JP2021140345A - Vehicle control device, program, and vehicle control method - Google Patents

Abstract

To share between vehicles convenient information on a slipping-past vehicle.SOLUTION: A vehicle control device 100 includes: an own vehicle position acquisition unit 112 that acquires a position of the own vehicle; a driving lane acquisition unit (own vehicle position acquisition unit 112) that acquires a driving lane of the own vehicle; a slipping-past vehicle detection unit 116 that detects a slipping-past vehicle around a vehicle 200; and a communication unit 120 that transmits notification information (notification data 140) to a communication device 358. The notification information (notification data 140) includes: a position of the own vehicle acquired by the own vehicle position acquisition unit 112 when the slipping-past vehicle detection unit 116 detects the slipping-past vehicle; a lane of the own vehicle acquired by the driving lane acquisition unit (own vehicle position acquisition unit 112) when the slipping-past vehicle detection unit 116 detects the slipping-past vehicle; and slipping-past side information indicating which side of the own vehicle in the vehicle width direction the slipping-past vehicle has slipped past.SELECTED DRAWING: Figure 1

Description

The present invention relates to a vehicle control device, a program, and a vehicle control method for handling information on a vehicle passing by a vehicle.

For vehicles equipped with an automatic driving system or a driving support system, a radar / sonar is installed behind the side to detect the position and speed of the target behind the vehicle to determine whether or not to change lanes, or to change lanes. It informs the danger of.
By the way, in a situation where the vehicle is stopped or traveling at a low speed due to traffic jams or waiting for a traffic light, the speed of the two-wheeled vehicle that slips through is relatively faster than that of the own vehicle. Therefore, when determining whether or not to change lanes in the above situation, it is necessary to detect and determine a two-wheeled vehicle that has passed through a position far from the own vehicle. Even if an attempt is made to detect a passing vehicle far from the own vehicle by using radar, multiple reflections occur due to the influence of a large number of vehicles existing in the vicinity, and the two-wheeled vehicle cannot be detected or is erroneously detected. For this reason, there is a possibility that a problem may occur in which it is not possible to determine whether or not to change lanes correctly and to notify the danger.
In order to deal with such a problem, there is a technique of notifying neighboring vehicles of the existence of a passing vehicle by using vehicle-to-vehicle communication (Patent Document 1).

Japanese Unexamined Patent Publication No. 2008-262414

According to the technique described in Patent Document 1, it is known that the slip-through vehicle exists behind the own vehicle, but it is not known whether the slip-through vehicle exists on the left or right side of the own vehicle. For this reason, there is a risk that the lane cannot be changed even though the passing vehicle is on the left rear side and not on the right rear side and can be changed to the right lane. In addition, there is a risk that the lane cannot be changed even though the lane can be changed due to the vehicle information that has passed through from another vehicle that has been erroneously detected.
An object of the present invention is to share highly convenient slip-through vehicle information between vehicles.

The parking support device of the present invention includes a own vehicle position acquisition unit that acquires the position of the own vehicle, a traveling lane acquisition unit that acquires the traveling lane of the own vehicle, and a passing vehicle that detects a passing vehicle around the own vehicle. The notification information includes a detection unit and a communication unit that transmits notification information to the communication device, and the notification information includes the own vehicle acquired by the own vehicle position acquisition unit when the passing vehicle detection unit detects the passing vehicle. The position of the vehicle, the traveling lane of the own vehicle acquired by the traveling lane acquisition unit when the passing vehicle detection unit detects the passing vehicle, and which side of the passing vehicle in the width direction of the own vehicle has passed. It is characterized in that the information on the slip-through side indicating the above is included.

According to the present invention, highly convenient slip-through vehicle information can be shared between vehicles.

It is a functional block diagram of the control device for a vehicle mounted on the vehicle which concerns on this embodiment. It is a top view of the vehicle equipped with the vehicle control device which concerns on this embodiment. It is a data structure diagram of the notification data (notification information) which concerns on this embodiment. It is a flowchart of the transmission processing of the notification data which concerns on this embodiment. It is a flowchart of the reception processing of the notification data which concerns on this embodiment. It is a flowchart of the vehicle control processing at the time of lane change which concerns on this embodiment. It is a flowchart of the slip-through information confirmation process which concerns on this embodiment. It is a flowchart of the response processing to the inquiry of the passing vehicle which concerns on this embodiment.

