JP2020050204A - Vehicular travel control method and travel control apparatus - Google Patents

Abstract

To provide a vehicular travel control method and travel control apparatus enabling a driver to accept execution or change of automatic travel control without feeling cumbersome when executing or changing vehicular automatic travel control.SOLUTION: A travel control method executes: presenting a driver with first travel control execution information Td1a as to whether to accept execution or change of automatic travel control prior to executing or changing the control, and detecting whether the driver is performing an action disabling a check of a zone surrounding a vehicle itself; detecting an event that the driver cancels or interrupts the action disabling the check of a zone surrounding a vehicle itself in a case where the driver performs the action disabling the check of the zone surrounding the vehicle itself; determining that the driver has accepted the execution or change of the automatic travel control in a case where the driver cancels or interrupts the action disabling the check of a zone surrounding a vehicle itself; and executing or changing the automatic travel control.SELECTED DRAWING: Figure 4A

Description

  The present invention relates to a travel control method and a travel control device for a vehicle including a control for changing a travel lane, a right-turn travel control or a left-turn travel control, a run-off control from a main road, a control for approaching to a main road, and the like.

  When automatically changing the lane of a vehicle, the driver operates the blinker lever to indicate the driver's intention to change lanes in order to prompt the driver to confirm safety. It is determined whether the driver has performed a lane change safety check operation based on either the face direction or the line of sight direction based on the captured image of the head of the driver, and the lane change is automatically performed on this condition An apparatus is known (Patent Document 1).

International Publication WO2017 / 094316

  However, in the prior art, the lane change safety can be confirmed by the driving support device, and even if the lane change is performed automatically without any problem, the driver performs an intention to accept the lane change and performs a safety confirmation operation. There was a problem that the driver felt annoying as it had to be.

  A problem to be solved by the present invention is to provide a vehicle travel control method that allows a driver to perform or change automatic travel control without feeling annoying when performing or changing automatic travel control of a vehicle. And a travel control device.

  According to the present invention, in accordance with the traveling control execution information presented before the execution or change of the automatic traveling control, when the driver has stopped or interrupted the act of not being able to confirm the surroundings of the vehicle, the driver performs the automatic traveling control. The above problem is solved by determining that the execution or the change has been accepted.

  According to the present invention, the driver does not need to perform a special operation or operation indicating the consent when consenting to the execution or change of the automatic cruise control, and merely stops or interrupts the act of not being able to confirm the surroundings of the vehicle. , The consent can be indicated, and the trouble of the driver accompanying the consent operation can be reduced.

1 is a block diagram illustrating an embodiment of a travel control device for a vehicle according to the present invention. It is a figure showing an example of a table used for judgment of a run scene. It is a top view showing the scene of the lane change concerning an embodiment of the present invention. It is a figure showing the 1st presentation form of the 1st cruise control execution information and the 2nd cruise control execution information presented during execution of lane change control concerning an embodiment of the present invention. It is a figure showing the 2nd presentation form of the 1st cruise control execution information and the 2nd cruise control execution information presented during execution of lane change control concerning an embodiment of the present invention. It is a figure showing the 3rd presentation mode of the 1st run control execution information and the 2nd run control execution information which are presented during execution of the lane change control concerning an embodiment of the present invention. It is a figure showing the 4th presentation form of the 1st cruise control execution information and the 2nd cruise control execution information presented during execution of lane change control concerning an embodiment of the present invention. It is a block diagram showing one embodiment of a personal digital assistant concerning an embodiment of the present invention. It is a figure showing an example of a type table of a surroundings uncheckable act concerning an embodiment of the present invention. It is an explanatory view showing an installation state of an in-vehicle camera concerning an embodiment of the present invention. It is a flowchart (the 1) which shows the lane change control processing of the driving control device of the vehicle which concerns on this invention. It is a flowchart (the 2) which shows the lane change control processing of the driving | running control apparatus of the vehicle which concerns on this invention. It is a flowchart (the 3) which shows the lane change control processing of the driving | running control apparatus of the vehicle which concerns on this invention. It is a flowchart (the 4) which shows the lane change control processing of the driving control device for the vehicle according to the present invention. It is a flowchart (the 5) which shows the lane change control process of the drive control apparatus of the vehicle which concerns on this invention. It is a top view (the 1) for explaining the detection method of the target range of the traveling control device for vehicles concerning the present invention. It is a top view (the 2) for explaining the detection method of the target range of the traveling control device for vehicles concerning the present invention. It is a top view (the 3) for explaining the detection method of the target range of the traveling control device for vehicles concerning the present invention. It is a top view (the 4) for explaining the detection method of the target range of the traveling control device for vehicles concerning the present invention. It is a top view (the 5) for explaining the detection method of the object range of the traveling control device for vehicles concerning the present invention. It is a top view (the 6) for explaining the detection method of the object range of the traveling control device for vehicles concerning the present invention. It is a top view for explaining the setting method of the target position of the lane change of the traveling control device of the vehicle concerning the present invention. FIG. 5 is a plan view (part 1) for explaining a method of predicting the position of another vehicle after a required time by the vehicle travel control device according to the present invention. It is a top view (the 2) for explaining the method of predicting the position of other vehicles after the required time of the running control device of the vehicles concerning the present invention. It is a top view (the 1) for explaining the method of judging whether the lane change of the traveling control device of vehicles concerning the present invention is possible. It is a top view (the 2) for explaining the method of judging whether the lane change of the traveling control device of vehicles concerning the present invention is possible. FIG. 5 is a plan view for explaining a positional relationship between a target lane mark and a host vehicle in a width direction.

  FIG. 1 is a block diagram illustrating a configuration of a vehicle travel control device 1 according to the present embodiment. The travel control device 1 for a vehicle according to the present embodiment is also an embodiment that implements the travel control method for a vehicle according to the present invention. As shown in FIG. 1, the vehicle travel control device 1 according to the present embodiment includes a sensor 11, a vehicle position detection device 12, a map database 13, an in-vehicle device 14, a presentation device 15, an input device 16 , A communication device 17, a drive control device 18, and a control device 19. These devices are connected to each other by, for example, a CAN (Controller Area Network) or another in-vehicle LAN in order to mutually transmit and receive information.

  The sensor 11 detects a traveling state of the own vehicle. For example, as the sensor 11, a front camera that images the front of the host vehicle, a rear camera that images the rear of the host vehicle, a front radar that detects an obstacle in front of the host vehicle, a rear that detects an obstacle behind the host vehicle. Examples include a radar, a side radar for detecting obstacles present on the left and right sides of the host vehicle, a vehicle speed sensor for detecting the vehicle speed of the host vehicle, and an in-vehicle camera for imaging the driver. Note that the sensor 11 may be configured to use one of the plurality of sensors described above, or may be configured to use a combination of two or more types of sensors. The detection result of the sensor 11 is output to the control device 19 at predetermined time intervals.

  The own-vehicle position detecting device 12 includes a GPS unit, a gyro sensor, a vehicle speed sensor, and the like, detects radio waves transmitted from a plurality of satellite communications by the GPS unit, and periodically transmits position information of a target vehicle (own vehicle). The current position of the target vehicle is detected based on the obtained position information of the target vehicle, the angle change information obtained from the gyro sensor, and the vehicle speed obtained from the vehicle speed sensor. The position information of the target vehicle detected by the vehicle position detection device 12 is output to the control device 19 at predetermined time intervals.

  The map database 13 stores map information including position information of various facilities and specific points. Specifically, positional information such as a merging point of a road, a branch point, a tollgate, a position where the number of lanes is reduced, and a service area (SA) / parking area (PA) is stored together with map information. The map information stored in the map database can be referred to by the control device 19.

  The in-vehicle devices 14 are various devices mounted on the vehicle, and operate by being operated by a driver. Examples of such in-vehicle devices include steering, accelerator pedals, brake pedals, navigation devices, audio devices, air conditioners, hands-free switches, power windows, wipers, lights, direction indicators, horns, and specific switches. When the in-vehicle device 14 is operated by the driver, vehicle interior information indicating the operation status is output to the control device 19.

  The presentation device 15 includes, for example, a display included in a navigation device, a display incorporated in a room mirror, a display incorporated in a meter unit, a head-up display projected on a windshield, a speaker included in an audio device, and a vibrating body embedded therein. Such as a seat device. Under the control of the control device 19, the presentation device 15 notifies the driver of presentation information and traveling control execution information described below. The travel control execution information includes information on lane change control of the vehicle, information on right-turn travel control or left-turn travel control of the vehicle, or information on travel control of the vehicle leaving the main road or approaching the main road. And so on.

  The input device 16 is, for example, a device such as a dial switch that can be manually input by a driver, a touch panel arranged on a display screen, or a microphone that can be input by a driver's voice. In the present embodiment, the driver operates the input device 16 to input response information to the presentation information presented by the presentation device 15. For example, in the present embodiment, a direction indicator or a switch of another vehicle-mounted device 14 can be used as the input device 16. By turning on the switch of the turn signal, it is possible to input a consent or permission to execute or change the automatic traveling control. Note that the response information input by the input device 16 is output to the control device 19.

  The communication device 17 communicates with a communication device external to the host vehicle and a mobile terminal in the passenger compartment of the host vehicle. For example, the communication device 17 performs inter-vehicle communication with another vehicle, performs inter-vehicle communication with a device installed on the shoulder of a road, or communicates with an information server installed outside the vehicle. Various information can be obtained from an external device by performing wireless communication or the like. In addition, the communication device 17 communicates with a mobile terminal in the vehicle compartment to acquire various information from the mobile terminal or transmit various information to the mobile terminal. The information acquired by the communication device 17 is output to the control device 19.

  The drive control device 18 controls traveling of the own vehicle. For example, the drive control device 18 includes a drive mechanism for realizing the acceleration / deceleration and the vehicle speed so that the distance between the host vehicle and the preceding vehicle is constant when the own vehicle controls the following of the preceding vehicle. (Including the operation of the internal combustion engine for an engine vehicle, the operation of the traction motor for an electric vehicle, and the torque distribution between the internal combustion engine and the traction motor for a hybrid vehicle) and brakes Control behavior. Also, lane keeping control for detecting a lane mark of a lane in which the vehicle travels (hereinafter, also referred to as the vehicle lane) and controlling a traveling position of the vehicle in the width direction so that the vehicle travels in the vehicle lane. When the vehicle performs lane change control such as passing of the preceding vehicle or changing the traveling direction, or when performing automatic driving control to turn right or left at an intersection, etc., it is necessary to achieve acceleration / deceleration and vehicle speed. By controlling the operation of the steering actuator in addition to the operation of the drive mechanism and the brake operation, the steering control of the host vehicle is executed. The drive control device 18 controls the traveling of the host vehicle in accordance with an instruction from a control device 19 described later. Further, as the traveling control method by the drive control device 18, other known methods can be used.

  The control device 19 includes a ROM (Read Only Memory) storing a program for controlling traveling of the host vehicle, a CPU (Central Processing Unit) executing the program stored in the ROM, and an accessible storage device. And a functional RAM (Random Access Memory). In addition, as an operation circuit, instead of or together with a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. Can be used.

  The control device 19 executes a program stored in the ROM by the CPU, thereby obtaining a traveling information acquisition function for acquiring information on the traveling state of the own vehicle, and a vehicle for acquiring vehicle interior information on the state of the interior of the vehicle. An indoor information acquisition function, a traveling scene determination function for determining a traveling scene of the own vehicle, a traveling control function for controlling traveling of the own vehicle, and a lane change control function for determining whether or not lane change is possible and controlling lane change. A driving control execution information presenting function for presenting driving control execution information relating to execution or change of automatic driving control to a driver, and whether or not the driver has accepted execution or change of automatic driving control with respect to the presented driving control execution information. And a consent confirmation function for confirming whether Hereinafter, each function of the control device 19 will be described.

  The traveling information acquisition function of the control device 19 is a function of acquiring traveling information on the traveling state of the own vehicle. For example, the control device 19 uses the running information acquisition function to run the image information of the outside of the vehicle captured by the front camera and the rear camera included in the sensor 11 and the detection results by the front radar, the rear radar, and the side radar. Get as information. The control device 19 also acquires, as travel information, vehicle speed information of the own vehicle detected by a vehicle speed sensor included in the sensor 11 and image information of a driver's face imaged by an in-vehicle camera, by a travel information acquisition function.

