JP2019209701A - Vehicle control device and vehicle control method - Google Patents

Abstract

To provide a vehicle control device and vehicle control method which is capable of traveling at smooth acceleration and deceleration even if another vehicle cuts in between an own vehicle and a preceding vehicle during following travel.SOLUTION: A control unit of an own vehicle VC assumes a virtual vehicle xbetween the own vehicle VC and a vehicle xon the basis of relative speed and relative distance of the vehicle xand a vehicle xwith respect to the own vehicle VC if the vehicle xin a neighbor lane Ln2 starts to cut in an own lane Ln1 in such a condition as to track and travel with respect to the vehicle x. Then, the control unit executes acceleration and deceleration control so as to track and travel with respect to the assumed virtual vehicle x.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a vehicle control device and a vehicle control method, and more particularly to control of a vehicle having a follow-up running function of running following a vehicle that runs ahead.

  Some vehicles in recent years are provided with a cruise control function capable of performing follow-up traveling with respect to a preceding vehicle. If such a cruise control function is used, the vehicle travels at the set speed when there is no vehicle ahead, and when the vehicle exists ahead, the distance between the vehicle ahead is set to the set distance. Can be maintained.

  By the way, if another vehicle is interrupted from the adjacent lane between the host vehicle and the preceding vehicle while following the vehicle while maintaining a predetermined distance with respect to the preceding vehicle, the interruption The vehicle is the target of tracking.

  In such a situation, the host vehicle suddenly decelerates temporarily in order to set the inter-vehicle distance from the interrupting vehicle, and then accelerates again when the inter-vehicle distance reaches the set distance. There are things to do. Such rapid acceleration / deceleration due to vehicle interruption causes the driver to feel uncomfortable and uncomfortable, and causes a strong stress.

  With respect to the above problems, Patent Document 1 discloses a technique for suppressing rapid deceleration even when a vehicle is interrupted forward during follow-up traveling. In the technique disclosed in Patent Document 1, when a vehicle traveling on the side of the host vehicle is detected, a change in the speed of the vehicle is recorded. Then, in this technology, when the side vehicle starts to change lanes, the speed of the interrupted vehicle after several seconds is predicted from the previously recorded speed transition, and the target of the own vehicle is based on the prediction result. We are going to set the speed.

Japanese Patent Laying-Open No. 2015-63245

  However, in the technique disclosed in Patent Document 1, there is room for improvement from the viewpoint of suppressing rapid acceleration / deceleration when a side vehicle interrupts in front of the host vehicle. That is, in the technique disclosed in Patent Document 1, when the side vehicle travels at a relatively high speed and an interruption is made in that state, the speed of the host vehicle is not reduced so much. It will interrupt. In this case, an interruption of the side vehicle may cause a rapid deceleration in order to increase the distance between the interruption vehicle and the vehicle. For this reason, the technique disclosed in Patent Document 1 has room for improvement in achieving smoother follow-up running.

  The present invention has been made to solve the above-described problems, and even when another vehicle is interrupted between the host vehicle and the preceding vehicle during follow-up, smooth acceleration / deceleration is achieved. An object of the present invention is to provide a vehicle control device and a vehicle control method capable of traveling on the road.

  A vehicle control device according to one aspect of the present invention is a vehicle control device that performs control of a vehicle having a follow-up running function of running following a preceding vehicle, the own lane on which the own vehicle is traveling, and the own lane A lane detector that detects the adjacent lane adjacent to the vehicle, the preceding vehicle that travels in front of the host vehicle in the host lane, the side of the host vehicle that travels in the adjacent lane, and its front and rear A speed / distance detector that detects the respective speeds and distances between the other vehicles traveling on the vehicle, a follow-up travel instruction reception unit that receives an execution instruction of the follow-up travel from the driver of the host vehicle, A vehicle control unit that executes acceleration / deceleration control of the host vehicle based on the detection result from the lane detection unit and the speed / distance detection unit and the reception result from the follow-up travel instruction reception unit; The vehicle control unit When the follow-up traveling is being executed with respect to the preceding vehicle, and the other vehicle starts entering between the preceding vehicle and the own vehicle in the own lane, the own vehicle and the preceding vehicle A virtual vehicle that is a virtual vehicle between the host vehicle and the preceding vehicle based on the relative speed and relative distance with the vehicle and the relative speed and relative distance between the host vehicle and the other vehicle. Assuming that acceleration / deceleration control is executed so as to follow the virtual vehicle.