The vehicle control device according to the embodiment of the present invention will be described below. The vehicle control device is mounted on a vehicle equipped with a camera and radar. When the vehicle control device detects a vehicle such as a two-wheeled vehicle or a person passing by the side of its own vehicle, it transmits the passing vehicle information (notification information, notification data described later) to other vehicles in the vicinity. In addition to the position and detection time of the own vehicle (detected vehicle), the slip-through vehicle information includes whether the slip-through vehicle was detected on the left or right side, the type of the slip-through vehicle, the speed of the slip-through vehicle, the reliability of detection, and the like. Is done.

The vehicle that has received the slip-through vehicle information stores the slip-through vehicle information transmitted by the vehicle behind for a predetermined period. When changing lanes, if there is a lane change by the time when it is expected to pass through the own vehicle, the vehicle is normally controlled to change lanes. If there is no slip-through, check the presence or absence of slip-through in other vehicles that are thought to have slip-through. If it can be confirmed that there is no passing through by other vehicles, the vehicle is controlled for normal lane change, and if it cannot be confirmed, the lane change is stopped and the occupant is notified of caution (it is a situation to be careful). The vehicle that receives the slip-through vehicle information and uses it for vehicle control is traveling in front of the vehicle that has transmitted the slip-through vehicle information.

≪Overview of vehicle control device≫
FIG. 1 is a functional block diagram of a vehicle control device 100 mounted on a vehicle according to the present embodiment. The vehicle 200 on which the vehicle control device 100 is mounted (see FIG. 2 described later) is, for example, a four-wheeled vehicle equipped with a drive device 352 described later, an electric vehicle powered only by a motor (motor), and an electric vehicle. It is a hybrid vehicle that has both an internal combustion engine and a motor.

The vehicle control device 100 includes means for incorporating various information such as a camera group 210, a radar group 220, a route information acquisition unit 356, a traveling state acquisition unit 357, and a communication device 358. The vehicle 200 also includes operating devices such as an accelerator pedal 310, a brake pedal 320, a steering wheel 330 (steering wheel), and a shift device 340. The vehicle 200 includes operation detection sensors such as an accelerator opening sensor 311 and a brake depression sensor 321 (brake switch), a steering steering angle sensor 331 (steering torque sensor), and a shift position sensor 341.

The vehicle 200 includes a notification device 351. Further, as a device for driving, steering, and braking the vehicle 200, the vehicle 200 includes a drive device 352, a steering device 353, and a brake device 354. The notification device 351 is a speaker, a display, or the like provided in the interior of the vehicle 200, and is a device for calling attention to the occupants.
These devices and devices are connected by CAN (Controller Area Network), serial communication lines, wireless communication, and the like.

≪Camera and radar≫
In order to acquire the external condition of the vehicle, the vehicle 200 includes a camera group 210 and a radar group 220. FIG. 2 is a top view of the vehicle 200 equipped with the vehicle control device 100 according to the present embodiment.
The camera group 210 is a plurality of cameras 211 to 217 mounted on the vehicle 200 shown in FIG. Specifically, the vehicle 200 is provided at the front portion of the roof of the vehicle interior of the vehicle 200, and includes cameras 211 and 212 that image the front of the vehicle 200. Further, the vehicle 200 is provided in front of the vehicle 200 and includes cameras 213 and 214 that image the front of the vehicle 200. The vehicle 200 is provided behind the vehicle 200 and includes a camera 216 that images the rear of the vehicle 200.

In the present embodiment, the vehicle 200 is provided with a camera 215 provided at the tip of the right door mirror of the vehicle 200 to image the right side of the vehicle 200, and a camera 217 provided at the tip of the left door mirror of the vehicle 200 to image the left side of the vehicle 200. To be equipped. The cameras 215 and 217 may be provided at a location other than the tip of the door mirror, but it is desirable that the cameras 215 and 217 be provided at a location where the door mirror is not significantly reflected in the captured image.
The image of the periphery of the vehicle 200 captured by the camera group 210 is output to the vehicle control device 100. The image includes (shows) other vehicles, road surfaces, pedestrians, etc., including passing vehicles.

The radar group 220 is a plurality of radars 221 to 225 mounted on the vehicle 200. Specifically, the vehicle 200 according to the present embodiment is provided with radar 222 in front of the vehicle 200, and radars 221, 223 are provided on the left and right front side sides, respectively. The radar 222 detects an obstacle in front of the vehicle 200. Further, the radar 221 detects an obstacle including a vehicle passing through from the front of the vehicle 200 to the left front side side. The radar 223 detects obstacles including a vehicle passing through from the front of the vehicle 200 to the right front side side.