  Further, the control device 19 obtains information on the current position of the host vehicle from the host vehicle position detection device 12 as driving information by a driving information obtaining function. In addition, the control device 19 uses the travel information acquisition function to use location information such as a merging point, a branch point, a tollgate, a reduced number of lanes, and a service area (SA) / parking area (PA) as travel information. To get from. In addition, the control device 19 acquires operation information of the in-vehicle device 14 by the driver from the in-vehicle device 14 by using the traveling information acquisition function as traveling information.

  The vehicle interior information acquisition function of the control device 19 is a function of acquiring vehicle interior information relating to the situation in the vehicle interior of the host vehicle. For example, the control device 19 controls the steering, the accelerator pedal, the brake pedal, the navigation device, the audio device, the air conditioner, the hands-free switch, the power window, the wiper, the light, the turn signal, Acquires information about the interior of the vehicle, such as horns and specific switches.

  Further, the vehicle interior information acquisition function of the control device 19 can also acquire, as vehicle interior information, an image of the vehicle interior taken by the vehicle interior camera of the sensor 11. The image of the vehicle interior is used for detecting an action that cannot be performed around the vehicle (hereinafter, also referred to as an action that cannot be performed around the vehicle), which is performed by the driver during the execution of the automatic traveling control. Here, the act of not being able to check the surroundings of the vehicle is an act that is permitted to the driver during the automatic driving control of the own vehicle or while the vehicle is stopped, and more specifically, the operation of the own vehicle relating to the driving or driving of the own vehicle, This is a task or task other than an action in which the surroundings of the vehicle can be confirmed, such as confirming and monitoring the surroundings of the own vehicle for traveling. For example, the act of the driver eating and drinking in the vehicle compartment, the act of operating the portable terminal, and the like correspond to the act of not being able to check the surroundings of the vehicle.

  The traveling scene determination function of the control device 19 is a function of referring to a table stored in the ROM of the control device 19 to determine a traveling scene in which the own vehicle is traveling. FIG. 2 is a diagram illustrating an example of a table used for determining a traveling scene. As shown in FIG. 2, the table stores a traveling scene suitable for changing lanes and a determination condition thereof for each traveling scene. The control device 19 refers to the table shown in FIG. 2 and determines whether or not the traveling scene of the own vehicle is a traveling scene suitable for changing lanes by using the traveling scene determination function.

  For example, in the example illustrated in FIG. 2, “the preceding vehicle is present ahead”, “the speed of the preceding vehicle <the set vehicle speed of the own vehicle”, and “the arrival to the preceding vehicle” Are within a predetermined time "and" the lane change direction is not a lane change prohibition condition ". The control device 19 uses the traveling scene determination function to detect, for example, a result of detection by a front camera or a forward radar included in the sensor 11, a vehicle speed of the own vehicle detected by a vehicle speed sensor, and a position of the own vehicle by the own vehicle position detection device 12. It is determined whether or not the own vehicle satisfies the above condition based on the information and the like. If the above condition is satisfied, it is determined that the own vehicle is a “scene catching up with the preceding vehicle”. Similarly, the control device 19 determines whether or not the determination conditions are satisfied for all the driving scenes registered in the scene determination table illustrated in FIG. 2 by the driving scene determination function.

  The lane change prohibition conditions include, for example, “running in a lane change prohibition area”, “an obstacle exists in the lane change direction”, “every time a center line (road center line) is straddled”, And "becoming on the shoulder or straddling the road edge". In addition, on a road that permits an emergency stop at a road shoulder or the like in the “emergency evacuation scene”, the condition of “entering the road shoulder or straddling the road edge” is permitted in the “emergency evacuation scene”. You can also. In the table shown in FIG. 2, the necessity of lane change, the time limit, and the direction of lane change will be described later.

  In addition, when the traveling scene of the own vehicle corresponds to a plurality of traveling scenes, the control device 19 determines the traveling scene having the higher necessity of the lane change as the traveling scene of the own vehicle when the traveling scene of the own vehicle corresponds to a plurality of traveling scenes. I do. For example, in the table shown in FIG. 2, the traveling scene of the own vehicle corresponds to the “scene of catching up with the preceding vehicle” and the “scene of changing lanes to the destination”, and the necessity of the lane change in the “scene of catching up with the preceding vehicle” It is assumed that X1 is lower than the necessity X8 of lane change in the “lane transfer scene to destination” (X1 <X8). In this case, the control device 19 determines the “lane transfer scene to the destination” having the higher necessity of the lane change as the traveling scene of the own vehicle by the traveling scene determination function. The “lane transfer scene to the destination” is a lane in the target branch direction or exit direction from the lane where the vehicle is currently traveling, such as at a branch point of a road having a plurality of lanes or just before an exit. This refers to a scene in which the lane is changed to transfer to.

  The traveling control function of the control device 19 is a function of controlling traveling of the host vehicle. For example, the control device 19 detects the lane mark of the own lane on which the own vehicle travels based on the detection result of the sensor 11 by the travel control function, and controls the own vehicle so that the own vehicle travels in the own lane. Lane keeping control for controlling the traveling position in the width direction is performed. In this case, the control device 19 causes the drive control device 18 to control the operation of the steering actuator and the like so that the vehicle travels at an appropriate traveling position by the traveling control function. In addition, the control device 19 can also perform a follow-up traveling control that automatically follows the preceding vehicle at a predetermined inter-vehicle distance from the preceding vehicle by the traveling control function. When performing the following travel control, the control device 19 outputs a control signal to the drive control device 18 by a travel control function so that the own vehicle and the preceding vehicle travel at a constant inter-vehicle distance, and outputs an engine, a brake, and the like. Control the operation of the drive mechanism of In the following, description will be made as automatic travel control, including lane keeping control, follow-up travel control, right / left turn travel control, and lane change control.

  The lane change control function of the control device 19 is a function of determining whether or not to change lanes based on information on a running scene of the own vehicle and obstacles existing around the own vehicle. The lane change control function is also a function of causing the drive control device 18 to control the operation of a drive mechanism such as an engine or a brake and the operation of a steering actuator when it is determined that a lane change is to be performed. Further, the lane change control function is a function of setting a start timing for starting the lane change control based on the traveling state of the vehicle and the state of the driver, and executing the lane change control according to the set start timing. The details of the lane change control by the lane change control function will be described later.

  The traveling control execution information presenting function of the control device 19 provides traveling control execution information relating to the traveling operation of the own vehicle by automatic traveling control including lane keeping control, following traveling control, right / left turn traveling control, lane change control, and the like. This function is presented to the driver via the. For example, if there is a branch point of a road ahead or an exit or a service area of an exclusive motorway during the execution of the lane keeping control, the traveling direction of the own vehicle is changed and the lane change is required. Sometimes. In addition, if the preceding vehicle changes lanes during execution of the follow-up running control of the preceding vehicle, the own vehicle may change lanes accordingly. Further, it may be necessary to change the traveling direction of turning right or left at an intersection or the like in the middle of the route to the destination. When such a change in the traveling direction is performed by the automatic traveling control, it is determined whether or not the traveling direction can be changed, and if the traveling direction can be changed, the driver himself / herself must confirm safety. The control device 19 presents the execution information of the automatic traveling control to the driver by the traveling control execution information presentation function. Since the timing of presenting the travel control execution information is for the purpose of confirming safety by the driver itself, it may be at least before the execution or change of the automatic travel control is started.

Here, an example of travel control execution information presented to the driver before the execution or change of the automatic travel control is started will be described. Figure 3 is a plan view showing a scene of a lane change according to an embodiment of the present invention, in road three lanes L1, L2, L3 of the left-hand traffic, other vehicles traveling vehicle V ₀ is the forward it is a scene that overtake the V _1. The left side of FIG. 3 is a plan view showing an example of a current lane change control vehicle V ₀ executes a lane change to the adjacent lane L3 from the lane L2 traveling, right view of FIG. 3, another vehicle V FIG. 9 is a plan view showing an example of lane change control for returning to lane L2 after overtaking ₁ ;

  In the present embodiment, in a case where the lane change is performed a plurality of times, the travel control execution information to the effect that the lane change is performed is presented to the presentation device 15 before the first lane change control is performed. If the driver indicates his / her intent to accept this presentation, after the first lane change is performed, the second lane change is performed before the second lane change control is performed. Is presented to the presentation device 15. In the example shown in FIG. 3, the lane change is performed twice. However, when the lane change is performed three or more times, similarly, before the next lane change is performed, the travel control for performing the lane change is executed. The information is presented to the presentation device 15 to confirm the driver's consent. As described above, the control device 19 of the present embodiment prompts the driver to confirm the safety each time the lane is changed by the driving control execution presentation function.

  The presentation form to the presentation device 15 by the traveling control execution information presentation function is, when the presentation device 15 includes a display, in addition to displaying a visual pattern including an image and a language, and when the presentation device 15 includes a speaker. The travel control execution information (for example, guidance information for changing the lane to the left or right lane) including the widthwise direction in which the vehicle moves by the lane change control is used as auditory information (voice or sound). May be presented to the driver. In the case where the presentation device 15 includes one or more warning lamps installed on an instrument panel or the like, the own vehicle moves by lane change control by turning on a specific warning lamp in a specific presentation mode. Travel control execution information including the width direction may be presented to the driver. Further, in the case where the presentation device 15 includes a seat device in which a plurality of vibrating bodies are embedded, the specific vibrating body is vibrated in a specific presentation mode, so that the direction of the width direction in which the own vehicle moves by the lane change control. May be presented to the driver.

  In this way, instead of displaying the travel change information on the display as visual information, or in addition to displaying it on the display as visual information, auditory information such as voice or sound, visual information by displaying a warning lamp, or By presenting the driving control execution information to the driver as tactile information by vibration, the driver can more intuitively grasp the driving control execution information. In addition, in the vehicle travel control device 1 of the present embodiment, the travel control execution information presented to the presentation device 15 is not performed once so that the driver does not feel troublesome about the operation for consent. The driver's consent operation for each change of the travel control is set as follows in relation to the presentation of the travel control execution information.

  The consent confirmation function of the control device 19 is a function for confirming whether or not the driver has accepted the execution or change of the traveling control with respect to the traveling control execution information presented by the traveling control execution information presentation function. The consent confirmation function of the control device 19 detects whether or not the driver is performing an act of not being able to confirm the surroundings of the vehicle, that is, an act of disabling the surroundings confirmation, when the traveling control execution information is presented by the traveling control execution information presentation function. Then, when it is detected that the driver is performing an action that cannot confirm surroundings, after presenting the travel control execution information, it is detected whether or not to suspend or interrupt the action according to the presentation. Then, when it is detected that the driver has stopped or interrupted the surrounding unrecognizable act, it is determined that the execution or change of the automatic traveling control has been accepted by the driver.

  In other words, the driver does not need to perform any special operation or operation indicating the consent when accepting the change in the automatic cruise control presented in the cruise control execution information, and cancels or interrupts the inability to check the surroundings during execution. It is possible to indicate consent simply by doing so, and it is possible to reduce the trouble of the driver involved in the consent operation. If the driver does not stop or interrupt the surroundings inability to check the surroundings, it is determined that the execution or change of the automatic driving control has been rejected (non-consent). No control is performed or changed. Therefore, the safety of the automatic traveling control is further improved.

  4A to 4D are diagrams illustrating examples of various types of travel control execution information presented by the travel control execution information presentation function. The travel control execution information is presented using the display and the speaker of the presentation device 15. Here is an example. As described above, in addition to the lane change information, the traveling control execution information according to the present embodiment includes traveling control execution information relating to right / left turn traveling control, departure traveling control from the main road, or approach traveling to the main road. 4A to 4D, the first lane change from lane L2 to lane L3 in the two lane change controls shown in FIG. 3, that is, automatic traveling An example in which the traveling control execution information is presented before executing or changing the control will be described.

  By the way, "change automatic driving control" of the present invention is, in the example shown in FIGS. 4A to 4D, a content that changes "lane keeping control" being executed to "first lane change control". Equivalent to. However, the automatic cruise control being executed and the automatic cruise control to be changed may be different automatic cruise control such as lane keeping control and lane change control, or as in the case of continuously changing lanes. It may be a case of changing between the same type of travel control. For example, the automatic travel control being executed may be lane change control, and the automatic travel control to be changed may be a left-turn travel control, or may be a change to travel control leaving a main road. In short, any scene may be used as long as a change in the automatic driving control that requires the driver's consent occurs. Further, “change automatic traveling control” in the present invention refers to a case where the automatic traveling control is executed from a stopped state of the vehicle or a manual driving state by the driver of the vehicle.

