JP2021155030A - Vehicle control device, vehicle, vehicle control method and program - Google Patents

Abstract

To determine whether another vehicle traveling in multiple lanes of a junction passage that joins the lane in which the own vehicle is traveling joins the above-mentioned lane, and control the travel of the vehicle on the basis of the determined result.SOLUTION: A vehicle control device for controlling travel of a vehicle comprises: an acquisition unit that acquires information on the vicinity of a vehicle; and a control unit that determines whether another vehicle traveling in multiple lanes of a junction passage that joins a lane in which the vehicle is traveling joins the above-mentioned lane, and controls the travel of the vehicle on the basis of the determined result.SELECTED DRAWING: Figure 3

Description

The present invention relates to vehicle control devices, vehicles, vehicle control methods and programs.

In Patent Document 1, when the frontage road lane in which the own vehicle is traveling is two lanes, the relative is based on the traveling conditions of the own vehicle A, the main lane vehicle B, and the following vehicle C traveling in the frontage road lane. A travel control technique for predicting a positional relationship and calculating a travel plan for the own vehicle A to join the main lane from the frontage road lane is disclosed.

Japanese Unexamined Patent Publication No. 2017-019397

However, when another vehicle joins the lane (main lane) in which the own vehicle is traveling from the confluence of multiple lanes, the own vehicle takes into consideration the traveling of the other vehicle traveling in the multiple lanes of the confluence. It may be necessary to control the run.

The present invention determines whether or not another vehicle traveling in a plurality of lanes of a confluence that merges with the lane (main lane) in which the vehicle (own vehicle) is traveling merges into the lane, and based on the determination, the vehicle. Provide a vehicle control technique capable of controlling the running of a vehicle.

The vehicle control device according to one aspect of the present invention is a vehicle control device that controls the running of a vehicle, and includes an acquisition means for acquiring information around the vehicle and an acquisition means.
Based on the information acquired by the acquisition means, it is determined whether or not another vehicle traveling in a plurality of lanes of the merging flow path that joins the lane in which the vehicle is traveling joins the lane, and based on the determination. The control means for controlling the running of the vehicle and
It is characterized by having.

According to the present invention, it is determined whether or not another vehicle traveling in a plurality of lanes of a confluence that merges with the lane in which the vehicle is traveling joins the lane, and the traveling of the vehicle is controlled based on the determination. It is possible to provide a vehicle control technique capable of.

A block diagram showing a basic configuration of a vehicle control device. The control block diagram of the vehicle control device. The figure explaining the flow of the process of the vehicle control which concerns on embodiment. The figure schematically explaining the vehicle control of S340 executed when another vehicle joins the main lane. The figure schematically explaining the vehicle control of S360 executed when another vehicle joins the main lane.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. In addition, the same or similar configuration will be given the same reference number, and duplicated explanations will be omitted.

(Vehicle control device configuration)
FIG. 1 is a diagram illustrating a basic configuration of a vehicle control device that automatically controls a vehicle (own vehicle). The vehicle control device 100 includes a sensor S, a plurality of camera CAMs, and a computer COM. The sensor S includes, for example, a plurality of radars S1, a plurality of lidars S2 (Light Detection and Ranging (LIDAR)), a gyro sensor S3, a GPS sensor S4, a vehicle speed sensor S5, and the like. The sensor S and the camera CAM acquire vehicle information and various information around the vehicle, and input the acquired information to the control unit COM. Here, the vehicle control in the vehicle control device 100 includes not only automatic driving control but also vehicle control in driving support such as follow-up driving support.

The control unit COM includes a CPU (C1) that controls processing related to automatic driving control of the vehicle, a memory C2, a communication unit C3 that can communicate with a server on the network and an external device, and the like. The control unit COM performs image processing on the information input from the sensor S (radar S1, rider S2) and the camera CAM, extracts the target (object) existing around the vehicle, and what kind of object is around the vehicle. Analyze whether the target is placed and monitor the target.

Further, the gyro sensor S3 detects the rotational movement and posture of the vehicle, and the control unit COM can determine the course of the vehicle based on the detection result of the gyro sensor S3, the vehicle speed detected by the vehicle speed sensor S5, and the like. can. Further, the control unit COM determines the current position (position information) of the vehicle in the map information and the lane in which the vehicle (own vehicle) is traveling (hereinafter, also referred to as the main lane) based on the detection result of the GPS sensor S4. Road information can be obtained. In addition, the control unit COM can acquire road information such as the road attribute of the confluence that joins the main lane and the number of lanes of the confluence.

Here, the road attributes of the merging channel include the attributes of the merging lane that joins the main lane and the attributes of the branch lane that connects to the merging lane and separates from the main lane. Further, the road attribute of the confluence having a plurality of lanes may have both the attribute of the confluence lane and the attribute of the branch lane. For example, a merging lane (first merging lane) adjacent to a lane (main lane), a merging lane (second merging lane) at a position separated in the width direction of the lane (main lane), and a merging lane. It may have the attribute of a branch lane that connects and separates from the main lane. Further, the road attribute of the merging channel includes an attribute when there is no branch lane attribute and all of the plurality of lanes are merging lanes. Further, the control unit COM performs image processing on the information input from the sensors S (radar S1, rider S2) and the camera CAM, and travels in the confluence using the extracted target (object) information. It is also possible to detect other vehicles. The control unit COM can perform automatic driving control of the vehicle based on the information input from the sensor S and the camera CAM.