The vehicle 200 is provided with radars 225 and 224 on the left and right rear sides, respectively. The radar 224 detects an obstacle including a vehicle passing through from the rear of the vehicle 200 to the right rear side, and the radar 225 detects an obstacle including a vehicle passing through from the rear of the vehicle 200 to the left rear side.
The number and installation position of the cameras and radars described above are not limited to the above contents, and the number of cameras and radars may be increased or decreased or the installation position may be changed. Further, the vehicle 200 may be provided with sonar or LIDAR (Light Detection and Ranging).

A vehicle that slips past the side of the vehicle 200 is detected by analyzing the output image of the camera group 210 and the detection result of the radar group 220. For example, the passing vehicle on the right side of the vehicle 200 is detected in the order of radar 224, camera 215, and radar 223, and the type of passing vehicle (motorcycle, bicycle, person, etc.) can be determined by analyzing the image of the camera 215. ..

≪Route information acquisition unit, running state acquisition unit, communication device≫
Returning to FIG. 1, the route information acquisition unit 356 includes a navigation device. The navigation device includes a GNSS (Global Navigation Satellite System) receiver, map information, and a GUI (Graphical User Interface). The navigation device identifies the position of the vehicle 200 by the GNSS receiver, derives a route from that position to the destination designated by the occupant, and stores it in the storage unit 130.

The traveling state acquisition unit 357 is provided with a GNSS receiver, a gyro sensor, an acceleration sensor, and the like, and acquires the current traveling position, traveling direction, vehicle speed, and the like of the vehicle 200.
The communication device 358 transmits the communication data output from the vehicle control device 100 to another vehicle, and outputs the communication data received from the other vehicle to the vehicle control device 100. The communication data includes notification data 140 (see FIG. 3), a slip-through vehicle inquiry (see FIG. 7), and other data described later.

≪Functional configuration of vehicle control device≫
Subsequently, the vehicle control device 100 will be described. The vehicle control device 100 includes a processor such as a CPU (Central Processing Unit) and an ECU (Electronic Control Unit), a storage device, and a communication device such as a CAN that communicates with the device or device described above. ..
The storage unit 130 is composed of a storage device such as a RAM (Random Access Memory) or a flash memory. Notification data 140 (see FIG. 3 described later) is stored in the storage unit 130. The storage unit 130 stores highly accurate map information 160 including information such as the center of the lane or the boundary of the lane. Further, the storage unit 130 is executed by a processor (CPU / ECU) to perform processing procedures such as transmission / reception processing of notification data 140 described later, vehicle control processing when changing lanes, and the like (see FIGS. 4 to 8 described later). Program 170 including is stored. Further, the storage unit 130 also stores identification information of the vehicle 200, which is the own vehicle, but is not shown.

The automatic operation control unit 111 switches the operation mode and controls according to the instruction of the occupant. The operation mode includes an automatic operation mode and a manual operation mode. In addition to this, a semi-automatic operation mode in which one of acceleration / deceleration and steering of the vehicle 200 is controlled and the other is controlled based on the operation of the accelerator pedal 310, the steering wheel 330, or the like may be included. The "automatic operation" described below includes a semi-automatic operation mode in addition to the above-mentioned automatic operation mode.

The own vehicle position acquisition unit 112 of the vehicle 200 (own vehicle) is based on the information input from the map information 160, the camera group 210, the route information acquisition unit 356, and the traveling state acquisition unit 357 stored in the storage unit 130. The position and the lane in which the vehicle 200 is traveling (traveling lane) are recognized and acquired. Since the own vehicle position acquisition unit 112 acquires the traveling lane, it is also referred to as a traveling lane acquisition unit.
The action plan generation unit 113 generates an action plan in the section from the start point to the scheduled end point of the automatic operation. The action plan includes, for example, an acceleration event / deceleration event of the vehicle 200, a lane keeping event in which the vehicle 200 is driven so as not to deviate from the driving lane, a lane change event in which the driving lane is changed, an overtaking event in which the vehicle in front is overtaken, and the like. included. The action plan generated by the action plan generation unit 113 is stored in the storage unit 130.