  In the vehicle control device according to the above aspect, when the other vehicle starts to interrupt from the adjacent lane in a state of following the preceding vehicle, the virtual vehicle is assumed to be between the preceding vehicle and the virtual vehicle. The vehicle is assumed to be the target of follow-up running. For this reason, in the vehicle control device according to the above aspect, the inter-vehicle distance and the relative speed are controlled with the virtual vehicle assumed between the preceding vehicle and the other vehicle at the start of interruption of the other vehicle. Deceleration or the like is performed with a time margin before interruption in front of the host vehicle.

  Therefore, in the vehicle control device according to the above aspect, even if another vehicle is interrupted between the host vehicle and the preceding vehicle during the follow-up running, the follow-up running with smooth acceleration / deceleration is possible.

  In the above aspect, the “adjacent lane” includes not only a lane provided in parallel to the own lane but also a merging lane that merges with the own lane ahead.

  In the vehicle control device according to the aspect, the lane detection unit includes an imaging unit, and the own lane and the adjacent lane are based on the lane lines on both sides of the own lane and the adjacent lane captured by the imaging unit. The vehicle control unit detects that the other vehicle enters the own lane when the other vehicle crosses the lane marking on the adjacent lane side of the lane markings on both sides of the own lane. It can also be determined that it has started.

  In the above vehicle control device, the imaging unit images the lane markings on both sides of the lane, and from the imaging result, the other vehicle starts entering the own lane when the other vehicle straddles the lane marking. Since it is a time, the time which assumes a virtual vehicle can be set at an early stage.

  In the vehicle control device according to the above aspect, the width of the own lane may be wider than the width of the own vehicle.

  Even when the lane width is wider than the vehicle width as in the vehicle control device described above, the following traveling can be performed with smooth acceleration and deceleration as described above.

  In the vehicle control device according to the aspect described above, the vehicle control unit is configured to perform the following traveling and execute the preceding vehicle and the other after a predetermined period from the time when the other vehicle starts entering. It is also possible to estimate a relative position of the vehicle with respect to the host vehicle and assume the virtual vehicle based on the estimated position.

  In the above vehicle control device, since the position of the preceding vehicle and the other vehicle after the lapse of a predetermined period is estimated from the time when the other vehicle starts entering the own lane, the virtual vehicle is assumed. Since it is possible to assume the same situation as when the vehicle is interrupted between the host vehicle and the preceding vehicle, the follow-up traveling is executed with smoother acceleration / deceleration.

  A vehicle control method according to an aspect of the present invention is a vehicle control method for controlling a vehicle having a follow-up running function of running following a preceding vehicle, the own lane on which the own vehicle runs, and the own lane A lane detecting step for detecting adjacent lanes adjacent to each other, the preceding vehicle traveling in front of the own vehicle in the own lane, traveling in the adjacent lane, and traveling sideways or in front of and behind the own vehicle. A speed / distance detection step for detecting respective speeds and distances between the other vehicle, a follow-up travel instruction reception step for receiving an execution instruction for follow-up travel from the driver of the host vehicle, and the lane A vehicle control step for executing acceleration / deceleration control of the host vehicle based on the detection result in the detection step and the speed / distance detection step and the reception result in the follow-up travel instruction reception step. In the vehicle control step, the follow-up traveling is executed with respect to the preceding vehicle, and the other vehicle starts to enter between the preceding vehicle and the own vehicle in the own lane. The relative speed and relative distance between the host vehicle and the preceding vehicle, and the relative speed and relative distance between the host vehicle and the other vehicle, between the host vehicle and the preceding vehicle. An assumption sub-step that assumes a virtual vehicle that is a virtual vehicle, and an acceleration / deceleration control sub-step that executes acceleration / deceleration control so as to follow the virtual vehicle.

  In the vehicle control method according to the above aspect, in the acceleration / deceleration control step, the vehicle follows the preceding vehicle, and a virtual vehicle is assumed between the preceding vehicle and another vehicle when the other vehicle starts interrupting from the adjacent lane. Thus, the virtual vehicle is set as a target for follow-up travel. For this reason, in the vehicle control method according to the above aspect, the inter-vehicle distance and the relative speed are controlled with the virtual vehicle assumed between the preceding vehicle and the other vehicle when the interruption of the other vehicle starts. Deceleration or the like is performed with a time margin before interruption in front of the host vehicle.

  Therefore, in the vehicle control method according to the aspect described above, even when another vehicle is interrupted between the host vehicle and the preceding vehicle during the follow-up running, the follow-up running with smooth acceleration / deceleration is possible.

