is possible to suppress unnecessary offset control and perform control so that offset control is performed only before and after passing another vehicle 300.

  At this time, as shown in FIG. 7, by setting the lateral movement amount when overtaken by another vehicle from the back to be smaller than each set value when the vehicle 1 (own vehicle) overtakes the other vehicle ahead, In offset control when the vehicle is overtaken from behind by another vehicle, the driver's uncomfortable feeling can be reduced more effectively.

(End processing during offset control)
In FIG. 2, the flow of offset control is described in accordance with the flow of processing up to completion of overtaking. However, in the first offset control in step S24 and the second offset control in step S26, offset control is performed. Based on the elapsed time from the start time, the first offset control and the second offset control can be terminated in the middle.

  For example, in FIG. 3, after the first offset control and the second offset control are started, the traveling state of the other vehicle 300 changes from the acceleration state to the deceleration state, and the vehicle 1 (own vehicle) and the other vehicle 300 When the difference in the relative speeds disappears, the traveling state in which the positional relationship between the vehicle 1 (the host vehicle) and the other vehicle 300 does not change is continued. In the present embodiment, the computer COM in FIG. 1A has a time measuring unit C4 that measures time, and at the start of offset control, the time measuring unit C4 starts measuring time. The control unit C12 can end the offset control halfway based on the comparison between the measurement time measured by the time measuring unit C4 and the reference time.

  Even if the measurement time exceeds a preset reference time after the start of the first offset control, the change in the positional relationship between the vehicle 1 (host vehicle) and the other vehicle 300 is small, and the travel position of the other vehicle 300 is When the distance is between the first distance and the second distance (when the second distance is not reached), the control unit C12 ends the first offset control halfway when the reference time has elapsed, and the laterally moved first offset trajectory 510 is obtained. Is controlled so as to return to the traveling track 500 before the offset control is started.

  Similarly, even if the measurement time exceeds a preset reference time after the start of the second offset control, the change in the positional relationship between the vehicle 1 (the host vehicle) and the other vehicle 300 is small, and the other vehicle 300 When the traveling position is between the second distance and the offset reduction position, the control unit C12 ends the second offset control halfway when the reference time has elapsed, and the laterally moved second offset orbit 520 is changed to the first offset orbit. Return to 510. In this case, even when the rear end portion of the other vehicle 300 does not exceed the offset amount reduction position 305, the control unit C12 reduces the lateral movement amount in the second offset control and shifts to the first offset control.

  Further, the control unit C12 ends the first offset control when the positional relationship between the vehicle 1 (host vehicle) and the other vehicle 300 has not changed when the preset second reference time has elapsed. Then, the first offset track 510 that has moved laterally is controlled so as to return to the traveling track 500 before the offset control is started.

  In this case, even when the relative distance between the vehicle 1 (the host vehicle) and the other vehicle 300 does not exceed the third distance, the control unit C12 uses the first offset track 510 as the traveling track 500 before starting the offset control. Control to return to. That is, the control unit C12 ends the first offset control halfway.

  Note that the determination condition for terminating the first offset control and the second offset control in the middle may be, for example, a travel distance in addition to the elapsed time after the offset control is disclosed. In this case, the control unit C12 calculates the travel distance by integrating the detection result of the vehicle speed sensor S5, compares the calculated travel distance with a preset reference travel distance, and calculates the travel distance. It is also possible to end the offset control halfway when exceeding the reference travel distance.

  Further, the midway termination process of the offset control is not limited to the case of FIG. 3, but can also be applied to the case of FIG. 4 in which the vehicle 1 (own vehicle) overtakes the other vehicle 300.

<Summary of Embodiment>
Configuration 1. The travel control device of the above embodiment is a travel control device (for example, 100) that controls the travel of a vehicle (for example, 1),
Detecting means (for example, sensor S, camera CAM, CPU (C1)) for detecting other vehicles traveling around the vehicle (1);
Position determination means (for example, C16) for determining a relative position of whether the other vehicle detected by the detection means is located behind the vehicle or whether the other vehicle is located in front of the vehicle;
A relative distance acquisition means (for example, C11) for acquiring a relative distance between the detected other vehicle and the vehicle;
Control means (for example, C12) that performs offset control for laterally moving the vehicle in a lateral direction away from the other vehicle based on the relative distance;
The control means (C12)
When the other vehicle is located behind the vehicle, the first distance for starting the offset control and the second distance shorter than the first distance are set, and the other vehicle is placed in front of the vehicle. Set larger than the first distance and the second distance when located,
Starting the first offset control of the first lateral movement amount when the relative distance is equal to or less than the set first distance;
When the relative distance is equal to or less than the second distance which is shorter than the set first distance, the second offset control of the second lateral movement amount larger than the first lateral movement amount is started. .