The target driving state setting unit 114 targets the vehicle 200 based on the action plan and various information acquired from the camera group 210, the radar group 220, the route information acquisition unit 356, and the driving state acquisition unit 357. Set the target running state, which is the state. The target driving state includes information such as a target position, a target vehicle speed, a target yaw rate, and a target trajectory.
The travel control unit 115 performs acceleration / deceleration control by the drive device 352 and the brake device 354 and steering control by the steering device 353 so that the travel state of the vehicle 200 matches the target travel state.

The passing vehicle detection unit 116 detects a vehicle passing by the side of the vehicle 200 and generates notification data 140 (see FIG. 3 described later) for notifying other vehicles of the detection result. The pass-through vehicle detection unit 116 detects the pass-through vehicle by analyzing the output image of the camera group 210 and the detection result of the radar group 220. For example, a vehicle passing through the right side of the vehicle 200 in the traveling direction is detected in the order of radar 224, camera 215, and radar 223 shown in FIG. 2, and the type of passing vehicle (motorcycle, motorcycle, by analyzing the image of the camera 215). Bicycles, people, etc.) can be identified. The passing vehicle detection unit 116 generates notification data 140 based on information acquired from the camera group 210, the radar group 220, the own vehicle position acquisition unit 112, and the traveling state acquisition unit 357.

FIG. 3 is a data configuration diagram of notification data 140 (notification information) according to this embodiment. The notification data 140 includes a time stamp, a detection vehicle, and information to be detected.
The time stamp time 141 is the time when the notification data 140 is generated.
The detection vehicle is information about the own vehicle (vehicle 200) which is a vehicle that has detected a passing vehicle. The detection vehicle includes the identification information 142 of the own vehicle, the position 143, the traveling lane 144, and the speed 145. The slip-through vehicle detection unit 116 acquires the position 143 and the traveling lane 144 from the own vehicle position acquisition unit 112 (traveling lane acquisition unit). The slip-through vehicle detection unit 116 acquires the speed 145 from the traveling state acquisition unit 357 and the identification information 142 from the storage unit 130.

The detection target is information about the detected vehicle. The detection target includes the detection time 146, the type 147, the detection direction 148, the traveling direction 149, the speed 150, the reliability 151, and the number of detected units 152. The detection time 146 is the time when the slip-through vehicle detection unit 116 detects the slip-through vehicle. Type 147 is a type of vehicle that slips through. Types of slip-through vehicles include motorcycles, bicycles, and people.

The detection direction 148 indicates whether the slip-through vehicle is detected on the left or right side of the own vehicle. The traveling direction 149 and the speed 150 are the traveling directions and speeds of the passing vehicle. The reliability 151 is the reliability of detection. If the detection is performed only by the radars 221 to 225, the reliability is "low", and if the detection includes the cameras 211 to 217 in addition to the radars 221 to 225, the reliability is "high". The number of detected vehicles 152 is the number of detected vehicles that have passed through within a predetermined time.

Returning to FIG. 1, the lane change caution determination unit 117 makes a caution determination when changing the traveling lane of the vehicle 200 to either the left or right lane based on the notification data 140 received from another vehicle. The lane change caution response unit 118 executes the caution response when the lane change caution determination unit 117 determines that caution is required. The processes executed by the lane change caution determination unit 117 and the lane change caution response unit 118 will be described with reference to FIGS. 6 and 7 described later.
The reliability determination unit 119 determines the reliability of the notification data 140. When the city land of the notification data 140 is low, the reliability determination unit 119 inquires of another vehicle about the existence of the slip-through vehicle (see FIG. 7 described later).

The communication unit 120 transmits the notification data 140 generated by the passing vehicle detection unit 116 to another vehicle, and receives the notification data 140 from the other vehicle (see FIG. 5 described later).
Subsequently, the processing content of the vehicle control device 100 is used for the processing of the vehicle 200 that detects the passing vehicle and transmits the notification data 140 including the information about the passing vehicle, and the processing of the vehicle 200 that receives the notification data 140 and uses it for vehicle control. The processing of the vehicle 200 will be described separately. The vehicle that uses the notification data 140 is traveling in front of the vehicle that transmits the data.

≪Notification data transmission process≫
FIG. 4 is a flowchart of the transmission process of the notification data 140 according to the present embodiment. A process of detecting a passing vehicle and transmitting notification data 140 will be described with reference to FIG.
In step S11, the slip-through vehicle detection unit 116 proceeds to step S12 when it detects a slip-through vehicle (step S11 → YES), and returns to step S11 if it has not been detected (step S11 → NO).