  In the vehicle control method according to the aspect described above, the lane detection step includes: an imaging substep in which an image capturing unit provided in the host vehicle captures an image of the surroundings of the host vehicle; and an image captured in the imaging substep. A lane detection sub-step for detecting the own lane and the adjacent lane based on lanes and lane markings on both sides of the adjacent lane, and in the acceleration / deceleration control step, the other vehicle It may be determined that the other vehicle has started entering the own lane at the time when it crosses the lane line on the adjacent lane side of the lane lines on both sides.

  In the vehicle control method described above, in the imaging sub-step, the imaging unit images the lane markings on both sides of the lane, and in the acceleration / deceleration control step, from the imaging result, the time when the other vehicle straddles the lane marking, Since the time when the vehicle starts entering the own lane is set, the time when the virtual vehicle is assumed can be set early.

  In the vehicle control method according to the above aspect, in the acceleration / deceleration control step, the following vehicle and the preceding vehicle after the elapse of a predetermined period from the time point when the follow-up traveling is executed and the other vehicle starts to enter. The relative position of the other vehicle with respect to the host vehicle may be estimated, and the virtual vehicle may be assumed based on the estimated position.

  In the vehicle control method described above, in the acceleration / deceleration control step, a virtual vehicle is assumed after estimating the positions of the preceding vehicle and the other vehicle after the lapse of a predetermined period from the time when the other vehicle starts entering the own lane. Therefore, it is possible to assume the same situation as when another vehicle actually interrupts between the host vehicle and the preceding vehicle, and the follow-up traveling is executed with smoother acceleration / deceleration.

  In each of the above aspects, even when another vehicle is interrupted between the host vehicle and the preceding vehicle during follow-up traveling, traveling with smooth acceleration / deceleration is possible.

It is a mimetic diagram showing a schematic structure of a vehicle concerning an embodiment. It is a block diagram which shows the control structure of a vehicle. It is a schematic diagram which shows the detection range by a radar and a vehicle exterior camera. (A) is a block diagram which shows a partial structure in a control unit, (b) is a block diagram which shows the structure of an acceleration / deceleration determination part. It is a flowchart which shows the acceleration / deceleration control method which a control unit performs. (A) is a schematic diagram which shows the driving | running | working state in the predetermined time of the own vehicle and a surrounding vehicle, (b) shows a state at the time of the adjacent lane driving | running | working vehicle starting a lane change toward the own lane. It is a schematic diagram. It is a schematic diagram for demonstrating the virtual vehicle which a control unit sets. It is a schematic diagram which shows the state which the adjacent lane traveling vehicle has finished changing to the own lane. It is a characteristic figure showing the check result of the operation prediction accuracy in the vehicle control method concerning this embodiment. It is a schematic diagram which shows the driving | running | working state in the predetermined time of the own vehicle and surrounding vehicle which concern on a modification.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the form demonstrated below is an example of this invention, Comprising: This invention is not limited to the following forms at all except the essential structure.

[Embodiment]
1. Schematic Configuration of Vehicle 1 A schematic configuration of the vehicle 1 according to the present embodiment will be described with reference to FIGS. 1 and 2.

  As shown in FIG. 1, the vehicle 1 includes an engine 10 as a power source. In the vehicle 1 according to the present embodiment, a multi-cylinder gasoline engine is employed as an example of the engine 10.

  A transmission 13 is connected to the engine 10, and a drive shaft 11 is provided so as to extend from the transmission 13 in the left-right direction. Left and right front wheels 12 l and 12 r are attached to the end of the drive shaft 13.

  A differential gear (not shown) is interposed between the transmission 13 and the drive shaft 11.

  On the rear side of the vehicle 1, left and right rear wheels 14 l and 14 r are arranged. Each of the left and right rear wheels 14l and 14r is attached to a rear arm (not shown).

  As shown in FIG. 1, an accelerator pedal 15 and a brake pedal 16 are provided at the foot portion of the driver's seat in the passenger compartment of the vehicle 1. The accelerator pedal 15 increases or decreases the number of revolutions of the engine 10 according to the amount of depression by the driver, and when the driver depresses the brake pedal 16, the brakes attached to the front wheels 12l and 12r and the rear wheels 14l and 14r are operated. To do.

  The vehicle 1 is provided with three radars 17, 18, and 19 and a vehicle exterior camera 20. Of the three radars 17, 18, and 19, the radar 17 is disposed in the front portion of the vehicle 1, and the remaining two radars 18 and 19 are disposed on the side portion of the vehicle 1. These radars 17, 18, and 19 have functions of detecting a vehicle around the host vehicle (vehicle 1) and detecting a relative speed and a relative distance between the vehicle 1 and the surrounding vehicle.