  According to the travel control device of configuration 1, it is possible to provide a travel control technique capable of performing offset control with the lateral movement amount changed in accordance with the relative distance from another vehicle.

  Further, the set values of the first distance and the second distance when the own vehicle is overtaken by other vehicles behind are set to be larger than the respective set values when the own vehicle is overtaking other vehicles ahead and separated By performing offset control step by step, the driver's uncomfortable feeling can be reduced.

  Configuration 2. In the travel control device (100) of the above-described embodiment, the control means (C12) is configured such that the first offset trajectory (the first lateral movement amount) from the travel trajectory (for example, 300) before starting the offset control. For example, the inclination angle of the trajectory to 510) (for example, θ1) is set to the inclination angle of the trajectory (for example, 520) from the first offset trajectory (510) to the second offset trajectory (for example, 520) of the second lateral movement amount. , Θ2).

  According to the traveling control device of configuration 2, it is possible to reduce the driver's uncomfortable feeling by performing offset control stepwise from a distance.

  Configuration 3. In the travel control device (100) of the above embodiment, the control means (C12) is configured to determine the first distance and the second distance based on the relative position and the relative speed between the other vehicle and the vehicle. Change the setting.

Configuration 4. In the travel control device (100) of the above embodiment, the control means (C12)
The first lateral movement amount and the second lateral movement amount when the other vehicle is located behind the vehicle, and the first lateral movement when the other vehicle is located in front of the vehicle. It is set smaller than the amount and the second lateral movement amount.

  According to the travel control device of Configuration 3 and Configuration 4, based on the relative position and relative speed between the other vehicle and the vehicle, the setting of the first distance and the second distance, the first lateral movement amount, and the second lateral movement amount By changing the setting, the offset control can be performed based on the setting value corresponding to the traveling scene.

Configuration 5. The travel control device (100) of the embodiment further includes a type determination unit (for example, C13) that determines the type of the other vehicle detected by the detection unit (sensor S, camera CAM, CPU (C1)). ,
The control means (C12) changes the first lateral movement amount and the second lateral movement amount based on the type of the other vehicle determined by the type determination means (C13).

  According to the traveling control device of configuration 5, it is possible to perform offset control on the other vehicle based on the lateral movement amount according to the type.

Configuration 6. The travel control device (100) of the above embodiment determines whether or not the road width of the travel lane on which the vehicle travels detected by the detection means (sensor S, camera CAM, CPU (C1)) is equal to or greater than a road width threshold. A road width determining means (C14) for determining;
The control means (C12) suppresses execution of the first offset control and the second offset control when the road width determining means (C14) makes the road width of the travel lane narrower than the road width threshold. To do.

  According to the travel control device of configuration 6, it is possible to switch the execution of the offset control based on the determination result of the road width of the travel lane on which the vehicle travels.

Configuration 7. The travel control device (100) of the above embodiment is arranged so as to be capable of photographing the inside of the vehicle (1), and photographing means (for example, MON) for photographing a face image of the driver of the vehicle,
Wakefulness determination means (for example, C15) for determining the driver's wakefulness based on image processing of the face image;
The control means (C12), when it is determined that the arousal level is in a state in which the driving operation can be normally performed, based on the first lateral movement amount and the second lateral movement amount, The second offset control is executed.

  Configuration 8. In the travel control device (100) of the above embodiment, the control means (C12) determines that the first lateral movement amount and the second movement amount are determined when it is determined that the arousal level is not in a state in which the driving operation can be normally performed. Reduces the amount of lateral movement.

  According to the traveling control devices of configurations 7 and 8, it is possible to switch the execution of the offset control based on the driver's arousal level.

Configuration 9 The travel control device (100) of the embodiment further includes grip detection means (for example, grip sensor S7) that is built in the steering of the vehicle and detects whether or not the driver of the vehicle is gripping the steering. Prepared,
The control means (C12), when the driver is holding the steering wheel, based on the detection result of the grip detection means (grip sensor S7), the first lateral movement amount and the second lateral movement amount. Based on the above, the first offset control and the second offset control are executed.

  Configuration 10 In the travel control device (100) of the above embodiment, the control means (C12) may be configured such that when the driver does not grip the steering wheel according to a detection result of the grip detection means (grip sensor S7), The first lateral movement amount and the second lateral movement amount are suppressed.

  According to the travel control devices of configurations 9 and 10, it is possible to switch the execution of the offset control based on whether or not the driver is holding the steering wheel.