When the vehicle control device shown in FIG. 1 is mounted on a vehicle, the control unit COM may be arranged in, for example, an ECU of a recognition processing system that processes information of a sensor S or a camera CAM or an ECU of an image processing system. , It may be arranged in the ECU that controls the communication device and the input / output device, or it may be arranged in the ECU in the control unit that controls the drive of the vehicle, or in the ECU for automatic operation. For example, as shown in FIG. 2 described below, functions are provided for a plurality of ECUs constituting the vehicle control device 100, such as an ECU for a sensor S, an ECU for a camera, an ECU for an input / output device, and an ECU for automatic driving. May be dispersed.

FIG. 2 is a control block diagram of the vehicle control device 100 for controlling the vehicle 1. In FIG. 2, the outline of the vehicle 1 is shown in a plan view and a side view. Vehicle 1 is, for example, a sedan-type four-wheeled passenger car.

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

Hereinafter, the functions and the like that each ECU 20 to 29 is in charge of will be described. The number of ECUs and the functions in charge can be appropriately designed for the vehicle 1, and can be subdivided or integrated from the present embodiment.

The ECU 20 executes vehicle control related to automatic driving of the vehicle 1 (own vehicle) according to the present embodiment. In automatic driving, at least one of steering of the vehicle 1 and acceleration / deceleration is automatically controlled. The specific control-related processing related to automatic driving will be described in detail later.

The ECU 20 executes control related to the automatic driving of the vehicle 1. In automatic driving, steering of vehicle 1, lane change, and acceleration / deceleration are automatically controlled.

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

The ECUs 22 and 23 control the detection units 41 to 43 for detecting the surrounding conditions of the vehicle and process the information processing of the detection results. The detection unit 41 has a configuration corresponding to the camera CAM of FIG. 1, and is an imaging device that detects an object in front of the vehicle 1 by imaging (hereinafter, may be referred to as a camera 41). In the case of the present embodiment, the camera 41 is attached to the vehicle interior side of the front window at the front portion of the roof of the vehicle 1 so that the front of the vehicle 1 can be photographed. By analyzing the image taken by the camera 41 (image processing), it is possible to extract the outline of the target located in front of the vehicle 1 and the lane marking line (white line or the like) on the road.

The detection unit 42 (lidar detection unit) is a Light Detection and Ranging (LIDAR) (hereinafter, may be referred to as a lidar 42), and can detect a target around the vehicle 1 by light or a target. Measure the distance to. The detection unit 42 (rider 42) has a configuration corresponding to the rider S2 of FIG. In the case of the present embodiment, five riders 42 are provided, one at each corner of the front portion of the vehicle 1, one at the center of the rear portion, and one at each side of the rear portion.

The detection unit 43 (radar detection unit) is a millimeter-wave radar (hereinafter, may be referred to as a radar 43), detects a target around the vehicle 1 by radio waves, and measures the distance from the target. do. The detection unit 43 (radar 43) has a configuration corresponding to the radar S1 of FIG. In the case of the present embodiment, five radars 43 are provided, one in the center of the front portion of the vehicle 1, one in each corner of the front portion, and one in each corner of the rear portion.

The ECU 22 controls one of the cameras 41 and each rider 42, and processes information processing of the detection result. The ECU 23 controls the other camera 41 and each radar 43, and processes information processing of the detection result. By equipping two sets of devices that detect the surrounding conditions of the vehicle, the reliability of the detection results can be improved, and by equipping different types of detection units such as cameras, riders, and radar, the surrounding environment of the vehicle can be analyzed. Can be done in multiple ways.

The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and processes the detection result or the communication result. The gyro sensor 5 detects the rotational movement of the vehicle 1. The course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5, the wheel speed, and the like. The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c wirelessly communicates with a server that provides map information and traffic information, and acquires such information. The ECU 24 can access the map information database 24a built in the storage device, and the ECU 24 searches for a route from the current location to the destination. The database 24a can be arranged on the network, and the communication device 24c can access the database 24a on the network and acquire information. The gyro sensor 5, the GPS sensor 24b, and the communication device 24c have configurations corresponding to the gyro sensor S3, the GPS sensor S4, and the communication unit C3 of FIG. 1, respectively. The ECU 25 includes a communication device 25a for vehicle-to-vehicle communication. The communication device 25a wirelessly communicates with other vehicles in the vicinity and exchanges information between the vehicles.

The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The ECU 26 controls the engine output in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, or the vehicle speed sensor 7c (vehicle speed in FIG. 1). The shift stage of the transmission is switched based on the information such as the vehicle speed detected by the sensor S5). When the operating state of the vehicle 1 is automatic operation, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20 to control acceleration / deceleration of the vehicle 1.