  The vehicle outside camera (imaging unit) 20 also detects surrounding vehicles, detects relative speed and relative distance, and further detects the lane (own lane) in which the vehicle 1 travels and the adjacent lane (adjacent lane). It is provided for.

  In addition, the detection of the own lane and the adjacent lane by the camera 20 outside the passenger compartment is performed by imaging the lane markings on both sides of each lane.

  Further, the vehicle 1 is provided with a map information storage unit 21. The map information storage unit 21 stores information about the road on which the vehicle 1 travels. The map information stored in the map information storage unit 21 includes lane information on the road.

  Furthermore, the vehicle 1 is also provided with a control unit 22 which is a vehicle control unit. As shown in FIGS. 1 and 2, the control unit 22 includes a microprocessor including a CPU, a ROM, a RAM, and the like, and includes radars 17, 18, 19, an in-vehicle camera 20, and It is connected to the map information storage unit 21 and the like, and is configured to receive various information.

  The control unit 22 is connected to a cruise control switch 29 that is a follow-up travel instruction receiving unit. The cruise control switch 29 is provided around the driver's seat in the passenger compartment of the vehicle 1 (not shown in FIG. 1). When the cruise control switch 29 is turned on, follow-up traveling with respect to the preceding vehicle is started.

  Although illustration and detailed explanation are omitted, in the vicinity of the cruise control switch 29, a speed setting unit for setting the speed of the host vehicle, a distance setting unit for setting the inter-vehicle distance with the preceding vehicle in the follow-up traveling, Each setting unit for temporarily stopping the follow-up running and canceling the setting is also provided.

  Further, the control unit 22 is connected to the engine 10, the accelerator pedal 15, the brake pedal 16, and the like, and executes control of the engine 10 based on the various information. That is, in the vehicle 1 according to the present embodiment, the control unit 22 is configured to execute acceleration / deceleration control of vehicle control based on various received information.

  Note that the control unit 22 can output a command related to a reaction force to the driver to the accelerator pedal 15. Similarly, even when the driver does not depress the brake pedal 16, the control unit 22 can output a command for operating the brakes provided on the wheels 12l, 12r, 14l, and 14r as necessary. It has become.

2. Detection range by radar 17, 18, 19 and vehicle exterior camera 20 The detection range by the radar 17, 18, 19 and vehicle exterior camera 20 will be described with reference to FIG. FIG. 3 is a schematic diagram showing detection ranges by the radars 17, 18, 19 and the vehicle exterior camera 20 in a state where the vehicle 1 is planarly viewed from above.

As shown in FIG. 3, the radar 17 provided at the front portion of the vehicle 1 can detect a vehicle or the like in a range θ ₁₇ on the front side of the vehicle 1. The radar 18 provided on the left part of the vehicle 1 can detect vehicles in the range θ ₁₈ on the left side of the vehicle 1. The radar 19 provided on the right side of the vehicle 1 can detect vehicles in the range θ ₁₉ on the right side of the vehicle 1.

The vehicle exterior camera 20 is provided on the vehicle interior side of the front windshield of the vehicle 1, and can detect a vehicle or the like in the range θ ₂₀ on the front side of the vehicle 1. Further, the outside-vehicle camera 20 can detect a lane in which the vehicle 1 travels and an adjacent lane.

  In the vehicle 1, the results detected by the radars 17, 18, 19 and the vehicle exterior camera 20 are input to the control unit 22, and the control unit 22 is a vehicle that travels around from the input information. The relative speed and relative distance between the vehicle 1 and the vehicle 1 can be calculated.

3. Acceleration / deceleration control by the control unit 22 The acceleration / deceleration control executed by the control unit 22 in the vehicle 1 will be described with reference to FIGS. 4 and 5. 4A is a block diagram showing a partial configuration of the control unit 22, FIG. 4B is a block diagram showing a configuration of the acceleration / deceleration determining unit 25, and FIG. It is a flowchart which shows the acceleration / deceleration control method to perform.

  When the cruise control switch 29 is turned on by the driver, the control unit 22 issues a command to the engine 10 or the like to maintain the set speed when there is no preceding vehicle, and the preceding vehicle exists. In such a case, a command is issued to the engine 10 or the like to execute speed control so as to follow the preceding vehicle. As shown in FIG. 5, when the cruise control switch 29 is in the ON state, the control unit 22 detects the speed of the preceding vehicle traveling in front of the own lane from the radars 17, 18, 19 and the outside camera 20. And the information regarding relative distance is acquired sequentially (step S1).

  When the cruise control switch 29 is in the ON state, the control unit 22 detects from the radars 17, 18, 19 and the outside camera 20 a target vehicle (others) that travels to the side of the own lane in the adjacent lane or in front of it. Information on the speed and relative distance of the vehicle is also acquired sequentially (step S2).