In step S12, the slip-through vehicle detection unit 116 analyzes the slip-through vehicle detected in step S11. Specifically, the passing vehicle detection unit 116 analyzes the output results of the camera group 210 and the radar group 220, and detects the time of detection, the type of passing vehicle (motorcycle / bicycle / person, etc.), and the detection direction (right side of the vehicle 200). / Get the left side), direction of travel (direction of heading), speed, reliability, and number of units. The reliability is "low" if it is detected only by the radar group 220, and is "high" if it is detected by the camera group 210 in addition to the radar group 220.

In step S13, the slip-through vehicle detection unit 116 generates notification data 140 (see FIG. 3) including the analysis result of step S12. Information is obtained from the own vehicle position acquisition unit 112 and the traveling state acquisition unit 357 regarding the position 143, the traveling lane 144, and the speed 145 of the detection vehicle (vehicle 200 which is the own vehicle) of the notification data 140. The detection vehicle identification information 142 is the identification information in the storage unit 130.

The time 141 of the time stamp of the notification data 140 is the current time. The detection time 146, type 147, detection direction 148, traveling direction 149, speed 150, reliability 151, and number of detected units 152 of the notification data 140 are the analysis results of step S12, that is, the detected time, the type of passing vehicle, and the detection direction. , Direction of travel, speed, reliability, number of units.
In step S14, the communication unit 120 outputs the notification data 140 generated in step S13 to the communication device 358 and transmits it to vehicles around the own vehicle.

≪Notification data reception processing≫
FIG. 5 is a flowchart of the reception process of the notification data 140 according to the present embodiment. A process of receiving the notification data 140 (see FIG. 3) transmitted by the vehicle that has detected the slip-through vehicle and storing only the necessary notification data 140 will be described with reference to FIG.
In step S21, when the communication unit 120 receives the notification data 140 from the communication device 358 (step S21 → YES), the communication unit 120 proceeds to step S22, and if not received (step S21 → NO), returns to step S21.

In step S22, the communication unit 120 proceeds to step S24 if the detection time 146 of the detection target in the notification data 140 received in step S21 is within a predetermined time from the current time (step S22 → YES), and if it is outside the predetermined time. (Step S22 → NO) The process proceeds to step S23.
In step S23, the communication unit 120 discards the notification data 140 received in step S21.

In step S24, the communication unit 120 proceeds to step S25 if the detected vehicle in the notification data 140 is behind the own vehicle (step S24 → YES), and proceeds to step S23 if not behind (step S24 → NO). The rear of the own vehicle is a vehicle that travels in the driving lane of the own vehicle, the lane on the right side or the left side of the traveling lane of the own vehicle, and is a vehicle behind the own vehicle. The communication unit 120 refers to the position 143 of the notification data 140 and the traveling lane 144 to determine whether or not the vehicle is behind.

In step S25, the communication unit 120 proceeds to step S26 if the traveling direction 149 of the detected vehicle in the notification data 140 is the same as that of the own vehicle (step S25 → YES), and proceeds to step S23 if not (step S25 → NO).
In step S26, the communication unit 120 stores the notification data 140 in the storage unit 130.
In step S27, the communication unit 120 deletes the notification data 140 stored in the storage unit 130 and whose detection time 146 has passed a predetermined time.

≪Vehicle control processing when changing lanes≫
FIG. 6 is a flowchart of the vehicle control process when changing lanes according to the present embodiment. With reference to FIG. 6, a vehicle control process at the time of changing lanes using the notification data 140 stored in the storage unit 130 will be described.
In step S31, the lane change caution determination unit 117 proceeds to step S32 if there is a lane change request (step S31 → YES), and returns to step S31 if there is no lane change request (step S31 → NO). When there is a lane change request, the output information of the steering steering angle sensor 331 and the accelerator opening sensor 311 in the manual driving mode when the target driving state set by the target driving state setting unit 114 in the automatic driving mode corresponds to the lane change. This is the case when a lane change is predicted depending on the lighting status of the vehicle or the direction indicator.

In step S32, the lane change caution determination unit 117 extracts the notification data 140 regarding the direction of the change destination lane from the storage unit 130. The notification data 140 regarding the direction of the change destination lane (see FIG. 3) is the notification data 140 of the detection vehicle traveling in the same driving lane 144 as the own vehicle, and the notification data 140 whose detection direction 148 matches the direction of the change destination lane. The notification data 140 is the notification data 140 of the detection vehicle in which the change destination lane is the traveling lane 144, and the detection direction 148 is opposite to the change destination lane direction.