The ECU 27 controls a light device (headlight, tail light, etc.) including a direction indicator 8 (winker). In the case of the example of FIG. 2, the direction indicator 8 is provided at the front portion, the door mirror, and the rear portion of the vehicle 1.

The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and accepts input of information from the driver. The voice output device 91 notifies the driver of information by voice. The display device 92 notifies the driver of information by displaying an image. The display device 92 is arranged in front of the driver's seat, for example, and constitutes an instrument panel or the like. In addition, although voice and display are illustrated here, information may be notified by vibration or light. In addition, information may be transmitted by combining a plurality of voices, displays, vibrations, and lights. Further, the combination may be different or the notification mode may be different depending on the level of information to be notified (for example, the degree of urgency).

The input device 93 is a group of switches that are arranged at a position that can be operated by the driver and give instructions to the vehicle 1, but a voice input device may also be included.

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

<Control example>
A control example of vehicle control of the vehicle 1 executed by the ECU 20 will be described. FIG. 3 is a diagram for explaining the flow of vehicle control processing according to the embodiment, and FIGS. 4 and 5 schematically show vehicle control executed by the ECU 20 when another vehicle joins the lane LN1 (main lane). It is a figure to explain. When the driver instructs the destination and automatic driving, the ECU 20 automatically controls the traveling of the vehicle 1 toward the destination according to the route (lane (LN1) in FIGS. 4 and 5) searched by the ECU 24. .. At the time of automatic control, the ECU 20 acquires information on the surrounding conditions of the vehicle 1 from the ECUs 22 and 23, and instructs the ECUs 21, ECUs 26 and 29 based on the acquired information to control the steering, acceleration control, and constant speed running of the vehicle 1. , Perform deceleration control.

The ECU 22 controls one of the cameras 41 and each rider 42, and processes information processing of the detection result. Further, the ECU 23 controls the other camera 41 and each radar 43, and processes the information processing of the detection result. The ECU 20 executes control related to the automatic driving of the vehicle 1.

In step S300, the camera 41, each rider 42, and each radar 43 detect the surroundings of the vehicle 1.

In step S310, the ECU 22 and the ECU 23 function as acquisition units to acquire information about the detection region around the vehicle 1. Based on the detection result of the GPS sensor S4, the ECU 22 and the ECU 23 (acquisition unit) determine the current position (position information) of the vehicle in the map information and the road information of the lane (main lane) in which the vehicle (own vehicle) is traveling. To get. Further, the ECU 22 and the ECU 23 (acquisition unit) acquire road information such as the road attribute of the confluence that joins the main lane and the number of lanes of the confluence based on the map information.

In step S320, the ECU 20 that executes the control related to the automatic driving of the vehicle 1 functions as a control unit, and the ECU 20 (control unit) runs the vehicle 1 based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit). Determine the road attributes of the confluence that connects to the lane (main lane).

The ECU 20 (control unit) determines whether the combined flow path connected to the lane (main lane) is a plurality of lanes, and if the combined flow path is not a plurality of lanes (S320-No), proceeds to step S350 and proceeds to the ECU 20 (control unit). ) Controls the vehicle when another vehicle merges into the lane (main lane) from the one-lane confluence. The merging from the merging flow path of one lane is the same as the case of merging from the first merging lane (lane LN2 in FIG. 5) to lane 1 (main lane) among the merging of a plurality of lanes described later in step S360. The ECU 20 (control unit) can control the vehicle by setting a threshold value similar to that of the first merging lane (lane LN2 in FIG. 5) and setting (first threshold value TH1).

On the other hand, if the determination in step S320 indicates that the combined flow path connected to the lane (main lane) is a plurality of lanes (S320-Yes), the ECU 20 (control unit) proceeds to step S330. Then, in step S330, the ECU 20 (control unit) includes the attribute of the merging lane that joins the lane (main lane) and the attribute of the branch lane that connects to the merging lane and separates from the main lane as the road attribute of the merging flow path. Determine if it is possible.

When the merging lane has both merging lane and branch lane attributes (S330-Yes), in step S340, the ECU 20 (control unit) has a lane (main lane) in the merging lane having both merging lane and branch lane attributes. Vehicle control is performed when another vehicle merges into a lane (main lane) from a merging lane adjacent to the lane (S340).

FIG. 4 is a diagram for explaining vehicle control (S340) when another vehicle joins a lane from a merging flow path having both attributes of a merging lane and a branching lane. In ST41 of FIG. 4, the main lane in which the vehicle 1 (own vehicle) travels is the lane LN1, and the vehicle 1 (own vehicle) is traveling in the lane LN1 along the arrow AR1.

Lane LN2 is a merging lane (first merging lane) adjacent to lane LN1 (main lane), and lane LN3 is a merging lane (second merging lane) at a position separated in the width direction of lane LN1 (main lane). , Lane LN4 is a branch lane that connects to the merging lanes (LN2, LN3) and separates from lane LN1 (main lane).