  Here, as shown in FIG. 4A, the control unit 22 includes a weight calculation unit 23 and a control target integration unit 24 for estimating a control target in acceleration / deceleration control, and an acceleration / deceleration for determining an acceleration / deceleration. And a determination unit 25.

The weight calculation unit 23 calculates the weight r _i (t) using the following equation based on the information input from the radars 17, 18, 19 and the outside camera 20 (step S 3 in FIG. 5).

In the above (Equation 1), “c _i ” indicates the entry rate of the other vehicle into the own lane, and “d _i ” indicates the relative distance between the own vehicle and the other vehicle. That is, the above (Expression 1) defines the weight r _i (t) as a value obtained by dividing the horizontal weight (entrance rate to the course) by the vertical weight (distance squared). In the above (Equation 1), the division by the square of the distance is due to the law that the sense of danger felt by human beings is inversely proportional to the square of the distance.

  In the above (Equation 1), as an example, the weight after 2 seconds from the time when another vehicle starts entering the own lane (the time when the interruption is started) is predicted.

The control target integration unit 25 receives the weight r _i (t) calculated by the weight calculation unit 23, and calculates the integrated control target (relative speed, relative distance) using the following equation (step S4 in FIG. 5). ).

In the above (Equation 2), “x _i ” indicates a preceding vehicle and another vehicle.

  As shown in FIG. 4B, in the control unit 22, the acceleration / deceleration determining unit 25 receives the input of the control target (relative speed, relative distance) integrated by the control target integrating unit 24 and calculates the relative speed gain. A portion 26 for calculating a relative distance gain, and a portion 28 for calculating a time delay from the gain obtained by calculating the relative distance gain.

  Returning to FIG. 5, the control unit 22 issues an acceleration / deceleration command to the engine 10 or the like from the calculated control target (step S5).

4). Specific example of control when there is an interruption during follow-up driving An example of control when there is an interruption when the host vehicle is running following the preceding vehicle will be described with reference to FIGS. To do. FIG. 6A is a schematic diagram showing a traveling state of the host vehicle VC and the surrounding vehicles x ₁ and x _{2 at} a predetermined point in time, and FIG. 6B shows that the adjacent lane traveling vehicle (other vehicle) x ₂ is a schematic view showing a state at the time of starting to change lanes toward the own lane Ln1, FIG. 7 is a schematic diagram for explaining a virtual vehicle x _V by the control unit 22 sets, 8, adjacent lane vehicles x ₂ is a schematic view showing a state where finished lane change to the own lane Ln1.

(1) traveling condition of the vehicle _x 1, _{x 2} and the surrounding vehicle VC at a given point in time first, the vehicle VC and the surrounding traveling conditions of the vehicle _x 1, _{x 2} at a given point in time, reference to FIGS. 6 (a) I will explain.

  As shown in FIG. 6A, the host vehicle VC is traveling in the left lane Ln1 in the traveling direction. The lane Ln1 is defined by the lane marking L1 and the lane marking L2. In addition, as shown to Fig.6 (a), the width | variety of lane Ln1 is wide compared with vehicle widths, such as the own vehicle VC.

Vehicle VC is running the same lane Ln1 at a speed _{v 0.} Preceding forward traveling vehicle x ₁ is a vehicle is traveling ahead of the lane Ln1 the vehicle VC. The speed of the forward traveling vehicle _{x 1} is the speed _{v 1.}

Incidentally, as shown in FIG. 6 (a), in lane Ln1, between the vehicle VC and forward traveling vehicle x ₁ is vacant vehicle barge space.

Further, in the situation shown in FIG. 6 (a), the vehicle VC is in follow-up running with respect to the front running vehicle x _1. Accordingly, the velocity v ₁ of the velocity v ₀ and the forward traveling vehicle x ₁ of the vehicle VC, are substantially the same state. That is, the speed v ₁ of the forward traveling vehicle x ₁ is equal to or lower than the speed set by the cruise control in the own vehicle VC, and the interval between the own vehicle VC and the forward traveling vehicle x ₁ is the same as the own vehicle VC. It is the distance between cars set by the cruise control.

Adjacent lane vehicles x ₂ is another vehicle has an adjacent lane Ln2 traveling towards the same direction as the host vehicle VC. The speed of the adjacent lane vehicles x ₂ is the speed v _2, Note, the adjacent lane vehicles x _2, in the adjacent lane Ln2, running slightly forward position with respect to the side of the vehicle VC.