4A shows the first travel control execution information Td1a presented to the presentation device 15 before starting to change lanes from the center lane L2 to the rightmost lane L3 as shown in FIG. In addition, the right diagram of FIG. 4A is presented to the presentation device 15 when it is determined that the driver has stopped the surrounding uncheckable action being performed in accordance with the first traveling control execution information Td1a and has determined that the lane change has been accepted. The second traveling control execution information Td2a is shown. In this example, before starting the lane change to the rightmost lane L3 from the center of the lane L2, as shown on the left in FIG. 4A, the vehicle V ₀ on the display of the presentation device 15, lane L1, L2 displays the image data of the forward view including L3, and lane change destination of the vehicle V ₀ using the visual pattern, such as arrows, and OK mark and Cancel mark, is displayed. The OK mark and the Cancel mark indicate to the driver options for the first travel control execution information Td1a, and are displayed in a light density to indicate that both are in the non-selected state in the left diagram of FIG. 4A. . In addition, in the left diagram of FIG. 4A, along with this display, a message such as "Please check the surroundings when starting to change lanes" is output from the speaker by voice data. This message may be displayed on the display as character data.

  When the driver determines that the lane may be changed with respect to the first traveling control execution information Td1a shown in the left diagram of FIG. Check by yourself. Accordingly, the control device 19 presents the second travel control execution information Td2a shown in the right diagram of FIG. In the second travel control execution information Td2a, the density of the OK mark is displayed to be dark in order to indicate that the driver has accepted the lane change. In addition, in the right diagram of FIG. 4A, a message such as “Start lane change to the right” is output from the speaker along with this display by voice data. This message may be displayed on the display as character data.

In the example illustrated in FIG. 4A, an example in which the confirmation of the surroundings is prompted by the first traveling control execution information Td1a when the automatic traveling control is changed has been described. You may be prompted to stop. 4B shows the first travel control execution information Td1b presented to the presentation device 15 before starting to change lanes from the center lane L2 to the rightmost lane L3 as shown in FIG. The right diagram of FIG. 4B shows a second example that is presented to the presentation device 15 when it is determined that the driver disables the surrounding uncheckable action being executed in accordance with the first travel control execution information Td1b and the lane change is accepted. It shows traveling control execution information Td2b. In this example, before starting the lane change to the rightmost lane L3 from the center of the lane L2, as shown on the left in FIG. 4B, the vehicle V ₀ on the display of the presentation device 15, lane L1, L2 displays the image data of the forward view including L3, and lane change destination of the vehicle V ₀ using the visual pattern, such as arrows, and OK mark and Cancel mark, is displayed. The OK mark and the Cancel mark indicate to the driver options for the first traveling control execution information Td1b, and are displayed in a light density to indicate that both are in the non-selected state in the left diagram of FIG. 4A. . In addition, in the left diagram of FIG. 4B, along with this display, a message such as “Please terminate the operation of the smartphone when starting to change lanes” is output from the speaker by voice data. As described above, the voice data is used to specifically point out the inability to check the surroundings and to prompt the user to stop the action. This message may be displayed on the display as character data.

  When the driver determines that the lane may be changed with respect to the first traveling control execution information Td1b illustrated in the left diagram of FIG. 4B, the driver cancels the inability to check surroundings being executed. After that, the driver checks the surrounding conditions. Accordingly, the control device 19 presents the second travel control execution information Td2b shown in the right diagram of FIG. In the second traveling control execution information Td2b, the density of the OK mark is displayed in a high density to indicate that the driver has accepted the lane change. In addition, in the right diagram of FIG. 4A, a message such as “Start lane change to the right” is output from the speaker along with this display by voice data. This message may be displayed on the display as character data. At this time, if the driver wants to cancel the lane change control as a result of checking the surroundings, the driver must cancel the lane change control by pressing the cancel button or performing the driving operation of the steering wheel, brake, accelerator, etc. Can be.

In the example shown in FIGS. 4A and 4B, an example has been described in which the traveling control execution information is presented to the presentation device 15 of the own vehicle V ₀ , but the traveling control execution information is presented to the driver from the mobile terminal owned by the driver. May be. The left diagram in FIG. 4C shows the first travel control presented on the display unit 21 of the portable terminal 20 of the driver before starting to change lanes from the center lane L2 to the rightmost lane L3 as shown in FIG. Indicates the execution information Td1c. The right diagram of FIG. 4C shows that when the driver puts the portable terminal 20 into the sleep state or turns off the power in accordance with the first traveling control execution information Td1c, that is, the surroundings disable operation of operating the portable terminal 20 is stopped. Indicates the status. In the first traveling control execution information Td1c in the left diagram of FIG. 4C, a message such as "Please terminate the operation of the smartphone when starting to change lanes" is displayed. Although this message specifically points out the inability to check the surroundings being executed and urges the user to stop the action, as shown in the example shown in the left diagram of FIG. Please check your surroundings. " Also, the message may be output as voice data from the mobile terminal 20 together with the display of the message in characters.

Instead of the first travel control execution information Td1c shown in the left diagram of FIG. 4C, the first travel control execution information Td1d shown in the left diagram of FIG. That is, the display unit 21 of mobile terminal 20, the own vehicle V _0, with the image data of the forward view including lane L1, L2, L3, showed lane change destination of the vehicle V ₀ visual pattern such as an arrow The first traveling control execution information Td1d may be presented. In this case, a message such as “Please terminate the operation of the smartphone when starting lane change” may be output from the speaker by the audio data from the mobile terminal 20.

  The mobile terminal 20 of this example is a so-called smartphone, and as shown in FIG. 5, a display unit 21 such as an LCD panel, an input unit 22 such as a touch panel, and a mobile phone connected to a mobile phone communication network for communication. The communication unit 23 includes a reception unit 24 and a transmission unit 25 used for a call. The mobile terminal 20 includes a wireless communication unit 26 that performs communication using a wireless LAN such as WIFI (registered trademark) or short-range wireless communication such as Bluetooth (registered trademark). Further, the mobile terminal 20 includes a storage unit 27 that stores an operating system, an application program, and the like, and a CPU 28 that controls these components in a comprehensive manner.

The mobile terminal 20 by connecting the communication device 17 of the vehicle V ₀ by the wireless communication unit 26, and driving control execution information presentation function and interconnection of the control device 19, presents a first traveling control execution information described above I do. Therefore, the portable terminal 20, the radio communication unit 26 for connecting with the communication device 17 of the vehicle V _0, the vehicle connection application 29 is installed in advance, is stored in the storage unit 27.

Vehicle connection application 29, by being executed by the CPU 28, an external communication function through the communication device 17 communicates with an external communication network of the vehicle V _0, a cruise control execution information presentation capabilities of the control device 19 The connection presenting function of presenting the first travel control execution information Td1c or Td1d in linkage with the mobile terminal 20 by monitoring the communication status of the mobile terminal 20 by the external communication function and the operation status of the input unit 22 are monitored. An operation detection function for detecting whether or not an operation is being performed is provided. The operation detection function is linked with the consent confirmation function of the control device 19 and is used to detect whether the driver has stopped or interrupted the operation of the mobile terminal 20 according to the first traveling control execution information Td1c or Td1d. You.

  Note that, in the above description, the operation of the mobile terminal 20 is given as one of the surroundings uncheckable acts. However, the surrounding uncheckable acts are categorized into a plurality of types of actions including the operation of the mobile terminal 20. FIG. 6 shows the types of the surrounding confirmation inability to be performed, the automatic traveling control in which the surrounding confirmation incapacity is executable (permitted), and the detection time for detecting the suspension of the surrounding confirmation incapacity. 9 shows a type table set for each type. The type table is stored in the ROM of the control device 19, and is referred to when detecting a driver's surrounding uncheckable action.

  Note that the detection time is a time for detecting, by the consent confirmation function of the control device 19, that the driver stops the surrounding uncheckable action. If the driver does not stop the act of disabling surrounding confirmation within this detection time, it is determined that the execution or change of the automatic traveling control has not been accepted. In addition, the automatic driving control that can perform the surrounding uncheckable action is such that the control difficulty is higher in the order of "intersection right / left turn control"> "lane change control"> "lane keeping control". Executable non-confirmation of surroundings is set. Further, in the type table, the surrounding confirmation unacceptable actions are categorized into five types of A1 to A5. However, in order of A5> A4> A3> A2> A1, it takes time to stop or interrupt or to execute. It is an act that requires high concentration. Therefore, an act that requires a long time to stop or suspend, or an act that requires high concentration, has few types of executable automatic travel control and cannot be performed during execution of the automatic travel control with high control difficulty. Is set to

  As shown in the action image, the type A1 is, for example, an act of listening to a video on a display installed in a vehicle cabin. The act of listening to the video of this type A1 is a passive act that does not use the hand (tactile sensation) and does not involve a speaking operation, so that it can be performed with relatively light concentration, and is stopped or interrupted in a short time. be able to. Therefore, the detection can be performed during the lane keeping control and the lane change control, and the detection time Dt1 is set to a relatively short time of several tens of seconds.

  As shown in the action image, the type A2 includes, for example, an action of making a call with another person using a hands-free headset, an action of making a call using a mobile terminal 20 such as a mobile phone, and a head of a wearable terminal or the like. This is the act of using the up display. As in the case of the type A1, the act of making a call of the type A2 can be performed with relatively light concentration without using the hand (tactile sensation), so that it can be performed during the lane keeping control and the lane change control. is there. The type A2 is a more active action than the type A1 in that the driver performs a call, and requires more concentration than the type A1, so that the detection time Dt2 is longer than the detection time Dt1 of the type A1. Is set.

  The type A3 is an act of operating the portable terminal 20 using, for example, visual sense and hand (tactile sensation) as shown in the act image. The operation content of the mobile terminal 20 includes, for example, an act of playing the Internet, mail, a game, and the like. The act of operating the portable terminal 20 of the type A3 is an active act in comparison with the types A1 and A2 in using the hand (tactile sensation), and requires more concentration on the act than the types A1 and A2. Therefore, the detection can be performed only during the lane keeping control, and the detection time Dt3 is set longer than the detection time Dt2 of the type A2.

  As shown in the action image, the type A4 is, for example, an act of reading a book held by hand, and requires higher concentration than the other types A1 to A3. Therefore, the type A4 can be performed only during lane keeping control. In addition, since the act of type A4 is an act of reading a book with relatively high concentration, it is somewhat delayed to notice a situation in which this act needs to be stopped or interrupted, for example, the presentation of the first travel control execution information. there is a possibility. Therefore, the detection time Dt4 of the type A4 is set longer than the detection time Dt3 of the type A3.

  As shown in the action image, the type A5 is, for example, an action using a hand (tactile sensation), taste, and smell, that is, an action of eating and drinking. In order to stop or interrupt the act of eating and drinking, it is necessary to place the food or tableware in a stable position in the vehicle. Therefore, it takes a relatively long time to stop or interrupt the act of eating and drinking, so that it can be performed only during lane keeping control, and the detection time Dt5 is set to be the longest among the detection times of all types A1 to A5. Have been.

  In addition, the surrounding uncheckable act is not limited to the above-described one, and various actions that may be performed in the vehicle cabin may be categorized as the surrounding uncheckable act. Can be added.

  By the way, the driver may simultaneously perform a plurality of types of unconfirmed surroundings. For example, it is conceivable to eat and drink while talking with another person. In this case, the surroundings of the types A2 and A5 cannot be confirmed at the same time. In such a case, the detection time of the action with the longest detection time among the multiple types of actions performed simultaneously may be applied, or the detection time obtained by adding the detection times of the multiple types of actions may be applied. May be. Specifically, when the driver is performing the actions of types A2 and A5, T5 may be set as the detection time, or T2 + T5 may be set as the detection time. When adding detection times of a plurality of types, it is preferable to set an upper limit value of the detection time in advance.

  The detection of the above-described surrounding uncheckable action uses the vehicle interior information acquired by the vehicle interior information acquisition function. For example, in the case of detecting a surrounding unrecognizable act of previewing an image on the display of the type A1, the control device 19 acquires information on the operation state of the display as vehicle interior information by a consent confirmation function, and the image is displayed on the display. If it is displayed, it is determined that an act of not confirming the surroundings of the type A1 is being performed. Further, the control device 19 changes the operation state of the display acquired as the vehicle interior information from the state of displaying the image to the state of stopping the image or the state of not displaying the image by the consent confirmation function. In this case, it is determined that the act of not being able to check the surroundings of the type A1 is stopped or interrupted.