The merging channel has the attributes of merging lanes (LN2, LN3) and branching lanes (LN4), another vehicle 402 travels in the merging lane (first merging lane: lane LN2), and another vehicle 403 is in the merging lane (LN2). It shows a state in which the other vehicle 404 is traveling in the branch lane (lane LN4) while traveling in the second merging lane: lane LN3). Arrows AR2 to AR4 indicate the traveling directions of other vehicles 402 to 404.

Based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit), the ECU 20 (control unit) has lanes of other vehicles 402 to 404 traveling in a plurality of lanes of the confluence that joins the lane LN1 in which the vehicle 1 is traveling. It is determined whether or not the vehicle joins the LN 1, and the traveling of the vehicle 1 is controlled based on the determination.

Based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit), the ECU 20 (control unit) has a merging lane (lane LN3) at a position separated from the merging lane (lane LN2) adjacent to the lane LN1 in the width direction of the lane LN1. ) And a branch lane (lane LN4) that connects to the merging lane (lanes LN2, LN3) and is separated from the lane LN1. It is determined whether or not the other vehicle (other vehicle 402 of ST41 in FIG. 4) merges with the lane LN1 (main lane), and the traveling of the vehicle 1 is controlled based on the determination.

In the determination process, the ECU 20 (control unit) connects to another vehicle 403 traveling in the merging lane (lane LN3) at a position separated in the width direction of the lane LN1 and the merging lane (lane LN2, lane LN3) to lane LN1. The running of the vehicle is controlled except for the other vehicle 404 traveling in the branch lane (lane LN4) separated from the (main lane). That is, the ECU 20 (control unit) is the target of the determination process, and is the relative position between the other vehicle 402 and the vehicle 1 (own vehicle) traveling in the merging lane (lane LN2) adjacent to the lane LN1 (main lane). Based on the above, vehicle control at the time of merging is performed, and other vehicles 403 and 404 traveling in the merging lane (lane LN3) and branch lane (lane LN4) are excluded from the vehicle control at the time of merging.

Based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit), the ECU 20 (control unit) starts from the merging lane (lane LN2) adjacent to the lane LN1 to the branch lane (lane LN4) as shown by the arrow AR5 of ST42. When there is another vehicle (ST42 other vehicle 405) that changes lanes to, the travel of the vehicle is controlled except for the other vehicle 405 that has changed lanes from a plurality of other vehicles traveling in the merging lane (lane LN2). ..

Further, the ECU 20 (control unit) is another vehicle (ST42 other vehicle 406) that changes lanes from the merging lane (lane LN2) adjacent to the lane LN1 to the merging lane (lane LN3) as shown by arrow AR6 of ST42. If there is, the travel of the vehicle is controlled except for the other vehicle 406 that has changed lanes from the plurality of other vehicles traveling in the merging lane (lane LN2). The timing to exclude another vehicle 406 that changes lanes from the merging lane (lane LN2) to the merging lane (lane LN3) from the vehicle control of vehicle 1 is the timing of the winker lighting by the other vehicle 406 or the merging lane (lane LN2). This is the timing when the other vehicle 406 moves a predetermined width direction distance to the merging lane (lane LN3) side, and is excluded from the vehicle control of the vehicle 1 before the other vehicle 406 moves completely to the merging lane (lane LN3) side. be able to. In this way, by excluding other vehicles that do not merge into the lane LN1 (main lane) from the processing in the vehicle control in advance, it is possible to prevent the other vehicles that do not merge from being over-detected as the merging vehicle, and in the traveling control of the vehicle 1. , It becomes possible to suppress the execution of vehicle control for adjusting the relative position with other vehicles, which is not originally necessary.

Returning to FIG. 3, if the determination of step S330 does not include the attribute of the branch lane that is separated from the lane (main lane) in the attributes of the confluence, the ECU 20 (control unit) has all of a plurality of lanes. It is determined that the vehicle is in the merging lane, and the process proceeds to step S360. Then, in step S360, the ECU 20 (control unit) controls the vehicle when another vehicle joins the lane (main lane) from the merging flow path having the attributes of a plurality of merging lanes (S360).

FIG. 5 is a diagram illustrating vehicle control (S360) when another vehicle joins a lane (main lane) from a merging flow path having the attributes of a plurality of merging lanes. In FIG. 5, the main lane in which the vehicle 1 (own vehicle) travels is the lane LN1, and the vehicle 1 (own vehicle) is traveling in the lane LN1 along the arrow AR1. Lane LN2 is a merging lane (first merging lane) adjacent to lane LN1 (main lane), and lane LN3 is separated in the width direction of lane LN1 (main lane) as compared with merging lane (first lane). The merging lane at the position (second merging lane). It shows a state in which the other vehicle 502 is traveling in the merging lane (first merging lane: lane LN2) and the other vehicle 503 is traveling in the merging lane (second merging lane: lane LN3). Arrows AR2 to AR3 indicate the traveling directions of other vehicles 402 to 403.