As shown in FIG. 6 (a), the adjacent lane Ln2 is defined by the division line L3 and the section line L2, the width of the adjacent lane Ln2 also vehicle VC and the vehicle width of such adjacent lane vehicles x ₂ Wide compared to.

(2) Driving conditions of the host vehicle VC and the surrounding vehicles x ₁ and x _{2 when} the adjacent lane traveling vehicle x ₂ starts to enter the own lane Ln ₁ Next, the adjacent lane traveling that was traveling in the adjacent lane Ln ₂ A traveling situation of the host vehicle VC and the surrounding vehicles x ₁ and x ₂ at the time when the vehicle x ₂ crosses the lane L2 and starts entering the own lane Ln1 will be described with reference to FIG.

As shown in FIG. 6 (b), the control unit 22 of the vehicle VC is the vehicle exterior camera 20 at least a left front wheel and the left rear wheel of the adjacent lane vehicles x ₂ (In FIG. 6 (b), left front wheel only) There upon detecting that the crossing the separation line L2, the adjacent lane vehicles x ₂ is determined to have begun to enter against the own lane Ln1.

Control unit 22 of the vehicle VC, if the adjacent lane vehicles x ₂ is determined to have begun to enter against the own lane Ln1, the relative distance D ₁ of the the vehicle VC and forward traveling vehicle x ₁ at that time If, to obtain a relative distance D ₂ between the vehicle VC and the adjacent lane vehicles x2, information about. Further, the control unit 22, at the time the adjacent lane vehicles x ₂ starts to enter against the own lane Ln1, speed of the vehicle VC v0, velocity v ₁ of the forward traveling vehicle x _1, and the adjacent lane vehicles Information on the speed v ₂ of x ₂ is also acquired, and a relative speed (v ₁ −v ₀ ) and a relative speed (v ₂ −v ₀ ) are calculated.

Then, the control unit 22 calculates the weights r ₁ and r ₂ based on the above (Equation 1).

(3) Setting the speed and inter-vehicle distance of the virtual vehicle x _V Next, the control unit 22, than the weight r _1, r ₂ obtained by calculation as described above, the virtual vehicle x _V as a control target self assume between the vehicle VC and forward traveling vehicle _{x 1} in lane Ln1. Note that the virtual vehicle x _V, is assumed to be traveling at a speed v _V.

Control unit 22, so as to follow the assumed virtual vehicle x _V, as described above, starts controlling such an engine 10.

(4) Traveling situation of the host vehicle VC and the surrounding vehicles x ₁ and x _{2 in} a state where the vehicle x ₂ is completely interrupted between the host vehicle VC and the forward traveling vehicle x _{1 in the} host lane Ln1. for vehicle VC and the surrounding traveling conditions of the vehicle x _1, x ₂ in the completely interrupting state between the vehicle VC and forward traveling vehicle x ₁ x ₂ is in the same lane Ln1, with reference to FIG. 8 described To do.

As shown in FIG. 8, when the vehicle x ₂ becomes completely interrupting state between the vehicle VC and forward traveling vehicle x ₁ in its own lane Ln1, the control unit 22, a virtual vehicle following travel target to change from x _V to the vehicle _{x 2.}

For example, the speed of the vehicle _{x 2} where interrupting is a velocity _{v 2,} when the inter-vehicle distance between the host vehicle VC and the vehicle _{x 2} is a distance _{D 3} is the inter-vehicle distance and relative speed _(v 2 -v ₀₎ Subsequent follow-up running control is performed based on D3.

Incidentally, from the situation shown in FIG. 7 (b), without the vehicle x ₂ comes interrupts the own lane Ln1, in the case that travels back to the adjacent lane Ln2 is running track ahead traveling vehicle x ₁ again As a target, speed and distance between vehicles will be controlled.

5. Confirmation of Operation Prediction Accuracy A confirmation result of operation prediction accuracy when the vehicle control method according to the present embodiment is adopted will be described with reference to FIG. FIG. 9 is a characteristic diagram showing a confirmation result of operation prediction accuracy in the vehicle control method according to the present embodiment. In the characteristic diagram of FIG. 9, the elapsed time from when the other vehicle started interrupting is plotted on the horizontal axis, and the acceleration is plotted on the vertical axis.

  As shown in FIG. 9, the control (following running control) by auto-cruising according to the present embodiment indicated by the solid line shows the change in acceleration in the entire region from 0 second (interrupt start time) to 6 seconds later. It shows that there is a high correlation with the acceleration in the actual operation indicated by the dotted line. In the characteristic diagram shown in FIG. 9, the correlation value is 0.98 as an example.