In addition, when detecting the inability to confirm the surroundings of the types A2 to A5, the control device 19 acquires the image of the camera inside the sensor 11 as the vehicle interior information by the consent confirmation function. As shown in FIG. 5, for example, an in-vehicle camera that photographs the upper body of driver D seated in driver's seat V _0b on dashboard V _0a of own vehicle V ₀ , and transmits the captured image to control device 19. 111 are provided. The consent confirmation function of the control device 19 analyzes the image transmitted from the in-vehicle camera 111 by image recognition processing or the like, and compares the image with the type table shown in FIG. It is detected whether or not the driver has stopped or interrupted the inability to confirm the surroundings of types A2 to A5. The in-vehicle camera 111 corresponds to the behavior monitoring device of the present invention.

  Specifically, the state in which the driver is making a call with the headset or the state of making a call with the mobile terminal 20 is detected from the image taken by the in-vehicle camera 111 in the case where the surroundings of the type A2 cannot be confirmed. If it is determined that it is not possible to confirm the surroundings of the type A2. In addition, when the driver removes the headset or the mobile terminal 20 from the ear or turns off the power of the headset or the mobile terminal 20 from the image captured by the in-vehicle camera 111, the type is determined. It is determined that the surrounding uncheckable action of A2 has been stopped or interrupted. In addition, when a call using the headset or the mobile terminal 20 is performed using the external communication function of the vehicle connection application 29, information on the communication status of the communication device 17 is acquired as vehicle interior information. Then, the execution status of the type A2 may be detected based on the acquired information on the communication status.

  Regarding the act of not confirming the surroundings of the type A3, when it is detected from the image captured by the in-vehicle camera 111 that the driver is operating the portable terminal 20 while holding the portable terminal 20, the surroundings of the type A3 are not confirmed. It is determined that it has been performed. In addition, from the image taken by the in-vehicle camera 111, the driver turns off or sleeps the mobile terminal 20, closes the cover of the mobile terminal 20, sets the mobile terminal 20 in the vehicle-mounted holder, and plays the game being played. When a paused state, a state in which the portable terminal 20 has not been touched for a certain period of time, or the like is detected, it is determined that the surrounding uncheckable act of the type A3 has been stopped or interrupted. When the mobile terminal 20 is performing communication using the external communication function of the vehicle connection application 29, information on the communication status of the communication device 17 is acquired as the vehicle interior information, and the information on the acquired communication status is acquired. Based on the information, it may be detected about the execution status of the uncheckable surroundings of the type A3.

  Regarding the inability to confirm the surroundings of the type A4, when it is detected from the image taken by the camera 111 that the driver is holding a book and reading, the inability to confirm the surroundings of the type A4 is performed. It is determined that there is. In addition, when a state in which the book is closed, a state in which the book is placed on the dashboard, the passenger seat, or the like is detected from the image captured by the in-vehicle camera 111, the act of not being able to confirm the surroundings of the type A4 is stopped or interrupted. Is determined.

  Regarding the act of not confirming the surroundings of the type A5, if it is detected from the image taken by the in-vehicle camera 111 that the driver is eating and drinking food or beverage in his hand, the surroundings of the type A5 cannot be confirmed. It is determined that it has been performed. In addition, when a state in which the driver places food on the dashboard or the passenger seat or returns a drink to the drink holder is detected from an image captured by the in-vehicle camera 111, the surroundings of the type A5 cannot be confirmed. Judge that the act has been stopped or interrupted.

  In addition, as a determination of suspension or interruption of the entire surrounding unconfirmable act, for example, when a driver who has not touched the steering touches the steering in response to the presentation of the first travel control execution information, the surrounding confirmation is performed. It may be determined that the inaction has been stopped or interrupted.

Next, a lane change control process according to the present embodiment will be described with reference to FIGS. 8A to 8E. 8A to 8E are flowcharts illustrating a lane change control process according to the present embodiment. The lane change control process described below is executed by the control device 19 at predetermined time intervals. In the following, the cruise control function of the control unit 19, the scene of the lane change control shown in FIG. 3, as the vehicle V ₀ is running in its own traffic lane L2, traveling in the width direction of the vehicle V ₀ while the lane keep control for controlling the position is being carried out, the other vehicle V ₁ of the preceding After passing from the lane L3, described as again returns to the original lane L2.

  First, in step S1 of FIG. 8A, the control device 19 acquires traveling information on the traveling state of the own vehicle by the traveling information acquisition function. In the following step S2, the control device 19 determines the traveling scene of the own vehicle by the traveling scene determination function based on the traveling information acquired in step S1.

  In step S3, the control device 19 uses the traveling scene determination function to determine whether the traveling scene of the own vehicle determined in step S2 is a traveling scene suitable for changing lanes. Specifically, the traveling scene determination function determines that the traveling scene of the own vehicle is a traveling scene suitable for changing lanes when the traveling scene of the own vehicle is any of the traveling scenes shown in FIG. I do. If the traveling scene of the own vehicle is not a traveling scene suitable for changing lanes, the process returns to step S1, and the determination of the traveling scene is repeated. On the other hand, if the traveling scene of the host vehicle is a traveling scene suitable for changing lanes, the process proceeds to step S4.

  In step S4, the control device 19 detects the target range by the lane change control function. Specifically, the control device 19 uses the lane change control function to output image information of the outside of the vehicle captured by the front camera and the rear camera included in the sensor 11 and the detection results by the front radar, the rear radar, and the side radar. Obstacles around the own vehicle are detected based on the travel information including Then, the control device 19 detects, as the target range, a range that is located on the side of the host vehicle and in which no obstacle exists by the lane change control function.

  Note that the “target range” in the present embodiment is a relative range based on a running position when the own vehicle runs at the current speed, and other vehicles existing around the own vehicle are different from the own vehicle. When traveling straight at the same speed, the target range will not change. In addition, “the side of the own vehicle” refers to the target position of the lane change when the own vehicle changes lanes (this target position is also a relative position based on the running position when the own vehicle runs at the current speed). Position), and the range (direction, width, angle, etc.) can be set as appropriate. Hereinafter, a method of detecting the target range OS will be described with reference to FIGS. 9A to 9F. 9A to 9F are plan views illustrating the target range OS.

Example shown in FIG. 9A is a scene that is not the other vehicle V ₁ is a obstacle to right and left adjacent lane L1, L3 which are adjacent to the lane L2 the vehicle V ₀ travels exist. In this case, the control device 19 detects the adjacent lanes L1 and L3 as the target range OS by the lane change control function. Note that the road shoulder RS is a range in which the lane cannot be changed in principle, and is excluded from the target range OS. However, a running scene of the vehicle V ₀ is "emergency evacuation scene" in the road such as a stop to shoulder RS in an emergency is allowed, it is possible to include shoulder RS in scope OS (hereinafter, the same .).

Example shown in FIG. 9B, the left side of the adjacent lane L1 adjacent to the lane L2 the vehicle V ₀ is traveling is no other vehicle V _1, on the right side of the adjacent lane L3, becomes an obstacle other vehicles V is a _{scene 1, V 1} is present. However, a range in which the other vehicles V ₁ , V ₁ do not exist between the other vehicle V _{1 in} front of and behind the other vehicle V ₁ adjacent to the lane L 2 in which the own vehicle V ₀ travels in the adjacent lane L 3. There is a scene. The control device 19 detects, as a target range OS, a left adjacent lane L1 and a range where no other vehicle exists on the right adjacent lane L3 by the lane change control function.

In the example shown in FIG. 9C, there is a range in which the other vehicles V ₁ and V ₁ do not exist in the right adjacent lane L3 as in the example shown in FIG. 9B. _1, another vehicle during the V ₁ is a scene where there is a range that does not exist. In this case, the control unit 19, the lane change control function, not a range of other vehicles V _1, V ₁ is absent on the left side of the adjacent lane L1, the other vehicle V _1, V ₁ on the right side of the adjacent lane L3 exist range Are detected as the target range OS.

In the example illustrated in FIG. 9D, there is a range where the other vehicles V ₁ and V ₁ do not exist in the left adjacent lane L1 and there is no other vehicle in the right adjacent lane L3 as in the example illustrated in FIG. 9C. such construction section and accident vehicle in the adjacent lane L3, a scene in which the range RA of the vehicle V ₀ can not travel there. In this case, the control unit 19, the lane change control function, such as construction area and during the accident vehicle, the range RA of the vehicle V ₀ can not be run, except from the scope OS, to detect the target range OS. The range RA of the vehicle V ₀ can not travel, in addition to the construction period, and the range of the other vehicle V ₁ is parked or stopped, such as by traffic control traveling of the vehicle, and the like extent prohibited. Incidentally, as shown in FIG. 9D, the range RA of the vehicle V ₀ can not be run due to construction section, for example in the case of more than half of the adjacent lane L3 (more than half in the width direction) in the range of less than the other half May be excluded from the target range OS.

Example shown in Figure 9E, there is a range of other vehicles V ₁ on the left side of the adjacent lane _L1, V ₁ is not present, on the right side of the adjacent lane L3 are traveling other vehicle V ₁ is continuous, the adjacent This is a scene in which there is no lane changeable space in the lane L3. In this case, the control device 19 determines that the target range OS cannot be detected in the right adjacent lane L3 by the lane change control function.

  The example shown in FIG. 9F is a scene in which the lane change from the adjacent lane L2 to the adjacent lane L3 is prohibited by the lane change prohibition mark RL. In such a road, the control device 19 determines that the target range OS cannot be detected in the right adjacent lane L3 by the lane change control function.

The control device 19 of the present embodiment, the lane change control function, of the left and right direction, the direction to be the lane change in the running scene of the vehicle V _0, detects the direction of the target range OS suitable for lane change I do. In the present embodiment, directions suitable for changing lanes in each traveling scene are stored in the table shown in FIG. 2 in advance. The control device 19 acquires the information of the “direction of lane change” in the traveling scene of the own vehicle with reference to the table shown in FIG. 2 by the lane change control function. For example, when the traveling scene of the own vehicle is a “scene of catching up with the preceding vehicle”, the “lane changing direction” is acquired as the “lane changing direction” by the lane change control function with reference to FIG. Then, the target range OS is detected in the acquired “direction of lane change” by the lane change control function.

Further, the control unit 19, the lane change control function, the side of the vehicle V _0, detects the target range OS. For example, even if the range on the left side of the adjacent lane L1 and right adjacent lane L3 no obstacle exists is detected, the range is separated more than a predetermined distance from the current position of the vehicle V _0, of the vehicle rear side or When the vehicle is located on the front side, it is difficult to change the lane to such a range, and thus it is not detected as the target range OS.

Returning to FIG. 8A, in step S5, a lane change target position is set by the lane change control function. FIG. 10 is a diagram for explaining a method of setting a target position for lane change. For example, the control unit 19, the lane change control function, as shown in FIG. 10, a position within the target range OS of the right adjacent lane L3 detected in step S4, than the current position of the vehicle V ₀ A position slightly shifted backward is set as a target position for changing lanes (for example, the position of the vehicle _V01 shown in FIG. 10). The target position of the lane change (position of the vehicle V ₀₁₎ is a relative position with respect to the position of the vehicle V ₀ is traveling. That is, the vehicle V ₀ is the case of the position reference position when the vehicle travels while the current speed, the position where the rear side slightly than the reference position is set as the target position of the lane change. Thus, when moving the vehicle V ₀ to the target position of the lane change, without accelerating the host vehicle V _0, the vehicle V ₀ can change lanes to the right of the adjacent lane L3.

The control unit 19, the lane change control function entry, and that there is a vehicle V ₀ can range move within the scope OS of the right adjacent lane L3, the scope OS around the vehicle V ₀ such that other vehicle V ₁ that may be the absence, in consideration of the lane change easiness, may set the target position of the lane change. For example, if the lane change control function, the other vehicle V ₁ existing around the target range OS is that running or if, by the scope OS side which issues a turn signal in the direction of the target range OS is determines that the other vehicle V ₁ is is likely to enter the target range OS, the other vehicle V ₁ is the new position in the lesser scope OS may enter, it may be set as a target position. Also, although an example of setting a target position of the lane change to the rearward position than the vehicle V ₀ in the target range OS adjacent lane L3, the target position of the lane change in the target range OS adjacent lane L3 it may be set to a position ahead of the vehicle V _0. Further, in step S5, a target route for changing lanes may be set instead of the target position for changing lanes.