Based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit), if the attributes of the confluence do not include the attribute of the branch lane away from the lane (main lane), the ECU 20 (control unit) will perform the confluence. It is determined that another vehicle traveling on the road merges with the lane LN1 (main lane) from the confluence (lane LN2, lane LN3). When the ECU 20 (control unit) determines that there is another vehicle merging from the merging flow path into the lane LN1 (main lane), the vehicle 1 (own vehicle) and the other vehicle 502, depending on the merging lane in which the other vehicle travels, Different thresholds (TH1, TH2) are set to control the position relative to 503. The ECU 20 (control unit) sets the first threshold value TH1 when the other vehicle 502 is traveling in the first merging lane (lane LN2) based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit). When the other vehicle 503 is traveling in the second merging lane (lane LN3), the second threshold value TH2, which is smaller than the first threshold value TH1, is set.

In the ECU 20 (control unit), when the other vehicle 502 is traveling in the first merging lane (lane LN2), the relative distance between the vehicle 1 and the other vehicle 502 behind in the traveling direction is from the first threshold value TH1. If it is large, acceleration control is performed to accelerate the vehicle 1. Further, in the ECU 20 (control unit), when the other vehicle 503 is traveling in the second merging lane (lane LN3), the relative distance between the vehicle 1 and the other vehicle 503 behind in the traveling direction is the second threshold value. If it is larger than TH2, acceleration control is performed.

The ECU 20 (control unit) does not perform acceleration control based on the relative speed between the vehicle 1 (own vehicle) and the other vehicles 502 and 503 based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit). However, when it is determined that it is possible to overtake another vehicle in constant speed running at the current speed, overtaking control is performed to overtake another vehicle in constant speed running. Whether or not the overtaking control can be executed is based on the set threshold value, and the ECU 20 (control unit) determines that the ECU 20 (control unit) is behind the vehicle in the traveling direction when the other vehicle 502 is traveling in the first merging lane (lane LN2). When the relative distance to the other vehicle is larger than the first threshold value TH1, the overtaking control is performed to overtake the other vehicle 502 by traveling the vehicle 1 at a constant speed, and the other vehicle 503 travels in the second merging lane (lane LN3). If the relative distance is larger than the second threshold value TH2, overtaking control is performed. Here, the overtaking is not limited to the case where the vehicle 1 (own vehicle) overtakes from behind the other vehicle, and the vehicle 1 (own vehicle) already exists in front of the other vehicle, and the vehicle 1 (own vehicle) It also includes the case where the speed is faster than the speed of the other vehicle and the relative distance between the vehicle 1 (own vehicle) and the other vehicle increases.

Since the second threshold value TH2 is a smaller value than the first threshold value TH1, the ECU 20 (control unit) controls acceleration at a shorter relative position in the second merging lane due to the relative positional relationship with the vehicle 1. It becomes possible to execute overtaking control. That is, the ECU 20 (control unit) performs acceleration control and additional control for the other vehicle 503 traveling in the second merging lane (lane LN3) as compared with the other vehicle 502 traveling in the first merging lane (lane LN2). It becomes easier to execute over-control. In other words, the ECU 20 (control unit) accelerates with respect to the other vehicle 502 traveling in the first merging lane (lane LN2) as compared with the other vehicle 503 traveling in the second merging lane (lane LN3). Makes it difficult to execute control and overtaking control.

On the other hand, the ECU 20 (control unit) performs deceleration control for decelerating the vehicle 1 when the relative position between the vehicle 1 and the other vehicle is equal to or less than the set threshold value, and the other vehicle merging into the lane 1 (main lane). On the other hand, deceleration control is performed to secure a confluence space.

In the ECU 20 (control unit), when the other vehicle 502 is traveling in the first merging lane (lane LN2), the relative distance between the vehicle and the other vehicle behind in the traveling direction is equal to or less than the first threshold TH1. In this case, deceleration control is performed to decelerate the vehicle 1. Further, the ECU 20 (control unit) performs deceleration control when the other vehicle 503 is traveling in the second merging lane (lane LN3) and the relative distance is equal to or less than the second threshold value TH2.

Since the first threshold value TH1 is a larger value than the second threshold value TH2, the ECU 20 (control unit) controls deceleration at a longer relative position in the first merging lane due to the relative positional relationship with the vehicle 1. It will be possible to execute. That is, the ECU 20 (control unit) controls deceleration with respect to the other vehicle 502 traveling in the first merging lane (lane LN2) as compared with the other vehicle 503 traveling in the second merging lane (lane LN3). Will be easier to execute. In other words, the ECU 20 (control unit) decelerates with respect to the other vehicle 503 traveling in the second merging lane (lane LN3) as compared with the other vehicle 502 traveling in the first merging lane (lane LN2). Makes control difficult to execute.

As a result, with respect to the other vehicle 502 of the first merging lane (lane LN2) existing closer to the vehicle 1 (own vehicle) in the vehicle width direction, the second merging lane (lane LN3) ) Compared to other vehicles 503, vehicle 1 is controlled so that acceleration control and overtaking control are not performed until a longer and sufficient relative position can be secured, and if the relative position cannot be secured, the vehicle merges by deceleration control. It can be controlled to secure space.