[Modification]
A vehicle control method according to the modification will be described with reference to FIG. FIG. 10 is a schematic diagram illustrating a traveling state at a predetermined time of the host vehicle VC and the surrounding vehicles x ₁ , x ₂ , and x _{3 according to} the modification.

As shown in FIG. 10, in the situation according to the present modification, the same lane Ln1 and vehicle VC and forward traveling vehicle x ₁ is traveling. Inter-vehicle distance between the host vehicle VC and forward traveling vehicle x ₁ is the distance D _11, and spaced capable to interrupt at least two vehicles.

The speed of the host vehicle VC is the speed v ₀ , and the speed of the forward traveling vehicle x ₁ is the speed v ₁ .

On the other hand, two adjacent lane traveling vehicles x ₂ and x ₃ are traveling along the adjacent lane Ln 2 adjacent to the own lane Ln 1. Vehicle _{x 3} are traveling in front relative to the vehicle x2. Then, the relative distance of the vehicle _{x 2} with respect to the vehicle VC is a distance _{D 12,} the relative distance of the vehicle _{x 3} with respect to the vehicle VC is the distance _{D 13.}

The speed of the vehicle _{x 2} is the speed _{v 2,} the speed of the vehicle _{x 3} is the speed _{v 3.}

As shown in FIG. 10, in the current situation in the present modification, the vehicle x ₂ and the vehicle x ₃ is, has been trying to change lanes together against the own lane Ln1 from the adjacent lane Ln2, the division line L2 It is in a straddling state.

Under the situation shown in FIG. 10 according to the present modification, the control unit 22 of the host vehicle VC calculates the weights r ₁ , r ₂ , and r ₃ based on the above (Equation 1). Then, the control unit 22 calculates a control target (relative speed, relative distance) using the weights r ₁ , r ₂ , and r ₃ based on the above (Equation 2). That is, the control unit 22, as in the above embodiment, the engine so as to assume a virtual vehicle between the vehicle VC and forward traveling vehicle x ₁ in its own lane Ln1, to follow the virtual vehicle that the assumption as a target 10 or the like is issued to perform acceleration / deceleration control.

[Other variations]
The vehicle 1 according to the embodiment includes the three radars 17, 18, 19, the vehicle exterior camera 20, and the map information storage unit 21 in order to detect the position, speed, lane, and the like of surrounding vehicles. However, the present invention is not limited to this. For example, a laser sensor or a vehicle-to-vehicle communication unit may be provided. These devices can also detect the position, speed, or lane of the surrounding vehicle, and can perform the follow-up control with higher accuracy.

In the above embodiment, the vehicle moving lane Ln1 which the vehicle VC _R is traveling, the adjacent lane Ln2 adjacent to the own lane Ln1, the it is assumed that performing lane change estimation of the traveling vehicle in two lanes, the present invention is, This is not a limitation. For example, even in a situation where there is a lane on the opposite side of the adjacent lane Ln2 across the own lane Ln1, the lane change estimation can be performed as in the above embodiment. In this case, the same control as described above can be performed even when a vehicle traveling in the opposite lane enters the own lane.

  Furthermore, the present invention can also be applied to a situation in which a vehicle enters from a lane adjacent to both sides of the own lane.

  Moreover, in the said embodiment, although the case where a vehicle interrupts between the own lane Ln1 and the adjacent lane Ln2 which were mutually parallel was taken as an example, this invention is not limited to this. For example, the present invention can also be applied in a place where a merging lane (acceleration lane) such as an expressway or an automobile exclusive road merges with the main line.

In the above embodiment, as an example a situation coming interrupting other vehicle x ₂ in a state that the follow-up run with respect to the front running vehicle x _1, the present invention is not intended to be limited thereto. For example, the present invention can be applied even in a situation in which another vehicle interrupts while the host vehicle is traveling at a set speed.

In the above embodiment, in the calculation of the weight r _i by the control unit 22, the weight after 2 seconds is calculated as in the above (Equation 1), but the present invention is not limited to this. For example, a time of less than 1 second can be set, or a time longer than 2 seconds can be set. These may be set in consideration of the traveling environment in each vehicle.

  In the above-described embodiment, the engine 10 is employed as an example of the power source of the vehicle 1, but the present invention is not limited to this. For example, an electric motor may be used as a power source, or an engine and an electric motor may be used in combination. Moreover, it can also be set as a range extender type electric vehicle.

  In the above embodiment, the front engine / front drive vehicle 1 is used as an example, but the present invention is not limited to this. For example, a front engine / rear drive vehicle, a four-wheel drive vehicle, a rear engine / rear drive vehicle, or the like may be employed.