  Returning to FIG. 8A, in step S6, the control device 19 predicts the required time T1 of the lane change by the lane change control function. For example, the lane change control function predicts the time required to move from the current position of the own vehicle to the target position of the lane change based on the vehicle speed and acceleration of the own vehicle as the required time T1. Therefore, for example, when the width of the lane is large, when the road is congested, or when the lane is changed continuously as in this example, the required time T1 is predicted in a long time.

In step S7, the control device 19 predicts the target range OS after the required time T1 predicted in step S6 by the lane change control function. Specifically, the lane change control function, based on the speed and acceleration of the other vehicle V ₁ existing around the vehicle V _0, predicts the travel position of the other vehicle V ₁ of the post-required time T1. For example, the control unit 19, the lane change control function, by detecting repeated position information of the other vehicle V _1, as shown in FIG. 11A, the velocity vector v ₀ of the other vehicle V _1, the acceleration vector a _0, and calculating a position vector _{p 0.}

Here, as shown in FIG. 11A, when the traveling direction of the own vehicle V ₀ is the X axis and the width direction of the road is the Y axis, the speed vector v ₀ of the other vehicle V ₁ is expressed by the following equation (1). Is done.
v ₀ = vx ₀ i + vy ₀ j (1)
In the above formula (1), vx ₀ is the velocity component in the X-axis direction of the velocity vector _{v 0} of the other vehicle _{V 1,} vy ₀ is the Y-axis direction of the velocity vector _{v 0} of the other vehicle _{V 1} The velocity component. Further, i is a unit vector in the X-axis direction, and j is a unit vector in the Y-axis direction (the same applies to the following equations (2), (3), and (6)).

Further, the acceleration vector a ₀ of the other vehicle V ₁ was, can be obtained as shown in the following formula (2), the position vector p ₀ of the other vehicle V ₁ was, be obtained as shown in the following formula (3) it can.
a ₀ = ax ₀ i + ay ₀ j (2)
p ₀ = px ₀ i + py ₀ j (3)
In the above formula (2), ax ₀ is the acceleration component in the X-axis direction of the acceleration vector _{a 0} of the other vehicle _{V 1,} ay ₀ is the Y-axis direction of the acceleration vector _{a 0} in the other vehicle _{V 1} This is the acceleration component. In the above formula (3), px ₀ is the position component of the X-axis direction in the position vector _{p 0} of the other vehicle _{V 1,} py ₀ is the Y-axis direction in the position vector _{p 0} of the other vehicle _{V 1} It is a position component.

Then, the control unit 19, the lane change control function, as shown in FIG. 11B, calculates the position vector pT ₁ of another vehicle _{V 1} after the required time T1. Specifically, the lane change control function, on the basis of the following equation (4) to (6), calculates the position vector pT ₁ of another vehicle V ₁ after the required time T1.
pxT ₁ = px ₀ + vx ₀ T1 + ／ (ax ₀ T1) ² (4)
pyT ₁ = py ₀ + vy ₀ T1 + 1/2 (ay ₀ T1) ² (5)
pT ₁ = pxT ₁ i + pyT ₁ j (6)
In the above equations (4) and (5), pxT ₁ is the position component in the X-axis direction of the position vector pT ₁ of the other vehicle V ₁ after the required time T ₁ , and pyT ₁ is the required time after the required time T 1 which is a position component of the Y-axis direction in the position vector pT ₁ of another vehicle V _1. Also, _{it vx} 0 T1 is the moving speed of the X-axis direction of the other vehicle _{V 1} after the required time T1, _vy 0 T1 is the moving speed of the Y-axis direction of the other vehicle _{V 1} after the required time T1. Furthermore, _ax 0 T1 is an acceleration in the X-axis direction of the other vehicle _{V 1} after the required time T1, _ay 0 T1 is the acceleration in the Y-axis direction of the other vehicle _{V 1} after the required time T1.

Next, the control unit 19, the lane change control function for all of the other vehicle V ₁ existing around the vehicle V _0, predicts the position after the required time T1. Then, the lane change control function, based on the position of the other vehicle V ₁ of the post-required time T1, to predict the target range OS after the required time T1. In addition, the lane change control function further takes into account the lane regulation state after the required time T1, the presence of obstacles on the road, the presence or absence of the blockage of the adjacent lane L3, and the existence of sections where the vehicle cannot move such as the construction section. The target range OS after the required time T1 is predicted. Note that the target range OS after the required time T1 can be predicted by the lane change control function, similarly to step S4.

In step S8, the control device 19 acquires information on the required range RR by the lane change control function. And the request area RR, the vehicle V ₀ is the size range of required for performing lane change, a range with at least the host vehicle V ₀ in size than the size of occupied in the road surface. In the present embodiment, when the required range RR is set at the target position of the lane change, when the target range OS of the adjacent lane L3 includes the required range RR, the target range OS of the adjacent lane L3 corresponds to the required range RR. It is determined that there is a space, and the lane change to the adjacent lane L3 is permitted. In the present embodiment, information including the shape and size of the required range RR is stored in the memory of the control device 19, and the information of the required range RR is acquired from the memory of the control device 19 by the lane change control function.

In step S9, the control device 19 uses the lane change control function to determine whether there is a space corresponding to the required range RR acquired in step S8 in the target range OS of the adjacent lane L3 after the required time T1 predicted in step S7. A determination is made as to whether or not it is. Specifically, as shown in FIG. 12A, the required range RR is set at the target lane change position (the position of the host vehicle _V01 ) set in step S5 by the lane change control function. Then, the lane change control function determines whether the target range OS of the adjacent lane L3 after the required time T1 includes the required range RR.

  For example, in the example shown in FIG. 12A, since the target range OS of the adjacent lane L3 after the required time T1 does not include the rear side of the required range RR, the target of the adjacent lane after the required time T1 is determined by the lane change control function. It is determined that there is no space corresponding to the required range RR in the range OS. On the other hand, as shown in FIG. 12B, when the required range RR is included in the target range OS of the adjacent lane L3 after the required time T1, the target range of the adjacent lane L3 after the required time T1 is controlled by the lane change control function. It is determined that there is a space corresponding to the required range RR in the OS. If there is a space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T1, the process proceeds to step S11 shown in FIG. 8B, and if there is no space, the process proceeds to step S10.

  In step S10, the required range RR is not included in the target range OS of the adjacent lane L3 after the required time T1, and a space corresponding to the required range RR is included in the target range OS of the adjacent lane L3 after the required time T1. It has been determined that it cannot be detected. Therefore, in step S10, the control device 19 changes the target position of the lane change by the lane change control function. Specifically, the lane change target function is reset by the lane change control function so that the required range RR is included in the target range OS of the adjacent lane L3 after the required time T1. For example, as shown in FIG. 12A, when the rear part of the required range RR is not included in the target range OS of the adjacent lane L3 after the required time T1, the target position of the lane change is changed to the front. Accordingly, as shown in FIG. 12B, the required range RR is included in both the target range OS of the adjacent lane L3 after the required time T1, and the required range RR is included in the target range OS of the adjacent lane L3 after the required time T1. Is determined to be detectable. After step S10, the process returns to step S6, and the detection of the target range OS is performed again.

  On the other hand, if it is determined in step S9 of FIG. 8A that the required range RR is included in the target range OS of the adjacent lane L3 after the required time T1, the process proceeds to step S11 shown in FIG. 8B. In step S11 in FIG. 5B, the control device 19 performs the first lane change control consent request processing by the lane change control function. In step S11, the control device 19 determines in the processing in steps S1 to S9 that the lane change from the lane L2 to the lane L3 is possible, and the driver himself / herself before actually executing the lane change. In order to prompt the driver to confirm the safety, the driver is requested to answer whether or not to approve the execution of the lane change control. This corresponds to the presentation of the traveling control execution information according to the present invention.

  FIG. 8D is a flowchart showing a subroutine of a lane change control consent request and consent confirmation process executed in step S11. In step S111 in FIG. 8D, the control device 19 presents the first travel control execution information to the driver by the travel control execution report presentation function. That is, in the present example, the first travel control execution information described with reference to each left diagram of FIGS. 4A to 4D is presented.

In the example of FIG. 4A, the control device 19 uses the traveling control execution information presentation function to start changing lanes from the center lane L2 to the rightmost lane L3 as shown in FIG. as shown in, the vehicle V ₀ on the display of the presentation device 15, lane L1, L2, displays the image data of the forward view including L3, lane change destination of the vehicle V ₀ using the visual pattern, such as an arrow And the first traveling control execution information Td1a including the OK mark and the Cancel mark. Along with this display, a message such as "Please check the surroundings when starting to change lanes" is output from the speaker by voice data. This message prompts the user to confirm the surroundings, thereby prompting the user to stop or stop the act of disabling the surroundings confirmation.

Further, in the example of FIG. 4B, before starting the lane change from the center lane L2 to the rightmost lane L3 by the traveling control execution information presenting function, the control device 19 performs, as shown in the left diagram of FIG. the vehicle V ₀ on the display of the presentation device 15 displays the image data of the forward view including lane L1, L2, L3, and lane change destination of the vehicle V ₀ using the visual pattern, such as arrows, OK mark and The first traveling control execution information Td1b including the Cancel mark is displayed. In addition to this display, a message such as "Please terminate the operation of the smartphone when changing lanes" is output from the speaker by voice data. This message specifically points out the inability to check the surroundings being performed and prompts the user to stop the action.

  Further, in the example of FIG. 4C, the control device 19 is linked with the interconnection presentation function of the vehicle connection application 29 by the traveling control execution information presentation function, and the display unit 21 of the driver's portable terminal 20 displays “lane change”. , End the operation of the smartphone. ", The first traveling control execution information Td1c is displayed. That is, the first traveling control execution information Td1c is displayed on the mobile terminal 20 that is operating the mobile terminal 20 to the driver who is operating the mobile terminal 20 to urge the driver to stop or stop the operation.

Further, in the example shown in FIG. 4D, the control device 19 links the connection presenting function of the vehicle connection application 29 by the driving control execution information presenting function, and displays the own vehicle on the display unit 21 of the portable terminal 20 of the driver. and V _0, and displays the image data of the forward view including lane L1, L2, L3, the first travel control execution information Td1d including a lane change destination of the vehicle V ₀ using the visual pattern, such as an arrow. In addition to this display, a message such as "Please terminate the operation of the smartphone when changing lanes" is output from the speaker by voice data. That is, the first driving control execution information Td1d is displayed on the mobile terminal 20 that is operating the mobile terminal 20 to prompt the driver who is operating the mobile terminal 20 to stop or stop the operation.

  In the next step S112, the control device 19 detects whether or not the driver is performing a surroundings unrecognizable act by the consent confirmation function. For example, in the case of detecting a non-confirmation of the surroundings of the type A1 in which the driver listens to the image on the display, information about the operation state of the display is acquired as the vehicle interior information, and the image is displayed on the display based on this information. , It is determined that the act of confirming the surroundings of the type A1 is being performed.

  Further, when detecting the inability to confirm the surroundings of the types A2 to A5, the control device 19 acquires an image of the in-vehicle camera 111 of the sensor 11 as vehicle interior information by the consent confirmation function, and performs image recognition on the acquired image. By analyzing through processing or the like and comparing with the type table shown in FIG. 6, it is detected whether or not the driver is performing an unconfirmable act around the types A2 to A5.

  Specifically, regarding the act of not confirming the surroundings of the type A2 in which the driver makes a call, the state in which the driver is making a call with the headset and the case in which the mobile terminal 20 makes a call from the image taken by the in-vehicle camera 111. When a state or the like is detected, it is determined that the surroundings of the type A2 cannot be confirmed. When a call using the headset or the mobile terminal 20 is performed using the external communication function of the vehicle connection application 29 described above, information regarding the communication status of the communication device 17 is used as vehicle interior information. May be acquired, and it may be detected based on the acquired information on the communication status that the surroundings of the type A2 cannot be confirmed.

  In addition, regarding the act of not confirming the surroundings of the type A3 in which the driver operates the portable terminal 20, the state in which the driver is holding the portable terminal 20 and operating the portable terminal 20 is detected from an image captured by the in-vehicle camera 111. Then, it is determined that the act of confirming the surroundings of the type A3 is being performed. When the mobile terminal 20 is performing communication using the external communication function of the vehicle connection application 29, information on the communication status of the communication device 17 is acquired as the vehicle interior information, and the information on the acquired communication status is acquired. Based on the information, it may be detected that the surroundings of the type A3 cannot be confirmed.