In step S33, the lane change caution determination unit 117 proceeds to step S34 if there is notification data 140 extracted in step S32 (step S33 → YES), and if there is no extracted notification data 140 (step S33 → NO). The process proceeds to step S40.
In step S34, if the extracted notification data 140 includes the notification data 140 having a high reliability (step S34 → YES), the reliability determination unit 119 proceeds to step S36 and notifies that the reliability is “high”. If there is no data 140 (step S34 → NO), the process proceeds to step S35.

The slip-through information confirmation process in step S35 will be described with reference to FIG. 7 described later.
In step S36, the lane change caution determination unit 117 estimates the time (estimated slip-through time) when the slip-through vehicle, which is the detection target of the notification data 140, passes by the side of the own vehicle. Specifically, the lane change caution determination unit 117 determines the estimated time to pass through from the distance calculated from the position of the own vehicle and the position 143 of the detected vehicle, the detection time 146, the traveling speed of the own vehicle, the speed 150 of the passing vehicle, and the like. To estimate. The lane change caution determination unit 117 may estimate the slip-through estimated time in consideration of not only the speed 150 but also the speed range of the slip-through vehicle from the type 147.

In step S37, the vehicle control device 100 controls the vehicle in response to slipping through. For example, if the difference between the lane change end time and the estimated passing time is equal to or longer than a predetermined time and there is no possibility of contact (collision), the vehicle control device 100 continuously changes lanes under normal vehicle control. If the difference between the lane change end time and the estimated passing time does not exceed a predetermined time in the automatic driving mode, for example, the lane change caution response unit 118 may postpone or cancel the lane change to the target driving state setting unit 114. Notify to. Upon receiving the notification, the target traveling state setting unit 114 resets the target traveling state. If the difference between the lane change end time and the estimated slip-through time does not exceed a predetermined time in the manual automatic driving mode, for example, the lane change caution response unit 118 uses the notification device 351 to allow the occupant to pass through the vehicle. To call attention. In the following description, it is assumed that the vehicle 200 has not changed lanes.

In step S38, the lane change caution determination unit 117 proceeds to step S39 if there is a passing vehicle within a predetermined time from the estimated passing time (if a passing vehicle is detected) (step S38 → YES), and if it does not exist (step S38 → YES). Step S38 → NO) Proceed to step S35.
In step S39, the lane change caution determination unit 117 passes through the detected number 152 (see FIG. 3) within a predetermined time from the estimated time of passing through (if the detected number 152 passing vehicle is detected) (step S39 → YES). The process proceeds to step S40, and if the vehicle has not slipped through (step S39 → NO), the process proceeds to step S35.
In step S40, the vehicle control device 100 performs normal vehicle control. For example, the vehicle control device 100 controls the traveling of the vehicle 200 so as to change lanes. Further, for example, the lane change caution determination unit 117 controls to continue (restart) the lane change that has been interrupted until the passing vehicle passes through. In addition, vehicle control for traveling in the same traveling lane as the current one may be performed.

≪Slip-through information confirmation process≫
FIG. 7 is a flowchart of the slip-through information confirmation process according to the present embodiment. The processing content of step S35 (see FIG. 6) will be described with reference to FIG. 7.
In step S51, the reliability determination unit 119 inquires of other vehicles in the vicinity whether or not there is a vehicle that has passed through. Inquiries include the position and speed of the own vehicle, the driving lane, and the direction of lane change. The response processing of the other vehicle to the inquiry of the slip-through vehicle will be described with reference to FIG. 8 described later.

In step S52, the reliability determination unit 119 proceeds to step S53 if it receives information without slipping from a vehicle that may pass through (step S52 → YES), and if it does not receive it (step S52 → NO). Proceed to S54. The vehicle that may pass through is, for example, a vehicle that travels behind the own vehicle and that travels in the lane in which the own vehicle travels or in the lane to which the lane is changed in FIG.

In step S53, the vehicle control device 100 performs normal vehicle control. The vehicle control device 100 controls the traveling of the vehicle 200 so as to change lanes, for example.
In step S54, the lane change caution response unit 118 uses the notification device 351 to alert the occupants that there is a vehicle that has passed through.

