JP2024010869A - Driving support method and driving support device - Google Patents

Abstract

To allow an occupant to easily determine that an own vehicle is traveling in a lane suitable for efficient travel to a destination when driving the own vehicle along a target route to the destination.SOLUTION: A method includes steps of: setting a lane plan indicating a lane in which an own vehicle is planned to travel based on a target route (S2); detecting a road state around the own vehicle (S4); obtaining congestion information for each lane on the target route (S6); determining whether or not the planned lane is more congested than an adjacent lane based on the road state around the own vehicle when the own vehicle is traveling on a planned lane matching the lane plan (S5); determining whether or not the own vehicle can return to the planned lane before a re-routing point on the target route ahead of the own vehicle's path based on the congestion information when the own vehicle changes to the adjacent lane (S8); and notifying an occupant of a reason to continue driving in the planned lane if it is determined that the planned lane is more congested than the adjacent lanes and if the own vehicle is not determined to be able to return to the planned lane (S13).SELECTED DRAWING: Figure 9

Description

The present invention relates to a driving support method and a driving support device.

Patent Document 1 listed below proposes a technique for notifying occupants in advance that a vehicle having an automatic driving function will stop at an intersection or the like in the future.

JP2019-27996A

Since the technology described in Patent Document 1 cannot grasp the road situation in front of the own vehicle, it is not suitable for efficiently driving the own vehicle to the destination along the target route. It is not possible to determine whether the vehicle is driving in the designated lane or not.
The present invention aims to make it easier for a passenger to judge whether the vehicle is traveling in a lane suitable for efficiently traveling to the destination when driving the vehicle along a target route to the destination. purpose.

In a driving support method according to one aspect of the present invention, a target route from the current position of the own vehicle to a destination is set, a lane plan representing the lane in which the own vehicle is scheduled to travel based on the target route is set, and the own vehicle Detects the surrounding road conditions, acquires congestion information that is information on the congestion status of each lane of the road on the target route, and makes sure that the vehicle is traveling on a road with multiple lanes in the same direction and lane planning. When the vehicle is driving in the planned lane, which is a lane that is consistent with When changing lanes, it is determined based on congestion information whether or not the vehicle can return to the planned lane before the change point on the target route ahead of the vehicle, and the planned lane is closer to the adjacent lane. If it is determined that the lane is congested and the vehicle can return to the planned lane, the system assists the vehicle in changing lanes from the planned lane to the adjacent lane, and determines that the planned lane is more congested than the adjacent lane. If it is not determined that the vehicle can return to the planned lane, the driver is notified of the reason for continuing to travel in the planned lane.

According to the present invention, when driving the own vehicle along the target route to the destination, the occupant can easily determine whether the own vehicle is traveling in a lane suitable for efficiently traveling to the destination. .

1 is a schematic configuration diagram of a driving support device according to an embodiment. FIG. 2 is an explanatory diagram of an example of a driving support method according to an embodiment. It is a figure which shows an example of the notification which notifies the reason for continuing driving in a planned lane. FIG. 2 is a block diagram of an example of the functional configuration of the controller in FIG. 1. FIG. (a) is an explanatory diagram of an example of a method for determining whether the vehicle's own lane is more congested than an adjacent lane, and (b) is an explanatory diagram of an example of a method for determining whether or not the vehicle can return to the planned lane in front of the vehicle. It is an explanatory diagram of an example. (a) to (d) are diagrams showing examples of course change points and planned lanes. FIG. 6 is a diagram illustrating an example of a notification notifying that a lane change is to be performed. (a) to (h) are explanatory diagrams of an example of the operation of the driving support device of the embodiment in individual situations. It is a flow chart of an example of the driving support method of an embodiment.

Embodiments of the present invention will be described below with reference to the drawings. Note that each drawing is schematic and may differ from the actual drawing. In addition, the embodiments of the present invention shown below illustrate devices and methods for embodying the technical idea of the present invention. is not limited to the following: The technical idea of the present invention can be modified in various ways within the technical scope defined by the claims.

(First embodiment)
(composition)
FIG. 1 is a schematic configuration diagram of an example of a driving support device according to an embodiment. The own vehicle 1 includes a driving support device 10 that controls the running of the own vehicle 1. The driving support device 10 sets a target route from the current position of the own vehicle 1 to a destination, and performs driving support control to support driving of the own vehicle 1 along the target route.
For example, the driving support control by the driving support device 10 may be an autonomous driving control that causes the host vehicle 1 to automatically travel along a target route without the driver's involvement. Further, for example, the driving support control by the driving support device 10 may be navigation control that prompts the driver to change course at a course change point on the target route. In the following description, a case will be exemplified in which the driving support control by the driving support device 10 is autonomous driving control.