  Regarding the inability to confirm the surroundings of type A4 in which the driver reads, if the state in which the driver is holding a book in hand is detected from the image taken by the in-vehicle camera 111, the surroundings of the type A4 cannot be confirmed. It is determined that the act has been performed. Further, regarding the inability to confirm the surroundings of the type A5 in which the driver eats and drinks, the state in which the driver is eating and drinking with food and drinks is detected from the image taken by the in-vehicle camera 111. It is determined that the act of not being able to check the surroundings is performed.

  In step S112, when it is detected that the driver is performing a surrounding uncheckable action of types A1 to A5, the process proceeds to step S114 via the next step S113. In step S114, it is detected whether the driver has stopped or interrupted the surrounding uncheckable action according to the first travel control execution information. For example, regarding the act of not confirming the surroundings of the type A1 in which the driver listens to the image on the display, the information on the operation state of the display acquired as the vehicle interior information is changed from the state in which the image is projected to the state in which the image is stopped, or When the state changes to a state in which no video is displayed, it is determined that the surrounding uncheckable act of the type A1 has been stopped or interrupted.

  Regarding the act of not confirming the surroundings of the type A2 in which the driver makes a call, the state in which the driver keeps the headset or the portable terminal 20 away from the ear or the power supply of the headset or the portable terminal 20 is determined from the image taken by the in-vehicle camera 111. If a state of turning off is detected, it is determined that the surrounding uncheckable act of the type A2 has been stopped or interrupted. In addition, when a call using the headset or the mobile terminal 20 is performed using the external communication function of the vehicle connection application 29, information on the communication status of the communication device 17 is acquired as vehicle interior information. Then, the execution status of the type A2 is detected based on the acquired information on the communication status.

  Regarding the inability to confirm the surroundings of type A3 in which the driver operates the mobile terminal 20, the state in which the driver turns off or sleeps the mobile terminal 20 and the state in which the game being played is paused from the image taken by the in-vehicle camera 111 If a state in which the cover of the mobile terminal 20 is closed, a state in which the mobile terminal 20 is set in the in-vehicle holder, or the like is detected, it is determined that the inability to confirm the surroundings of the type A3 has been stopped or interrupted. When the mobile terminal 20 is performing communication using the external communication function of the vehicle connection application 29, information on the communication status of the communication device 17 is acquired as the vehicle interior information, and the information on the acquired communication status is acquired. Based on the information, the execution status of the non-confirmation of surroundings of type A3 is detected.

  Regarding the inability to confirm the surroundings of the type A4 in which the driver reads, when the driver closes the book, places the book on the dashboard or the passenger seat, etc. are detected from the image taken by the in-vehicle camera 111, It is determined that the act of not being able to confirm the surroundings of type A4 is stopped or interrupted. Regarding the inability to confirm the surroundings of the type A5 where the driver eats and drinks, it is detected from the image taken by the in-vehicle camera 111 that the driver puts food on the dashboard or the passenger seat or returns the beverage to the drink holder. In this case, it is determined that the inability to check the surroundings of the type A5 has been stopped or interrupted.

  If it is detected in step S114 that the driver has stopped or interrupted the inability to confirm the surroundings of the types A1 to A5, the process proceeds to the next step S115. In step S115, the control device 19 presents the second travel control execution information indicating the driver's consent to the first travel control execution information to the driver by the travel control execution report presentation function. That is, in this example, if it is determined that the driver has stopped the surrounding unrecognizable act in accordance with the first travel control execution information and has accepted the execution or change of the travel control, the right of FIG. 4A and FIG. The presentation device 15 presents the second travel control execution information described with reference to the drawings.

In the example shown in the right diagram of FIG. 4A, the control unit 19, the cruise control execution information presentation function, the vehicle V ₀ on the display of the presentation device 15, displays the image data of the forward view including lane L1, L2, L3 and displays the lane change target vehicle V ₀ using the visual pattern, such as arrows, and OK mark density is darker, the second travel control execution information Td2a including. Along with this display, a message such as "Start lane change to the right" is output from the speaker by voice data. The example shown in the right diagram of FIG. 4B has the same configuration as the example shown in the right diagram of FIG. 4A, and therefore, detailed description is omitted.

4C and 4D are examples in which the travel control execution information is presented to the mobile terminal 20 of the driver. Therefore, when the driver stops or interrupts the operation of the mobile terminal 20, the mobile terminal 20 transmits 2 cruise control execution information can not be presented, therefore, for example, by presenting a second traveling control execution information to the presentation device 15 of the vehicle V _0, and informed consent result of the change of the automatic travel control to the driver You may.

  Next, returning to step S113 in FIG. 8D, description will be made. If it is determined in step S113 that the driver has not detected that the surroundings cannot be confirmed, the process proceeds to step S116. In step S116, the control device 19 presents the third travel control execution information to the presentation device 15 by the travel control execution information presentation function so that the driver can input the consent to the change in the travel control.

Forward the third driving control execution information including, for example, similarly to the first travel control execution information Td1a shown in the left diagram of FIG. 4A, the vehicle _{V 0} on the display of the presentation device 15, lanes L1, L2, L3 displays image data of the field of view, and lane change destination of the vehicle V ₀ using the visual pattern, such as arrows, and OK button and the Cancel button is displayed. The OK button and the Cancel button can be touched by a touch panel provided on the display of the presentation device 15. Along with the presentation of the third travel control execution information, a message such as "Press the OK button to start changing lanes" is output from the speaker by voice data.

  In the next step S117, the control device 19 detects whether or not the driver has operated the OK button by the consent confirmation function. If the driver has operated the OK button, the process proceeds to step S115. When the driver operates the Cancel button, the process proceeds to step S119, and the lane change is stopped.

  Next, the description returns to step S114 in FIG. 8D. If the driver has not stopped or interrupted the inability to check the surroundings in step S114, the process proceeds to step S118. In step S118, the control device 19 measures the detection time set by the driver to perform the surroundings uncheckable action by the consent confirmation function. That is, the process returns to step S114 until the detection time elapses, and detects that the driver has stopped or interrupted the inability to check the surroundings. If the detection time has elapsed, it is determined that the driver has not accepted the lane change, and the process proceeds to the next step S119 to stop the lane change.

  As described above, in the subroutine of step S11 shown in FIG. 8D, it is determined whether or not the driver D has accepted the lane change, and after the determination is completed, the process proceeds to step S12 shown in FIG. 8B.

  Returning to FIG. 8B, in step S12, the control device 19 proceeds to step S13 when the driver D accepts the lane change from the lane L2 to the lane L3 in response to the acceptance request in step S11. If the vehicle does not accept the lane change, the process returns to step S1 without executing the lane change control.

  In step S13, the control device 19 acquires the time limit Z for lane change by the lane change control function. In the present embodiment, as shown in FIG. 2, the time until the host vehicle approaches a point where it is difficult to change lanes in each traveling scene is stored as a time limit Z in the table. The control device 19 obtains the time limit Z in the traveling scene of the own vehicle by referring to the table shown in FIG. 2 by the lane change control function. For example, in the example shown in FIG. 2, in the “scene catching up with the preceding vehicle”, the time limit is stored as the arrival time to the preceding vehicle−α seconds. In this case, the control device 19 calculates the arrival time to the preceding vehicle by the traveling control function with reference to the table shown in FIG. 2 and obtains the calculated arrival time to the preceding vehicle-α seconds as the time limit Z. I do. Note that α is a predetermined number of seconds (for example, 5 seconds), and can be appropriately set for each traveling scene. For example, when the arrival time to the preceding vehicle is 30 seconds and α is 5 seconds, the time limit Z for changing lanes is 25 seconds.

In step S14, a process of starting lane change control is performed. In the start processing of the lane change control, the control device 19 sets a start timing L for starting the lane change control by the lane change control function. The method of setting the start timing L is not particularly limited, and can be set by, for example, the following methods (1) to (8). That is, (1) the unique timing is set as the start timing L of the lane change control. For example, a timing after a predetermined time (for example, 6 seconds) after the driver accepts the lane change is set as the start timing L of the lane change control. (2) The lane change control start timing L is set based on the necessity of lane change shown in FIG. Specifically, the necessity of the lane change in the traveling scene of the own vehicle is acquired from the table shown in FIG. 2, and when the necessity of the lane change is equal to or more than a predetermined value, the necessity of the lane change is less than the predetermined value. The start timing L of the lane change control is set to an earlier timing as compared with the case of. (3) The lane change control start timing L is set based on the lane change limit time Z shown in FIG. Specifically, a time limit Z for changing lanes in the traveling scene of the own vehicle is acquired from the table shown in FIG. 2, and when the time limit Z for changing lanes is less than the predetermined time _{Zth, the} time limit for changing lanes is obtained. The start timing L of the lane change control is set earlier than when Z is equal to or longer than the predetermined time _Zth . (4) The lane change control start timing L is set based on the required lane change time T1. Specifically, when the required time T1 of the lane change predicted in step S6 of FIG. 8A is less than the predetermined time _Tth , the time limit Z of the lane change is longer than the predetermined time _Tth . The start timing L of the lane change control is set to an earlier timing.

(5) The lane change control start timing L is set based on the lane change limit time Z and the required time T1. Specifically, a margin time Y is obtained from the required lane change time T1 and the lane change time limit Z (for example, the time limit Z-the required time T1 = the margin time Y), and the margin time Y is equal to the predetermined time Y. _{When the} time is less than _th , the start timing L of the lane change control is set earlier than when the allowance time Y is equal to or longer than the predetermined time _Yth . (6) The start timing L of the lane change control is set based on the degree of attention (inclination) O, which is a degree at which the driver is interested in driving. For example, by detecting the driver's voice using an input device 16 such as a vehicle-mounted microphone or a hands-free device, it is determined whether or not the driver is making a conversation or hands-free phone call. In this case, the driver's attention level 0 is determined to be less than the threshold value _Oth, and the start timing L of the lane change control is set to a later timing than when the driver's attention level is equal to or greater than the threshold value _Oth .

(7) The start timing L of the lane change control is set based on the traffic congestion degree K. For example, based on the inter-vehicle distance to the preceding vehicle, the inter-vehicle distance to the rear vehicle, the number of surrounding vehicles, the congestion degree included in the VICS (registered trademark) information, the divergence between the legal speed and the actual vehicle speed of the own vehicle, The traffic congestion degree K is determined, and the shorter the inter-vehicle distance to the preceding vehicle, the shorter the inter-vehicle distance to the following vehicle, the greater the number of surrounding vehicles, the higher the degree of congestion included in the VICS information, or The greater the deviation between the speed and the actual vehicle speed of the host vehicle, the higher the traffic congestion K is determined. If the traffic congestion K is equal to or greater than a predetermined value _Kth , the traffic congestion K is increased to a predetermined value _Kth. The start timing L of the lane change control is set to an earlier timing as compared with the case where it is less than the threshold. (8) The start timing L of the lane change control is set based on the likelihood B of the lane change. For example, based on the presence / absence of a destination setting and the inter-vehicle distance to a preceding vehicle, a degree at which the host vehicle can be confident that the own vehicle changes lanes can be obtained as likelihood B. Specifically, when the destination is set and the vehicle needs to change lanes in order to reach the destination, it is determined that the likelihood B of the lane change is equal to or _larger than the threshold _Bth. I do. If the inter-vehicle distance from the preceding vehicle is less than the predetermined distance, the driver determines that the driver wants to change lanes, and determines that the likelihood B of the lane change is equal to or _larger than the threshold _Bth . Then, when the likelihood B of lane change to the threshold B _th or more, compared with the case the likelihood of lane change B is less than the threshold value B _th, sets the start timing L lane change control in early timing . As described above, the start timing L of the lane change control is set. Note that the above (1) to (8) are examples of the method of setting the start timing L, and are not limited to the above-described configuration. After setting the start timing L, the control device 19 may set a notice presentation timing P for presenting lane change information to start lane change before starting the lane change control.

  When the set start timing L is reached, the control device 19 starts the lane change control by the lane change control function. Specifically, the control device 19 uses the lane change control function to control the drive control device 18 so that the vehicle moves to the target position of the lane change set in step S5 or step S10 in FIG. 8A. The operation control is started. When the lane change control is started, the lane change information indicating that the lane change control is being executed may be provided to the presentation device 15.