≪Response processing for inquiries about passing vehicles≫
FIG. 8 is a flowchart of response processing to an inquiry of a slip-through vehicle according to the present embodiment. With reference to FIG. 8, the response processing to the inquiry of the slip-through vehicle in step S51 described in FIG. 7 will be described.
In step S61, the communication unit 120 receives the communication data including the inquiry of the passing vehicle from the communication device 358, and if the sender of the inquiry of the passing vehicle is a vehicle traveling in front of the own vehicle (step S61 → YES). The process proceeds to step S62, and if the vehicle is not traveling in front of the own vehicle (step S61 → NO), the process of FIG. 8 is completed. When the process of FIG. 8 is completed, the vehicle 200 does not respond to the inquiry. The vehicle traveling in front of the own vehicle is, for example, a vehicle traveling in front of the own vehicle, in which the traveling lane of the own vehicle is the traveling lane included in the inquiry or the lane in the lane change direction.

In step S62, the communication unit 120 searches the notification data 140 of the storage unit 130 for the notification data 140 corresponding to the inquiry of the passing vehicle. If there is corresponding notification data (step S62 → YES), the process of FIG. 8 is completed, and if there is no corresponding notification data (step S62 → NO), the process proceeds to step S63. The notification data 140 corresponding to the inquiry is the notification data 140 related to the detection of the vehicle passing by the side of the own vehicle estimated from the position and speed of the own vehicle and the position and speed of the transmitting vehicle included in the inquiry.
In step S63, the communication unit 120 transmits the information without slipping through to the vehicle from which the inquiry is sent.

≪Characteristics of vehicle control device≫
When the vehicle control device 100 detects a vehicle passing by the side of its own vehicle, it transmits notification data 140 to other vehicles in the vicinity (see step S14 in FIG. 4). The notification data 140 includes the type 147 of the passing vehicle, the detection direction 148, the speed 150, the reliability 151, and the like (see FIG. 3).

Upon receiving the notification data 140, the vehicle control device 100 stores the notification data 140 within the predetermined time in the rear vehicle within the predetermined distance (see steps S21 to S26 in FIG. 5). When the own vehicle changes lanes, the vehicle control device 100 extracts notification data 140 of the passing vehicle in the direction of changing lanes (see step S32 in FIG. 6). If there is no notification data 140 of the passing vehicle, normal vehicle control is performed (see step S33 → NO, step S40).

If there is notification data 140 having a high reliability 151, the vehicle control device 100 estimates the time when the vehicle passes by the side and controls the vehicle corresponding to the passing (see steps S34 → YES, steps S36 and S37). ). If the notification data 140 has a low reliability 151, the vehicle control device 100 inquires the peripheral vehicles of the existence or nonexistence of the slip-through vehicle (see step S34 → NO, step S51 in FIG. 7). The vehicle control device 100 performs normal vehicle control if there is a response that there is no passing vehicle, and alerts the occupants if there is no response (steps S52 to S54).

By performing such processing, it becomes possible to control the vehicle by using not only the information around the vehicle detected by the camera group 210 and the radar group 220 of the own vehicle but also the peripheral information of the vehicle traveling behind. In particular, when changing lanes, the vehicle control device 100 can control the vehicle 200 by using information on a motorcycle or a bicycle that passes by the side of a vehicle traveling behind. If it is expected that a vehicle passing through will come to the lane change side, it will be possible to interrupt the lane change or alert the occupants. As a result, accidents can be prevented.

100 Vehicle control device 111 Automatic driving control unit 112 Own vehicle position acquisition unit (traveling lane acquisition unit)
113 Action plan generation unit 114 Target driving state setting unit 115 Driving control unit 116 Passing vehicle detection unit 117 Lane change caution judgment unit 118 Lane change caution response unit 119 Reliability judgment unit 120 Communication unit 140 Notification data (notification information)
141 Time 142 Identification information 143 Position (position of own vehicle / other vehicle)
144 Driving lane (driving lane of own vehicle / other vehicle)
145 Speed 146 Detection time (time information when a passing vehicle is detected)
147 types (types of passing vehicles)
148 Detection direction (pass-through side information)
149 Direction of travel (information on the direction of travel of passing vehicles)
150 speed (speed of passing vehicle)
151 Confidence (Detection Confidence)
152 Number of detected vehicles (information on the number of vehicles passing through)
170 Program 200 Vehicle 210 Camera group 211-217 Camera 220 Radar group 221-225 Radar 358 Communication device

Claims (12)