Further, with respect to the other vehicle 503 of the second merging lane (lane LN3) existing at a position farther in the vehicle width direction with respect to the vehicle 1 (own vehicle), the first merging lane (lane LN2) Compared to other vehicles 502, even if the relative distance in the traveling direction is short, the positional relationship is separated in the vehicle width direction. Therefore, the ECU 20 (control unit) controls the vehicle 1 so as to perform acceleration control and overtaking control in a state where the relative distance of the second threshold value TH2, which is shorter than the first threshold value TH1, can be secured, and the relative position. If it cannot be secured, it can be controlled so as to secure a merging space by deceleration control.

In the vehicle control control example described with reference to FIGS. 4 and 5, a case where another vehicle is located behind the vehicle 1 (own vehicle) is described as an example, but the vehicle control by the vehicle control device is described as an example. The present invention is not limited to the example, and the case may be a case where another vehicle is located in front of the vehicle 1 (own vehicle). In this case, if the magnitude relation between the first threshold value TH1 and the second threshold value TH2 is reversed, the vehicle control described above is the same as the vehicle control when another vehicle is located in front of the vehicle 1 (own vehicle). It is possible to apply to.

<Summary of Embodiment>
The above-described embodiment discloses at least the following vehicle control device, a vehicle having the vehicle control device, a vehicle control method and a program of the vehicle control device.

Configuration 1. The vehicle control device of the above embodiment is a vehicle control device (for example, 100 in FIG. 1) that controls the running of a vehicle (for example, 1 in FIG. 2).
Acquisition means (for example, ECUs 22 and 23) for acquiring information around the vehicle (1), and
Based on the information acquired by the acquisition means (ECUs 22 and 23), another vehicle traveling in a plurality of lanes of the confluence that joins the lane in which the vehicle (1) is traveling (for example, the lane LN1 in FIG. 4) A control means (for example, ECU 20) for determining whether or not to join the lane (lane LN1) and controlling the traveling of the vehicle (1) based on the determination.

According to the vehicle control device of the configuration 1, it is determined whether or not another vehicle traveling in a plurality of lanes of the merging flow path that joins the lane in which the vehicle is traveling joins the lane, and based on the determination, the vehicle It becomes possible to control the running.

Configuration 2. In the vehicle control device (100) of the above embodiment, the confluence is formed as the plurality of lanes.
The first merging lane adjacent to the lane (for example, lane LN2 in FIG. 5) and
The second merging lane (for example, lane LN3 in FIG. 5) at a position separated from the lane (LN1) in the width direction of the lane as compared with the first merging lane (lane LN2) is included.
The control means (20)
When it is determined that the other vehicle (for example, 502, 503 in FIG. 5) that joins the lane from the confluence is present.
Different threshold values (502, 503) for controlling the relative positions of the vehicle (1) and the other vehicle (502, 503) according to the merging lanes (lane LN2, lane LN3) in which the other vehicle (502, 503) travels. For example, TH1 and TH2) in FIG. 5 are set.

Configuration 3. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) is based on the information acquired by the acquisition means (ECUs 22 and 23).
When the other vehicle (502) is traveling in the first merging lane (lane LN2), a first threshold value (TH1) is set, and the other vehicle (502) is traveling in the second merging lane (lane LN3). , Set the second threshold (TH2).

Configuration 4. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) performs acceleration control of the vehicle when the relative distance between the vehicle and the other vehicle is larger than a set threshold value.
The acceleration of the vehicle is higher when the other vehicle is traveling in the second merging lane (lane LN3) than when the other vehicle is traveling in the first merging lane (lane LN2). The first threshold value (TH1) and the second threshold value (TH2) are set so that the control can be easily executed.

Configuration 5. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) performs overtaking control of the vehicle when the relative distance between the vehicle and the other vehicle is larger than a set threshold value.
Compared with the case where the other vehicle is traveling in the first merging lane (lane LN2), the case where the other vehicle is traveling in the second merging lane (lane LN3) is the follow-up of the vehicle. The first threshold value (TH1) and the second threshold value (TH2) are set so as to facilitate the execution of the over-control.

Configuration 6. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) performs deceleration control of the vehicle when the relative distance between the vehicle and the other vehicle is equal to or less than a set threshold value.
Compared with the case where the other vehicle is traveling in the second merging lane (lane LN3), the deceleration of the vehicle is higher when the other vehicle is traveling in the first merging lane (lane LN2). The first threshold value (TH1) and the second threshold value (TH2) are set so that the control can be easily executed.

According to the vehicle control devices of configurations 1 to 6, the other vehicle 502 in the first merging lane, which is located closer to the vehicle 1 in the vehicle width direction, is in addition to the second merging lane. Compared to the vehicle 503, the vehicle 1 is controlled so as not to perform acceleration control or overtaking control until a sufficient relative position can be secured, and if the relative position cannot be secured, a merging space is secured by deceleration control. Can be controlled to do so.

Further, the other vehicle 503 in the second merging lane, which is located farther in the vehicle width direction from the vehicle 1, is relative to the other vehicle 502 in the first merging lane in the traveling direction. Even if the distance is short, they are separated in the vehicle width direction. Therefore, the ECU 20 (control unit) controls the vehicle 1 so as to perform acceleration control and overtaking control in a state where the relative distance of the second threshold value TH2, which is shorter than the first threshold value TH1, can be secured, and the relative position. If it cannot be secured, it can be controlled so as to secure a merging space by deceleration control.