In step S15~S17 in FIG 8C, the steps of FIG. 8A S4, similarly to S6～S7, the current scope OS and the host vehicle _{V 0,} change lanes first time (from the lane L2 in FIG. 10 to the lane L3 The target range OS is detected after the required time T2 of moving to the target position related to the lane change). Then, in step S18, the controller 19 uses the lane change control function to set a space corresponding to the request range RR acquired in step S8 in the target range OS of the adjacent lane L3 after the required time T2 predicted in step S17. It is determined whether or not there is. Then, the control device 19 sets the required range RR at the target position of the first lane change by the lane change control function, and sets the target range OS of the adjacent lane L3 after the required time T2 to include the required range RR. Determines that there is a space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T2, and proceeds to step S20. On the other hand, when it is determined that there is no space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T2, the process proceeds to step S19. Note that the processing in step S19 and processing subsequent thereto will be described later with reference to FIG. 8E.

  In step S20, the control device 19 determines whether the time limit Z acquired in step S13 has elapsed since the first lane change control was started in step S14 by the lane change control function. If the elapsed time S1 from the start of the first lane change control exceeds the time limit Z, that is, the target position of the first lane change even if the time limit Z has elapsed since the start of the lane change control If it cannot reach, the process proceeds to step S22. In step S22, the control device 19 performs the first stop processing of the lane change control by the lane change control function. Specifically, the control device 19 notifies the driver of information indicating that the lane change control is to be stopped by the lane change control function. For example, after informing the driver of the message "lane change is interrupted due to timeout" via the presentation device 15, the lane change control is terminated. In the stop processing of the lane change control, the traveling position of the host vehicle in the width direction may be kept at the position at the end of the lane change control or may be returned to the position at the start of the lane change control. When returning to the position at the start of the lane change control, for example, a message such as "Return to the original position due to timeout" may be notified to the driver.

  On the other hand, if the elapsed time S1 from the start of the lane change control does not exceed the time limit Z in step S20, the process proceeds to step S21. In step S21, the control device 19 uses the lane change control function to determine whether or not the vehicle has reached the target position for the first lane change. If the host vehicle has reached the target position for the first lane change, the process proceeds to step S23. In step S23, since the first lane change control by the lane change control function has been completed, the lane change information indicating that the first lane change has been completed is presented to the presentation device 15. If it is determined in step S21 that the host vehicle has not reached the target position for the first lane change, the process returns to step S15, and lane change control is continued.

  If it is determined in step S18 in FIG. 8C that there is no space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T2, the process proceeds to step S19. That is, at step S9 when the lane change control is started, there is a space corresponding to the required range RR in the target range OS of the adjacent lane L3, but after the first lane change control is started, the target range of the adjacent lane L3 is changed. If there is no more space corresponding to the requested range RR in the OS, the process proceeds to step S19. In step S19, a lane mark (hereinafter, also referred to as a target lane mark) straddled by the own vehicle in the lane change and a positional relationship with the own vehicle in the width direction are detected.

For example, FIG. 13, the vehicle V ₀ is, (in the figure, from the left lane to the right lane) in the direction indicated by the arrow in FIG illustrate a scene at which the lane change. In this case, the control unit 19, the lane change control function, as shown in FIG. 13 (A), while no straddling the even target lane mark CL portion of the vehicle V _0, as shown in FIG. 13 (B) in the state a part of the vehicle V ₀ is straddling the target lane mark CL center line VC of the vehicle V ₀ is not straddling the target lane mark CL, as shown in FIG. 13 (C), the vehicle state the entire V ₀ is is not straddling the target lane mark CL center line VC of the vehicle V ₀ is that across the target lane mark CL, as shown in FIG. 13 (D), the whole of the vehicle V ₀ is It is determined which of the states of straddling the target lane mark CL.

In step S51 shown in FIG. 8E, the control unit 19, the lane change control function, based on the positional relationship in the width direction of the target lane mark CL and the vehicle V ₀ determined in step S19 in FIG. 8C, lane change A control process for stopping or continuing is performed. Specifically, based on the positional relationship in the width direction of the target lane mark CL and the vehicle V _0, method of presenting information to the driver when to stop or continue the (a) lane change, (b) lane change the aborted or continued control after, determining the traveling position of the vehicle V ₀ which when discontinued or continued (c) lane change.

  For example, as a method of presenting information to the driver when (a) stopping or continuing the lane change, (a1) presenting information for causing the driver to select an option of stopping or continuing the lane change without a time limit; When the driver selects one of the options, the control of the option selected by the driver is executed (suspension or continuation of the lane change). (A2) The driver selects the suspension or continuation of the lane change with a time limit. If the driver selects one of the alternatives within the time limit, the driver performs control of the option selected (stop or continue lane change), and the driver If none of the options is selected, the control of the predetermined option out of suspension and continuation of the lane change control (default control) ), (A3) automatically cancel or continue the lane change, and indicate to the driver how to cancel the automatically canceled or continued lane change, and (a4) automatically change the lane The suspension or continuation of the lane change is not performed, and the driver does not explicitly indicate a method of canceling the suspension or continuation of the lane change that has been automatically performed.

  (B) As control contents after stopping or continuing the lane change, (b1) stopping the lane change and also stopping the automatic cruise control, (b2) releasing only the lane change control and continuing the automatic cruise control, (B3) Until a space corresponding to the required range RR is detected again in the target range OS of the adjacent lane L3, the lane change control is suspended to be in a standby state, and the target range OS of the adjacent lane L3 corresponds to the required range RR. When the space is detected again, one of the three controls of restarting the lane change control is executed.

  Further, (c) the own vehicle is returned to the position before the start of the lane change, and (c2) the own vehicle runs before the start of the lane change, as the running position of the own vehicle when the lane change control is stopped or continued. One of the three position adjustments of moving the own vehicle to a position near the target lane mark CL in the lane that was running and (c3) maintaining the current position is executed.

Then, the control unit 19, the lane change control function, based on the positional relationship in the width direction of the target lane mark CL and the vehicle V _0, of the information to the driver when to stop or continue the (a) lane change Control for stopping or continuing the lane change by appropriately combining the presentation method, (b) the control content after stopping or continuing the lane change, and (c) the running position of the own vehicle when the lane change is stopped or continued. Perform processing.

For example, as shown in FIG. 13 (A), when the vehicle V ₀ does not straddle the target lane mark CL is to stop the run, lane change the driver automatically to stop the (a4) lane change A configuration in which the method of canceling is not specified can be adopted. Further, in this case, the lane change control function may be configured to (b1) stop the automatic traveling control together with the stop of the lane change and (c1) return the vehicle to the position before the start of the lane change. Also, in such a case, the vehicle will return to its original position because the lane change space is almost exhausted, and the automatic driving control will be canceled when it returns to its original position. It is possible to notify the driver of the content of the control to stop the lane change to be performed. In this case, the process proceeds to step S23 in FIG. 8C, and the lane change control ends.

Further, as shown in FIG. 13 (B), when a portion of the vehicle V ₀ is straddling the target lane mark CL, but the center line VC of the vehicle V ₀ does not straddle the target lane mark CL is (A3) It is possible to adopt a configuration in which the suspension of the lane change is automatically executed, and the driver is clearly told how to cancel the suspension of the lane change. In this case also, the lane change control function, after moving the vehicle V ₀ at a position in the vicinity of the target lane mark CL of lanes that has been subject vehicle travels before the start (c2) lane change, (b2) It is possible to adopt a configuration in which only the lane change control is stopped and the automatic traveling control is continued. Also, in such a case, "the vehicle will return to the original lane because the lane change space is almost exhausted," and "when returning to the original position, the previous automatic driving control will be continued." In addition, it is possible to notify the driver of the content of the control for stopping the lane change to be performed. Also, a button for continuing the lane change can be displayed on the display along with the message "If you want to continue the lane change, press the following button." If the driver has pressed the button for continuing the lane change, the process proceeds to step S52 in FIG. 8E. On the other hand, if the driver has not pressed the button for continuing the lane change, the process proceeds to the step in FIG. 8C. Go to step S23.

Furthermore, as shown in FIG. 13 (C), when the entire vehicle V ₀ does not straddle the target lane mark CL is the center line VC of the vehicle V ₀ is that across the target lane mark CL is ( a4) It is possible to adopt a configuration in which the continuation of the lane change is automatically executed and the driver is not explicitly told how to cancel the continuation of the lane change. In this case, (c3) the traveling position of the own vehicle is maintained at the current position and the vehicle stands by. (B3) The lane change is interrupted until a space corresponding to the required range RR is detected again in the target range OS of the adjacent lane L3. However, when a space corresponding to the required range RR is detected again in the target range OS of the adjacent lane L3, the lane change control may be restarted. For example, in this case, "I will wait at the current location because the lane change space is almost exhausted," or "Restart the lane change control if the lane change space is likely to be empty." It is possible to notify the driver of the control content of the lane change continuation. In this case, the process proceeds to step S52 in FIG. 8E.

Further, as shown in FIG. 13 (D), when the entire vehicle V ₀ is straddling the target lane mark CL is, (a4) to cancel the lane change is performed automatically, lane change control to the driver It is possible to adopt a configuration in which the method of canceling the suspension of the operation is not specified. In this case, (c3) the traveling position of the own vehicle may be maintained at the current position, and (b2) only the lane change control may be stopped to continue the automatic traveling control. In this case, the driver will be instructed to cancel the lane change in the future, such as "I will wait at the current location because the lane change space is almost exhausted." Can be informed. In this case, the process proceeds to step S23 in FIG. 8C, and the traveling control process ends.

The positional relationship in the width direction of the target lane mark CL and the vehicle V ₀ is not limited to four shown in FIG. 13 (A) ~ (D) , may be 5 or more, may be three or less . In addition, the combination of controls for each positional relationship is not limited to the above-described combination, and (a) a method of presenting information to the driver when stopping or continuing the lane change control; and (b) stopping or changing the lane change control. The control content after the continuation and (c) the traveling position of the own vehicle when the lane change is stopped or continued can be appropriately combined.

  Next, a case where the continuation of the lane change is executed in step S51 of FIG. 8E will be described. When the continuation of the lane change is started in step S51, the process proceeds to step S52. In step S52, the control device 19 measures the elapsed time S2 after the lane change control enters the standby state in step S51 by the lane change control function. That is, in the present embodiment, when the lane change is continued in step S51, the lane change is interrupted and the lane change control is stopped until a space corresponding to the required range RR is detected again in the target range OS of the adjacent lane L3. It goes into a standby state. In step S52, the elapsed time S2 from when the waiting of the lane change control is started is measured.

  In step S53, the control device 19 predicts the time T3 required for the vehicle to move from the current position to the target position for lane change by the lane change control function. Note that the required time T3 can be predicted by the same method as in step S6 of FIG. 8A.

  In step S54, the control device 19 uses the lane change control function to calculate the total time (S2 + T3) of the elapsed time S2 measured in step S52 and the required time T3 predicted in step S53 in step S13 in FIG. 8B. It is determined whether or not the acquired time limit Z is exceeded. If the total time (S2 + T3) exceeds the time limit Z, the process proceeds to step S55, where the lane change control function cancels the standby state of the lane change control, and moves the host vehicle to the running position of the host vehicle before the start of the lane change. Moving. Thereafter, the process proceeds to step S23 in FIG. 8C, and the lane change control ends. On the other hand, if the total time (S2 + T3) does not exceed the time limit Z, the process proceeds to step S56.

  In step S56, the control device 19 continues the standby state of the lane change control. In steps S57 to S58, similarly to steps S4 and S7 in FIG. 8A, the control device 19 sets the current target range and the target range after the required time T3. To detect. Then, in step S59, similarly to step S9 in FIG. 8A, it is determined whether or not there is a space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T3 predicted in step S58. . In step S59, the control device 19 sets the required range RR at the target position of the lane change, and when the target range OS of the adjacent lane L3 after the required time T3 includes the required range RR, the adjacent lane after the required time T3. It is determined that there is a space corresponding to the required range RR in the target range OS of L3, and the process proceeds to step S60. In step S60, since a space corresponding to the required range RR is detected in the target range OS of the adjacent lane L3, the control device 19 releases the lane change control standby state by the lane change control function and performs the lane change control. Resume. The process in this case returns to step S15 in FIG. 8C. On the other hand, if it is determined in step S59 that there is no space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T3, the process proceeds to step S61 and the standby state of the lane change control is continued. The process returns to step S52.