The own vehicle position acquisition unit that acquires the position of the own vehicle, and
The traveling lane acquisition unit that acquires the traveling lane of the own vehicle, and the traveling lane acquisition unit.
A slip-through vehicle detection unit that detects a slip-through vehicle around the own vehicle,
It is equipped with a communication unit that sends notification information to a communication device.
The notification information includes
The position of the own vehicle acquired by the own vehicle position acquisition unit when the slip-through vehicle detection unit detects the slip-through vehicle, and
The traveling lane of the own vehicle acquired by the traveling lane acquisition unit when the passing vehicle detecting unit detects the passing vehicle, and
A vehicle control device, characterized in that it includes information on a slip-through side indicating which side of the own vehicle in the vehicle width direction the slip-through vehicle has slipped through. The own vehicle position acquisition unit that acquires the position of the own vehicle, and
A communication unit that receives notification information sent by other vehicles,
The traveling lane acquisition unit that acquires the traveling lane of the own vehicle, and the traveling lane acquisition unit.
A lane change caution determination unit that determines caution when changing lanes to either the left or right lane,
It is equipped with a lane change caution response unit that executes caution response when the lane change caution determination unit determines that caution is required.
The notification information includes
The position of the other vehicle when the other vehicle detects a passing vehicle, and
The traveling lane of the other vehicle when the other vehicle detects the passing vehicle,
Information on the slip-through side indicating which side of the other vehicle has slipped through in the vehicle width direction is included.
The lane change caution determination unit
A vehicle control device characterized in that the determination requiring attention is performed based on the notification information. The lane change caution response section
The vehicle control device according to claim 2, wherein at least one of lane change warning and lane change stop control is performed. The notification information includes
The time information when the other vehicle detects a passing vehicle is further included.
The lane change caution determination unit
The vehicle control device according to claim 2 or 3, wherein the time when the slip-through vehicle passes through the own vehicle is estimated with reference to the time information. The notification information includes
The speed of the slip-through vehicle is further included,
The lane change caution determination unit
The vehicle control device according to any one of claims 2 to 4, wherein the time when the passing vehicle passes through the own vehicle is estimated with reference to the speed. The notification information includes
Further types of slip-through vehicles are included.
The lane change caution determination unit
The vehicle control device according to any one of claims 2 to 5, wherein the time when the slip-through vehicle passes through the own vehicle is estimated with reference to the type. The notification information includes
Information on the number of slip-through vehicles detected by the slip-through vehicle detection unit within a predetermined time is further included.
The lane change caution determination unit
When the passing of the number of passing vehicles in the number information is detected,
The vehicle control device according to any one of claims 2 to 6, wherein the control for resuming a lane change is performed. The notification information includes
Further information on the direction of travel of the slip-through vehicle is included.
The lane change caution determination unit
The vehicle control device according to any one of claims 2 to 7, wherein if the traveling direction information is in the opposite direction to the own vehicle, the notification information is not referred to. The notification information further includes the reliability of the detection of the slip-through vehicle.
Further, a reliability determination unit for determining the reliability of detection of a passing vehicle from the received notification information is provided.
Any of claims 2 to 8, wherein when the reliability determination unit determines that the reliability of detection of a slip-through vehicle is low, the communication unit inquires a peripheral vehicle of the existence of the slip-through vehicle. The vehicle control device according to item 1. A program for causing a computer mounted on a vehicle to function as a vehicle control device according to any one of claims 1 to 9. It is a vehicle control method for a vehicle control device.
The vehicle control device is
Steps to get the position of your vehicle and
The step of acquiring the traveling lane of the own vehicle and
The step of detecting a passing vehicle around the own vehicle and
Execute the step of sending the notification information to the communication device, and
The notification information includes
The position of the own vehicle acquired when the slip-through vehicle was detected, and
The driving lane of the own vehicle acquired when the passing vehicle is detected, and
A vehicle control method, characterized in that the slip-through side information indicating which side of the own vehicle in the vehicle width direction the slip-through vehicle has slipped through is included. It is a vehicle control method for a vehicle control device.
The vehicle control device is
Steps to get the position of your vehicle and
Steps to receive notification information sent by other vehicles,
The step of acquiring the traveling lane of the own vehicle and
Steps to determine caution when changing lanes to either the left or right lane,
Execute the step to execute the caution response when it is determined that caution is required, and
The notification information includes
The position of the other vehicle when the other vehicle detects a passing vehicle, and
The traveling lane of the other vehicle when the other vehicle detects the passing vehicle,
Information on the slip-through side indicating which side of the other vehicle has slipped through in the vehicle width direction is included.
The vehicle control device further
A vehicle control method comprising executing a step of performing the caution determination based on the notification information.

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