Configuration 7. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) is based on the information acquired by the acquisition means (ECUs 22 and 23).
The merging flow path is a merging lane adjacent to the lane (for example, LN2 in FIG. 4), a merging lane at a position separated in the width direction of the lane (for example, LN3 in FIG. 4), and the merging lane (LN2, When it has an attribute with a branch lane (for example, LN4 in FIG. 4) connected to LN3) and separated from the lane (LN1).
Among the above attributes, it is determined whether or not another vehicle (for example, 402, 405, 406 in FIG. 4) traveling in the merging lane (LN2) adjacent to the lane (LN1) joins the lane (LN1). Based on the determination, the traveling of the vehicle (1) is controlled.

Configuration 8. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) is an other vehicle (for example, 403 in FIG. 4) traveling in the merging lane (LN3) at the separated position in the determination process. And other vehicles (for example, 404 in FIG. 4) traveling in the branch lane (LN4) are excluded, and the traveling of the vehicle is controlled.

Configuration 9. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) is from the merging lane (LN2) adjacent to the lane (LN1) based on the information acquired by the acquisition means (ECUs 22 and 23). When there is another vehicle (for example, 405 in FIG. 4) that changes lanes to the branch lane (LN4), the other vehicle (405) that has changed lanes is excluded from the plurality of other vehicles traveling in the merging lane. , Control the running of the vehicle.

Configuration 10. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) is from the merging lane (LN2) adjacent to the lane (LN1) based on the information acquired by the acquisition means (ECUs 22 and 23). When there is another vehicle (for example, 406 in FIG. 4) that changes lanes to the merging lane (LN3) at the separated position, another vehicle (406) that has changed lanes from a plurality of other vehicles traveling in the merging lane. ) Is excluded, the traveling of the vehicle is controlled.

According to the vehicle control devices of the configurations 7 to 10, the other vehicles that do not merge into the lane LN1 (main lane) are excluded from the processing in the vehicle control in advance, so that the other vehicles that do not merge are over-detected as the merged vehicle. This makes it possible to prevent the vehicle 1 from executing vehicle control for adjusting a relative position with another vehicle, which is not originally necessary.

Configuration 11. The vehicle of the above embodiment is a vehicle (for example, 1 of FIG. 2) having a vehicle control device (for example, 100 in FIG. 1) for controlling the running of the vehicle, and the vehicle control device (100) is the vehicle. Acquisition means (for example, ECUs 22 and 23) for acquiring information around (1), and
Based on the information acquired by the acquisition means (ECUs 22 and 23), another vehicle traveling in a plurality of lanes of the confluence that joins the lane in which the vehicle (1) is traveling (for example, the lane LN1 in FIG. 4) A control means (for example, ECU 20) for determining whether or not to join the lane (lane LN1) and controlling the traveling of the vehicle (1) based on the determination.

According to the vehicle of the configuration 11, it is determined whether or not another vehicle traveling in a plurality of lanes of the merging flow path that joins the lane in which the vehicle is traveling joins the lane, and the vehicle travels based on the determination. It becomes possible to provide a vehicle (for example, 1 in FIG. 2) having a vehicle control device (for example, 100 in FIG. 1) that can be controlled.

Configuration 12. The vehicle control method of the above embodiment is a vehicle control method of a vehicle control device (for example, 100 in FIG. 1) that controls the running of the vehicle.
An acquisition process for acquiring information around the vehicle (for example, S300 and S310 in FIG. 3) and
Based on the information acquired in the acquisition step, it is determined whether or not another vehicle traveling in a plurality of lanes of the merging flow path that merges with the lane in which the vehicle is traveling joins the lane, and based on the determination. The vehicle has a control step (for example, S320 to S360 in FIG. 3) for controlling the traveling of the vehicle.

Configuration 13. The program of the above-described embodiment is a program for causing a computer to execute each step of a vehicle control method of a vehicle control device (for example, 100 in FIG. 1) for controlling the running of a vehicle.
An acquisition process for acquiring information around the vehicle (for example, S300 and S310 in FIG. 3) and
Based on the information acquired in the acquisition step, it is determined whether or not another vehicle traveling in a plurality of lanes of the merging flow path that merges with the lane in which the vehicle is traveling joins the lane, and based on the determination. The vehicle has a control step (for example, S320 to S360 in FIG. 3) for controlling the traveling of the vehicle.

According to the vehicle control method of configuration 12 and the program of configuration 13, it is determined whether or not another vehicle traveling in a plurality of lanes of the merging flow path that merges with the lane in which the vehicle is traveling joins the lane, and the determination is made. Based on this, it becomes possible to control the running of the vehicle.

(Other embodiments)
The present invention is also a process in which a program that realizes the functions of the above-described embodiment is supplied to a system or device via a network or a storage medium, and one or more processors in the computer of the system or device reads and executes the program. It is feasible.