Configuration 11 The travel control device of the above embodiment is a travel control device (for example, 100) that controls the travel of a vehicle (for example, 1),
Detecting means (for example, sensor S, camera CAM, CPU (C1)) for detecting other vehicles traveling around the vehicle (1);
Position determination means (for example, C16) for determining a relative position of whether the other vehicle detected by the detection means is located behind the vehicle or whether the other vehicle is located in front of the vehicle;
A relative distance acquisition means (for example, C11) for acquiring a relative distance between the detected other vehicle and the vehicle;
Control means (for example, C12) that performs offset control for laterally moving the vehicle in a lateral direction away from the other vehicle based on the relative distance;
The control means (C12)
When the other vehicle is located behind the vehicle, a first distance for starting the offset control is set larger than the first distance when the other vehicle is located ahead of the vehicle. And
When the relative distance is equal to or less than the set first distance, the first offset control of the first lateral movement amount is started.

Configuration 2. The travel control device (100) according to the embodiment, wherein the control means (C12) includes:
When the other vehicle is located behind the vehicle, the second distance is shorter than the first distance, and the second distance when the other vehicle is located in front of the vehicle. Set larger than
When the relative distance is equal to or less than the set second distance, the second offset control of the second lateral movement amount that is larger than the first lateral movement amount is started.

  According to the travel control device of the configuration 11 and the configuration 12, it is possible to provide a travel control technique capable of performing offset control with the lateral movement amount changed in accordance with the relative distance from another vehicle.

  Further, the set values of the first distance and the second distance when the own vehicle is overtaken by other vehicles behind are set to be larger than the respective set values when the own vehicle is overtaking other vehicles ahead and separated By performing offset control step by step, the driver's uncomfortable feeling can be reduced.

  Configuration 13 The vehicle (1) of the said embodiment has the traveling control apparatus (for example, 100) as described in any one of the structures 1 thru | or 10.

  According to the vehicle of configuration 13, it is possible to provide a vehicle capable of offset control with the amount of lateral movement changed according to the relative distance to other vehicles.

Configuration 14 The travel control method of the above embodiment is a travel control method for controlling travel of a vehicle,
A detecting step (for example, S20) in which a detecting means (for example, sensor S (radar S1, lidar S2) and camera CAM, CPU (C1)) detects other vehicles traveling around the vehicle;
A position determination unit (for example, C16) determines whether the other vehicle detected in the detection step is located behind the vehicle or whether the other vehicle is located in front of the vehicle. For example, S21)
A relative distance acquisition unit (for example, C11) acquires a relative distance between the detected other vehicle and the vehicle;
Control means (for example, C12) includes a control step (for example, S23 to S26) for performing offset control for laterally moving the vehicle in a lateral direction away from the other vehicle based on the relative distance. ,
In the position determination step, when the other vehicle is located behind the vehicle, the first distance for starting the offset control and the second distance that is shorter than the first distance are set as the other vehicle. Is set larger than the first distance and the second distance when the vehicle is located in front of the vehicle,
In the control step,
When the relative distance is equal to or less than the first distance, the first offset control of the first lateral movement amount is started (for example, S23 to S24),
When the relative distance is equal to or shorter than the second distance which is shorter than the first distance, the second offset control of the second lateral movement amount which is larger than the first lateral movement amount is performed (for example, S25). To S26).

  According to the traveling control method of the structure 14, the offset control in which the lateral movement amount is changed according to the relative distance to the other vehicle is possible.

  1: vehicle (own vehicle), 100: travel control device, 42: lidar, 43: radar, CAM: camera, S: sensor, C11: relative distance acquisition unit, C12: control unit, C13 type determination unit: C14: Road width determination unit, C15: Arousal level determination unit, C16: Position determination unit

Claims (14)