The driving support device 10 includes an object sensor 11, a vehicle sensor 12, a positioning device 13, a map database (map DB) 14, a communication device 15, a navigation device 16, a human machine interface (HMI) 17, and a controller. 18 and an actuator 19.
The object sensor 11 is one of a plurality of different types that detect objects around the own vehicle 1, such as a laser radar, a millimeter wave radar, a camera, and a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) mounted on the own vehicle 1. Equipped with an object detection sensor.

The vehicle sensor 12 is mounted on the own vehicle 1 and detects various information (vehicle signals) obtained from the own vehicle 1. The vehicle sensors 12 include, for example, a vehicle speed sensor that detects the vehicle speed of the own vehicle 1, a wheel speed sensor that detects the rotational speed of the tires of the own vehicle 1, and a wheel speed sensor 3 that detects the acceleration and deceleration of the own vehicle 1 in three axial directions. An axial acceleration sensor, a steering angle sensor that detects the steering angle of the steering wheel, a steering angle sensor that detects the turning angle of the steered wheels, a gyro sensor that detects the angular velocity of the own vehicle 1, a yaw rate sensor that detects the yaw rate, and a steering angle sensor that detects the turning angle of the steering wheel. It includes an accelerator sensor that detects the accelerator opening of the vehicle and a brake sensor that detects the amount of brake operation by the driver.

The positioning device 13 includes a global positioning system (GNSS) receiver, and measures the current position of the own vehicle 1 by receiving radio waves from a plurality of navigation satellites. The GNSS receiver may be, for example, a Global Positioning System (GPS) receiver. The positioning device 13 may be, for example, an inertial navigation device.
The map database 14 stores road map data. For example, the map database 14 may store high-precision map data (hereinafter simply referred to as "high-precision map") suitable as map information for automatic driving. The map database 14 may store map data for navigation (hereinafter simply referred to as "navigation map").
The communication device 15 performs wireless communication with a communication device external to the vehicle 1 . The communication method by the communication device 15 may be, for example, wireless communication using a public mobile telephone network, vehicle-to-vehicle communication, road-to-vehicle communication, or satellite communication.

The navigation device 16 recognizes the current position of the own vehicle using the positioning device 13 and acquires map information at the current position from the map database 14 . The navigation device 16 sets a target route from the current position of the own vehicle 1 to a destination input by the occupant (for example, the driver of the own vehicle 1), and provides route guidance to the occupant according to the target route. Additionally, the navigation device 16 outputs information about the target route to the controller 18. During autonomous driving control, the controller 18 automatically drives the own vehicle 1 so as to travel along the target route set by the navigation device 16.

The HMI 17 is an interface device that exchanges information between the driving support device 10 and the occupant. The HMI 17 includes a display device (for example, a display screen of a navigation system) that can be viewed by the occupants of the host vehicle 1, and a speaker and a buzzer for outputting alarm sounds, notification sounds, and audio information.
The HMI 17 also includes an operator that receives operation input from the occupant to the driving support device 10 . The operator may be a mechanical interface device such as a button, switch, lever, dial, or keyboard, or may be a button, switch, lever, dial, keyboard, or the like displayed on a touch panel.

The controller 18 is an electronic control unit that performs driving support control of the own vehicle 1. The controller 18 includes a processor 18a and peripheral components such as a storage device 18b. The processor 18a may be, for example, a CPU or an MPU.
The storage device 18b may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The storage device 18b may include registers, cache memory, and memories such as ROM and RAM used as main storage devices.

The functions of the controller 18 described below are realized, for example, by the processor 18a executing a computer program stored in the storage device 18b.
Note that the controller 18 may be formed of dedicated hardware for executing each information process described below. For example, the controller 18 may include a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the controller 18 may include a PLD such as an FPGA.

The actuator 19 operates the steering wheel, accelerator opening, and brake device of the own vehicle in response to a control signal from the controller 18 to generate vehicle behavior of the own vehicle. The actuator 19 includes a steering actuator, an accelerator opening actuator, and a brake control actuator. The steering actuator controls the steering direction and amount of steering of the host vehicle. The accelerator opening actuator controls the accelerator opening of the host vehicle. The brake control actuator controls the braking operation of the brake device of the host vehicle.