The invention is not limited to the above-described embodiment, and various modifications and changes can be made within the scope of the gist of the invention.

20, 22, 23: ECU, 42: Rider, 43: Radar, S: Sensor,
COM: Computer, CAM: Camera, 100: Vehicle control device 20: ECU (control unit), 22, 23: ECU (acquisition unit)

Claims (13)

A vehicle control device that controls the running of a vehicle.
An acquisition means for acquiring information around the vehicle and
Based on the information acquired by the acquisition means, it is determined whether or not another vehicle traveling in a plurality of lanes of the merging flow path that joins the lane in which the vehicle is traveling joins the lane, and based on the determination. The control means for controlling the running of the vehicle and
A vehicle control device comprising. The combined flow path has the plurality of lanes.
The first merging lane adjacent to the lane and
Includes a second merging lane at a position separated from the lane in the width direction of the lane as compared with the first merging lane.
The control means
When it is determined that there is another vehicle merging into the lane from the merging flow path,
The vehicle control device according to claim 1, wherein different threshold values for controlling the relative positions of the vehicle and the other vehicle are set according to the merging lane in which the other vehicle travels. The control means is based on the information acquired by the acquisition means.
The claim is characterized in that a first threshold value is set when the other vehicle is traveling in the first merging lane, and a second threshold value is set when the other vehicle is traveling in the second merging lane. 2. The vehicle control device according to 2. The control means
When the relative distance between the vehicle and the other vehicle is larger than the set threshold value, the acceleration control of the vehicle is performed.
It is easier to execute the acceleration control of the vehicle when the other vehicle is traveling in the second merging lane than when the other vehicle is traveling in the first merging lane. The vehicle control device according to claim 3, wherein the first threshold value and the second threshold value are set. The control means
When the relative distance between the vehicle and the other vehicle is larger than the set threshold value, the overtaking control of the vehicle is performed.
It is easier to execute the overtaking control of the vehicle when the other vehicle is traveling in the second merging lane than when the other vehicle is traveling in the first merging lane. The vehicle control device according to claim 3, wherein the first threshold value and the second threshold value are set. The control means
When the relative distance between the vehicle and the other vehicle is equal to or less than the set threshold value, the deceleration control of the vehicle is performed.
It is easier to execute the deceleration control of the vehicle when the other vehicle is traveling in the first merging lane than when the other vehicle is traveling in the second merging lane. The vehicle control device according to claim 3, wherein the first threshold value and the second threshold value are set. The control means is based on the information acquired by the acquisition means.
When the merging flow path has the attributes of a merging lane adjacent to the lane, a merging lane at a position separated in the width direction of the lane, and a branch lane connected to the merging lane and separated from the lane.
Claim 1 is characterized in that it is determined whether or not another vehicle traveling in a merging lane adjacent to the lane joins the lane among the above attributes, and the traveling of the vehicle is controlled based on the determination. 6. The vehicle control device according to any one of 6. The claim is characterized in that, in the determination process, the control means controls the traveling of the vehicle except for another vehicle traveling in the merging lane at the separated position and another vehicle traveling in the branch lane. Item 7. The vehicle control device according to item 7. When there is another vehicle that changes lanes from the merging lane adjacent to the lane to the branch lane based on the information acquired by the acquiring means, the control means is said to be from a plurality of other vehicles traveling in the merging lane. The vehicle control device according to claim 7 or 8, wherein the vehicle controls the traveling of the vehicle except for another vehicle that has changed lanes. The control means has a plurality of vehicles traveling in the merging lane when there is another vehicle that changes lanes from the merging lane adjacent to the lane to the merging lane at a position separated from the merging lane based on the information acquired by the acquiring means. The vehicle control device according to claim 7 or 8, wherein the traveling of the vehicle is controlled by excluding the other vehicle that has changed the lane from the other vehicle. A vehicle having a vehicle control device that controls the running of the vehicle.
The vehicle control device is
An acquisition means for acquiring information around the vehicle and
Based on the information acquired by the acquisition means, it is determined whether or not another vehicle traveling in a plurality of lanes of the merging flow path that joins the lane in which the vehicle is traveling joins the lane, and based on the determination. The control means for controlling the running of the vehicle and
A vehicle characterized by being equipped with. It is a vehicle control method of a vehicle control device that controls the running of a vehicle.
The acquisition process for acquiring information around the vehicle and
Based on the information acquired in the acquisition step, it is determined whether or not another vehicle traveling in a plurality of lanes of the merging flow path that merges with the lane in which the vehicle is traveling joins the lane, and based on the determination. The control process that controls the running of the vehicle and
A vehicle control method characterized by having. A program that causes a computer to execute each step of a vehicle control method of a vehicle control device that controls the running of a vehicle.
The acquisition process for acquiring information around the vehicle and
Based on the information acquired in the acquisition step, it is determined whether or not another vehicle traveling in a plurality of lanes of the merging flow path that merges with the lane in which the vehicle is traveling joins the lane, and based on the determination. The control process that controls the running of the vehicle and
A program characterized by having.

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