A travel control device for controlling travel of a vehicle,
Detecting means for detecting other vehicles traveling around the vehicle;
Position determination means for determining a relative position of whether the other vehicle detected by the detection means is located behind the vehicle or whether the other vehicle is located in front of the vehicle;
A relative distance acquisition means for acquiring a relative distance between the detected other vehicle and the vehicle;
Control means for performing offset control for laterally moving the vehicle in a lateral direction away from the other vehicle based on the relative distance; and
The control means includes
When the other vehicle is located behind the vehicle, the first distance for starting the offset control and the second distance shorter than the first distance are set, and the other vehicle is placed in front of the vehicle. Set larger than the first distance and the second distance when located,
Starting the first offset control of the first lateral movement amount when the relative distance is equal to or less than the set first distance;
When the relative distance is equal to or less than the set second distance, the travel control device starts the second offset control of the second lateral movement amount that is larger than the first lateral movement amount. The control means includes
The inclination angle of the trajectory from the traveling trajectory before the start of the offset control to the first offset trajectory of the first lateral movement amount, and the trajectory from the first offset trajectory to the second offset trajectory of the second lateral movement amount. The travel control device according to claim 1, wherein the travel control device is controlled so as to be smaller than the inclination angle.   The said control means changes the setting of the said 1st distance and the said 2nd distance based on the said relative position and relative speed of the said other vehicle and the said vehicle. Travel control device. The control means includes
The first lateral movement amount and the second lateral movement amount when the other vehicle is located behind the vehicle, and the first lateral movement when the other vehicle is located in front of the vehicle. The travel control device according to claim 3, wherein the travel control device is set to be smaller than an amount and the second lateral movement amount. Further comprising a type determining means for determining the type of the other vehicle detected by the detecting means;
5. The control unit according to claim 1, wherein the control unit changes the first lateral movement amount and the second lateral movement amount based on a type of the other vehicle determined by the type determination unit. The travel control device according to claim 1. Road width determination means for determining whether or not the road width of the travel lane on which the vehicle travels detected by the detection means is equal to or greater than a road width threshold;
The control means suppresses execution of the first offset control and the second offset control when the road width of the travel lane is narrower than the road width threshold by the road width determination means. The travel control device according to any one of claims 1 to 5. An imaging means that is arranged so as to be capable of imaging the interior of the vehicle and that captures a face image of the driver of the vehicle;
Wakefulness determination means for determining the driver's wakefulness based on image processing of the face image;
When it is determined that the arousal level is in a state where the driving operation can be normally performed, the control unit is configured to perform the first offset control and the second control based on the first lateral movement amount and the second lateral movement amount. The travel control device according to any one of claims 1 to 6, wherein offset control is executed.   The said control means suppresses the said 1st lateral movement amount and the said 2nd lateral movement amount, when it determines with the said awakening degree not being in the state which can drive normally. Travel control device. Further comprising grip detection means built in the vehicle steering for detecting whether or not a driver of the vehicle is gripping the steering;
The control means, based on a detection result of the grip detection means, when the driver is gripping the steering wheel, based on the first lateral movement amount and the second lateral movement amount, The travel control device according to any one of claims 1 to 8, wherein offset control and the second offset control are executed.   The control means suppresses the first lateral movement amount and the second lateral movement amount when the driver does not grip the steering wheel according to a detection result of the grip detection means. The travel control device described in 1. A travel control device for controlling travel of a vehicle,
Detecting means for detecting other vehicles traveling around the vehicle;
Position determination means for determining whether the other vehicle detected by the detection means is located behind the vehicle or whether the other vehicle is located in front of the vehicle;
A relative distance acquisition means for acquiring a relative distance between the detected other vehicle and the vehicle;
Control means for performing offset control for laterally moving the vehicle in a lateral direction away from the other vehicle based on the relative distance; and
The control means includes
When the other vehicle is located behind the vehicle, a first distance for starting the offset control is set larger than the first distance when the other vehicle is located ahead of the vehicle. And
The travel control device, wherein the first offset control of the first lateral movement amount is started when the relative distance is equal to or less than the set first distance. The control means includes
When the other vehicle is located behind the vehicle, the second distance is shorter than the first distance, and the second distance when the other vehicle is located in front of the vehicle. Set larger than
12. The second offset control for a second lateral movement amount that is larger than the first lateral movement amount is started when the relative distance is equal to or less than the set second distance. The travel control device described.   A vehicle comprising the travel control device according to any one of claims 1 to 12. A travel control method for controlling travel of a vehicle,
A detecting step for detecting other vehicles traveling around the vehicle;
A position determination unit that determines whether the other vehicle detected in the detection step is located behind the vehicle, or whether the other vehicle is located in front of the vehicle;
An acquisition step of acquiring a relative distance between the detected other vehicle and the vehicle;
And a control step of performing offset control for laterally moving the vehicle in a lateral direction away from the other vehicle based on the relative distance,
In the position determination step, when the other vehicle is located behind the vehicle, the other vehicle has a first distance for starting the offset control and a second distance that is shorter than the first distance. Set larger than the first distance and the second distance when located in front of the vehicle,
In the control step,
Starting the first offset control of the first lateral movement amount when the relative distance is equal to or less than the set first distance;
When the relative distance becomes equal to or less than the set second distance, the second offset control of the second lateral movement amount that is larger than the first lateral movement amount is started.