1 vehicle 10 engine (drive source)
17-19 Radar 20 Camera outside the vehicle 21 Map information storage unit 22 Control unit (vehicle control unit)
29 Cruise Control Switch (Following Running Instruction Accepting Section)
VC own vehicle x ₁ forward traveling vehicle (preceding vehicle)
x ₂ , x ₃ adjacent lane traveling vehicle (other vehicle)
Ln1 own lane Ln2 next lane

Claims (7)

A vehicle control device that executes control of a vehicle having a follow-up running function of running following a preceding vehicle,
A lane detector for detecting the own lane in which the host vehicle is traveling and the adjacent lane adjacent to the own lane;
The speed and distance between the preceding vehicle that travels in front of the host vehicle in the host lane and the other vehicle that travels on the side of the host vehicle or in front of or behind the host vehicle. A speed / distance detector for detecting
A follow-up travel instruction receiving unit that receives an execution instruction of follow-up travel from the driver of the vehicle,
A vehicle control unit that executes acceleration / deceleration control of the host vehicle based on a detection result from the lane detection unit and the speed / distance detection unit and a reception result from the follow-up travel instruction reception unit;
With
The vehicle control unit
When the follow-up traveling is being performed on the preceding vehicle, and the other vehicle starts entering between the preceding vehicle and the own vehicle in the own lane, the own vehicle and the A virtual vehicle that is a virtual vehicle between the host vehicle and the preceding vehicle based on the relative speed and relative distance with the preceding vehicle and the relative speed and relative distance between the host vehicle and the other vehicle. Assuming
Acceleration / deceleration control is executed so as to follow the virtual vehicle.
Vehicle control device. The vehicle control device according to claim 1,
The lane detection unit includes an imaging unit, detects the own lane and the adjacent lane based on the lanes on both sides of the own lane and the adjacent lane captured by the imaging unit,
When the other vehicle has crossed the lane marking on the adjacent lane side of the lane marking on both sides of the lane, the other vehicle has started entering the lane. to decide,
Vehicle control device. The vehicle control device according to claim 2,
The width of the own lane is wider than the width of the own vehicle.
Vehicle control device. In the vehicle control device according to any one of claims 1 to 3,
The vehicle control unit is configured such that when the follow-up travel is executed and the other vehicle starts to enter, the preceding vehicle and the other vehicle relative to the host vehicle after a predetermined period has elapsed from the time point. Estimating a position and assuming the virtual vehicle based on the estimated position;
Vehicle control device. A vehicle control method for controlling a vehicle having a follow-up running function of running following a preceding vehicle,
A lane detection step for detecting the own lane in which the host vehicle is traveling and the adjacent lane adjacent to the own lane;
The speed and distance between the preceding vehicle that travels in front of the host vehicle in the host lane and the other vehicle that travels on the side of the host vehicle or in front of or behind the host vehicle. Speed / distance detection step for detecting
A follow-up running instruction receiving step for receiving an execution instruction for follow-up running from the driver of the host vehicle;
A vehicle control step for executing acceleration / deceleration control of the host vehicle based on the result detected in the lane detection step and the speed / distance detection step and the reception result in the follow-up travel instruction reception step;
With
In the vehicle control step, when the follow-up traveling is executed with respect to the preceding vehicle and the other vehicle starts to enter between the preceding vehicle and the own vehicle in the own lane, the own vehicle And the preceding vehicle based on the relative speed and relative distance between the host vehicle and the preceding vehicle, and the relative speed and relative distance between the host vehicle and the other vehicle. An assumed substep assuming a virtual vehicle;
An acceleration / deceleration control sub-step for executing acceleration / deceleration control so as to follow the virtual vehicle;
Having
Vehicle control method. The vehicle control method according to claim 5,
The lane detection step includes
An imaging sub-step of imaging the surroundings of the host vehicle with an imaging unit provided in the host vehicle;
A lane detection substep for detecting the own lane and the adjacent lane based on the lane markings on both sides of the own lane and the adjacent lane in the image captured in the imaging substep;
Have
In the acceleration / deceleration control step, the other vehicle starts to enter the own lane when the other vehicle crosses the lane marking on the adjacent lane side of the lane marking on both sides of the own lane. Judgment is made,
Vehicle control method. In the vehicle control method according to claim 5 or 6,
In the acceleration / deceleration control step, when the follow-up traveling is executed and the other vehicle starts to enter, the preceding vehicle and the other vehicle relative to the host vehicle after a lapse of a predetermined period from the time point. A virtual position is estimated, and the virtual vehicle is assumed based on the estimated position.
Vehicle control method.

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