  Next, after the lane change from the lane L2 shown in the left diagram of FIG. 3 to the lane L3 is performed, the lane change control from the lane L3 to the lane L2 shown in the right diagram of FIG. 8E will be described. When the lane change shown in the left diagram of FIG. 3 is executed, the process of step S23 in FIG. 8C is performed, and then the process returns to step S1 in FIG. 8A. Then, the processes in steps S1 to S10 are executed for the lane change control shown in the right diagram of FIG. Note that these processes are the same as the above-described lane change control processes shown in the left diagram of FIG. 3, and thus description thereof will be omitted.

  In step S11 of FIG. 8B, the control device 19 performs an acceptance request and an acceptance confirmation process for the current (second) lane change control by the lane change control function. In step S11, the control device 19 determines in the processing in steps S1 to S9 that the lane change from the lane L3 to the lane L2 is possible, and before the lane change is actually executed, the driver himself / herself is executed. In order to prompt the driver to confirm the safety, the driver is requested to answer whether or not to approve the execution of the lane change control. Step S11 is the same as the above-described processing of steps S111 to S124 in FIG. 7D, and a description thereof will be omitted.

  Since the processing from step S13 in FIG. 8B to step S23 in FIG. 8C is the same as the above-described lane change control processing shown in the left diagram of FIG. 3, the description thereof will be omitted. Thus, the lane change from the lane L3 to the lane L2 shown in the right diagram of FIG. 3 is completed.

As described above, according to the travel control device 1 and a travel control method for a vehicle according to the present embodiment, before the vehicle V ₀ executes or change the automatic travel control, accept the execution or change of the automatic travel control whether to present a first traveling control execution information to the driver, acts driver can not around check of the vehicle V _0, i.e., detects whether performed around unconfirmable act. If the driver is detected to have committed an act can not be around check of the vehicle V _0, in response to the presentation of the first travel control execution information, that it has stopped or interrupted acts can not be around check of the vehicle If it is detected that the driver has stopped or interrupted the act of not being able to check the surroundings of the vehicle, it is determined that the execution or change of the automatic driving control has been accepted by the driver. In other words, the driver does not need to perform any special operation or operation indicating the consent when accepting the execution or change of the automatic cruise control presented in the automatic cruise control execution information. The consent can be indicated only by stopping or suspending, and it is possible to reduce the trouble of the driver accompanying the consent operation. Also, if the driver does not stop or interrupt the surrounding confirmation inability, it is determined that the automatic driving control change is not accepted, so the automatic driving control is executed or changed while the driver is performing the surrounding confirmation inability. Never. Therefore, the safety of the automatic traveling control is further improved.

According to the travel control device 1 and a travel control method for a vehicle according to the present embodiment, point out the act of the driver is unable to have around check of the vehicle V ₀ of performing, an act which can not be around check of the vehicle V ₀ is Information that prompts you to stop or suspend is presented. In other words, if the driver is unconsciously performing an action that cannot check the surroundings, simply by executing or changing the automatic driving control, the driver does not notice that he or she is performing the action that cannot check the surroundings. It may take time to stop or suspend the unconfirmable act. However, such a problem can be solved by pointing out a driver's unconfirmed surroundings operation and prompting the driver to stop or suspend the operation.

According to the travel control device 1 and a travel control method for a vehicle according to the present embodiment, a communication device 17 of the vehicle V _0, communicates with the mobile terminal 20 of the driver in the vehicle interior, around the driver vehicle As an action that cannot be confirmed, the first travel control execution information is presented from the mobile terminal 20 via the communication device 17 when the mobile terminal 20 is being operated. This allows the driver operating the portable terminal 20 to be notified of the first travel control execution information without fail. Therefore, when the driver accepts the execution or change of the automatic travel control, the driver immediately proceeds to the portable terminal 20. 20 operations can be aborted or interrupted.

According to the travel control device 1 and a travel control method for a vehicle according to the present embodiment acquires information related to a communication environment of the mobile terminal 20 and the communication device 17 of the vehicle V _0, based on the information on the serial communication status , The operation of the portable terminal 20 by the driver and the interruption or interruption of the operation of the portable terminal 20 by the driver are detected. This makes it possible to clearly determine whether or not the driver is operating the mobile terminal 20 based on the communication status, and prevent the driver's operation status of the mobile terminal 20 from being erroneously detected.

Further, according to the vehicle travel control device 1 and the travel control method according to the present embodiment, the vehicle interior information regarding the vehicle interior of the own vehicle V ₀ is acquired, and the driver can use the vehicle interior information around the vehicle V ₀ based on the vehicle interior information. It detects that the act of not being able to confirm is performed, and that the driver has stopped or interrupted the act of being unable to confirm the surroundings of the vehicle. This makes it possible to detect an action that cannot be confirmed around the vehicle from various actions performed by the driver in the vehicle cabin.

According to the travel control device 1 and a travel control method for a vehicle according to the present embodiment, established a vehicle camera 111 is a behavior monitoring apparatus for monitoring the driver's behavior in the passenger compartment of the vehicle V _0, the vehicle camera 111 based on the obtained image is a monitoring information, and that the driver is performing an act can not be around check of the vehicle V _0, and that the driver has stopped or interrupted acts can not be around check of the vehicle V ₀ Detected. This makes it possible to detect an action that cannot be confirmed around the vehicle from various actions performed by the driver in the vehicle cabin.

According to the travel control device 1 and a travel control method for a vehicle according to the present embodiment, the act of not able around check of the vehicle V ₀ is is typified in a plurality of types, act not be around check of the vehicle V ₀ is The detection time for detecting the suspension or interruption of is set for each type. As a result, it is possible to prolong the detection time of non-confirmation of surroundings where it takes time to suspend or cancel the action, or to increase the detection time of non-confirmation of surroundings where high concentration is required and interruption or cancellation tends to be delayed, or interruption or cancellation of the act It is possible to set an optimum detection time according to the contents and attributes of the surrounding uncheckable act such as shortening the detection time of the uncheckable surrounding uncheckable act or the surrounding uncheckable act that does not require high concentration. Therefore, it is possible to determine whether or not the driver is performing an action that cannot confirm the surroundings within an optimal detection time according to the action, so that there is no delay in changing the automatic driving control, and the automatic driving control is not performed. Safety is further improved.

  It should be noted that there is a vehicle that can change the position, the operating state, and the like of the in-vehicle device 14 so that the driver can relax in the vehicle cabin during the automatic running control. For example, in order to allow the driver to relax in the driver's seat during the execution of the automatic driving control, the steering can be moved from a predetermined position where driving can be performed to a storage position where the driver is stored without obstructing the driver. There is. In some cases, the seat can be lowered backward or reclined so that the driver can relax in the driver's seat during execution of the automatic traveling control. Further, in some cases, the electronic mirror can be turned off so that the driver can relax in the driver's seat during the execution of the automatic traveling control. The electronic mirror is composed of a photographing device for photographing the periphery of the vehicle and a display device for displaying an image photographed by the photographing device, and is used instead of a conventional room mirror or side mirror.

  In the vehicle as described above, the state where the steering is moved to the storage position so as not to obstruct, the state where the seat is slid backward or reclined, the state where the electronic mirror is turned off, etc. This corresponds to a state in which the driver is relaxed so as not to be involved in the running of the vehicle and is performing an action in which the surroundings of the vehicle cannot be confirmed, that is, a state in which the surroundings cannot be confirmed. Therefore, these actions may be classified as types A1 to A5 or a new type, and may be used for determination of consent when changing the automatic driving control.

  When detecting the inability to confirm the driver's surroundings from the state of the steering wheel, the seat, or the electronic mirror, the control device 19 uses the vehicle interior information acquisition function to control the steering position, the sliding position and the reclining position of the seat, the electronic position, and the like. Acquires information about the mirror on / off state. Then, the control device 19 can use the consent confirmation function to check the surroundings by the driver when the steering wheel is in the stowed position, when the seat is slid backward or reclined, or when the electronic mirror is turned off. It is determined that the act has been performed. In addition, the control device 19 uses the consent confirmation function to determine whether or not the electronic mirror is turned on when the steering is in a position where driving can be performed, when the sliding position and the reclining of the seat are returned to the original positions, and when the electronic mirror is turned on. Then, it is determined that the driver has stopped or interrupted the act of not confirming the surroundings.

DESCRIPTION OF SYMBOLS 1 ... Travel control device 11 ... Sensor 111 ... In-vehicle camera 12 ... Own vehicle position detection device 13 ... Map database 14 ... In-vehicle equipment 15 ... Presentation device 16 ... Input device 17 ... Communication device 18 ... Drive control device 19 ... Control device 20 ... the mobile terminal 21 ... display unit 22 ... input unit 29 ... vehicle connection application V 0 _... vehicle V 1 _... other vehicles L1, L2, L3 ... lane RS ... shoulder OS ... scope RR ... request area RA ... vehicle is traveling Incapable range RL: Lane change prohibition mark CL: Target lane mark VC: Center line of own vehicle Td1a: First travel control execution information Td1b: First travel control execution information Td1c: First travel control execution information Td1a: First travel control Execution information Td2a: second traveling control execution information Td2b: second traveling control execution information

Claims (8)

When the execution or change of the automatic cruise control is accepted by the driver of the vehicle, a cruise control method of the vehicle that executes or changes the automatic cruise control,
Before executing or changing the automatic cruise control, presents to the driver cruise control execution information as to whether or not to accept the execution or change of the automatic cruise control,
Detecting whether the driver is performing an action that cannot confirm the surroundings of the vehicle,
When it is detected that the driver is performing an action that cannot confirm the surroundings of the vehicle, after presenting the traveling control execution information, it is detected that the act that cannot confirm the surroundings of the vehicle is stopped or interrupted. ,
When it is detected that the driver has stopped or interrupted an action unrelated to the driving operation of the vehicle, it is determined that the execution or change of the automatic driving control has been accepted by the driver, and the automatic driving control is executed. Or a traveling control method of a vehicle to be changed.   If the driver is performing an action that the automatic driving control permits the driver to check the surroundings of the vehicle while the automatic driving control is being executed, the driver cannot check the surroundings of the vehicle. The travel control method for a vehicle according to claim 1, wherein information for prompting the user to stop or interrupt the vehicle is presented. The vehicle includes a communication device that communicates with a mobile terminal in a vehicle compartment,
The driver presents the travel control execution information from the portable terminal to the driver via the communication device when the driver is operating the portable terminal as an act of not being able to check the surroundings of the vehicle. 3. The method for controlling the running of a vehicle according to claim 1 or 2. Acquiring information on the communication status between the communication device and the mobile terminal,
A method for detecting, based on information on the communication state, that the driver is operating the mobile terminal and that the driver has stopped or interrupted the operation of the mobile terminal, or both. 4. The method for controlling the running of a vehicle according to claim 3. Obtain cabin information regarding the cabin of the vehicle,
Based on the vehicle interior information, the driver has performed an act that cannot check the surroundings of the vehicle, and the driver has stopped or interrupted the act of not checking the surroundings of the vehicle, or The vehicle travel control method according to any one of claims 1 to 4, wherein both are detected. An action monitoring device that monitors the action of the driver in the cabin of the vehicle,
Based on the monitoring information obtained from the behavior monitoring device, based on the fact that the driver has performed an action that cannot confirm the surroundings of the vehicle, and that the driver has stopped or interrupted the action that cannot confirm the surroundings of the vehicle. The vehicle travel control method according to any one of claims 1 to 5, wherein one or both of them are detected.   7. The detection time according to claim 1, wherein a detection time for detecting suspension or interruption of an act in which the surroundings of the vehicle cannot be confirmed is set for each type of act in which the surroundings of the vehicle cannot be confirmed. Vehicle running control method. When the execution or change of the automatic cruise control is accepted by the driver of the vehicle, in the vehicle cruise control device that executes or changes the automatic cruise control,
The travel control device,
Before executing or changing the automatic cruise control, presents to the driver cruise control execution information as to whether or not to accept the execution or change of the automatic cruise control,
Detecting whether the driver is performing an action that cannot confirm the surroundings of the vehicle,
When it is detected that the driver is performing an action that cannot confirm the surroundings of the vehicle, after presenting the traveling control execution information, it is detected that the act that cannot confirm the surroundings of the vehicle is stopped or interrupted. ,
When it is detected that the driver has stopped or interrupted an action unrelated to the driving operation of the vehicle, it is determined that the execution or change of the automatic driving control has been accepted by the driver, and the automatic driving control is executed. Or a traveling control device of a vehicle to be changed.

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