Next, an example of driving support control by the controller 18 will be explained. See FIG. 2. Reference symbol Rd indicates a road on which the host vehicle 1 travels. As illustrated, the road Rd has multiple lanes (two lanes Lp and La in the example of FIG. 2) in the same traffic direction.
Further, reference numeral Pc indicates a course change point Pc on the target route set by the navigation device 16. FIG. 2 shows an example where the course change on the target route is a left turn at an intersection that is the course change point Pc.

The controller 18 sets a lane plan representing the lane in which the host vehicle 1 is scheduled to travel based on the target route. Reference numeral Lp indicates a planned lane that matches the lane plan, and reference numeral La indicates an adjacent lane to the planned lane Lp. In the example of FIG. 2, since the course change on the target route is a left turn at the course change point Pc, the controller 18 sets a lane plan in which the left lane is the planned lane Lp.
Reference numeral 20 indicates a section around the own vehicle 1 (sometimes referred to as "surrounding section 20" in the following explanation). For example, the peripheral section 20 may be a section within a range in which the object sensor 11 can detect an object. Reference numeral 21 indicates a section in front of the host vehicle 1 that is further away than the surrounding section 20 (in the following description, it may be referred to as "distant section 21"). For example, the far section 21 may be a section in which the object sensor 11 cannot detect an object.

As shown in FIG. 2, when the own vehicle 1 is traveling on a road Rd having multiple lanes, and the planned lane Lp on which the own vehicle 1 is traveling in the surrounding section 20 is more congested than the adjacent lane La, the passenger However, there is a possibility that the driver may feel uncomfortable about the vehicle 1 continuing to drive in the planned lane Lp, which is congested.
On the other hand, if the own vehicle 1 changes lanes to the vacant adjacent lane La, if the traffic jam in the planned lane Lp continues up to the course change point Pc, as shown in FIG. It becomes difficult to return to the planned lane Lp by the time you arrive, and there is a risk that smooth traffic will be hindered.

Therefore, the controller 18 acquires congestion information that is information on the congestion state of each lane of the road on the target route, and when the own vehicle 1 is traveling on the planned lane Lp, the controller 18 acquires congestion information that is information on the congestion state of each lane of the road on the target route. Based on this, it is determined whether the planned lane Lp is more congested than the adjacent lane La. In addition, when the own vehicle 1 changes lanes to the adjacent lane La, the congestion information indicates whether or not the own vehicle 1 can return to the planned lane Lp before the course change point Pc on the target route ahead of the own vehicle 1. Judgment based on
When the controller 18 determines that the planned lane Lp is more congested than the adjacent lane La and determines that the host vehicle 1 can return to the planned lane Lp, it supports the lane change from the planned lane Lp to the adjacent lane La. . If it is determined that the planned lane Lp is more congested than the adjacent lane La and it is not determined that the own vehicle 1 can return to the planned lane Lp, the occupant is notified of the reason for continuing to travel in the planned lane Lp.

FIG. 3 is a diagram illustrating an example of a notification informing the reason for continuing to travel on the planned lane Lp. For example, the controller 18 may display, on the display device of the HMI 17, a notification image 22 representing a notification indicating the reason for continuing to travel in the planned lane Lp. For example, the notification image 22 may include a character string 23 representing the reason for continuing to travel on the planned lane Lp, and a schematic diagram 24 explaining the road condition from the current position of the host vehicle 1 to the course change point Pc. The schematic diagram 24 includes a graphic 24a representing the course change point Pc, a graphic 24b representing the course change direction at the course change point Pc, and a graphic 24c representing the congestion state of the lane from the current position of the host vehicle 1 to the course change point Pc. may include.

In this way, by notifying the reason for continuing to travel on the planned lane Lp, the occupants of the own vehicle 1 can maintain the target lane even if the own vehicle 1 is traveling on the planned lane Lp, which is more congested than the adjacent lane La. It becomes easier to determine whether the vehicle is traveling in a lane suitable for efficiently traveling along the route to the destination.
In addition to or in place of the notification image 22, the controller 18 may output from the HMI 17 an audio message informing the reason for continuing to travel in the planned lane Lp. In addition, the notification image 22 is displayed on a mobile terminal device (for example, a smartphone, a tablet, a mobile personal computer, etc.) used by the occupants of the own vehicle 1, and a voice message is sent to the mobile terminal to notify the reason for continuing to drive in the planned lane Lp. It may also be output from the device.

The functions of the controller 18 will be described in detail with reference to FIG. 4. The controller 18 includes a vehicle position detection section 30, a road condition detection section 31, a congestion information acquisition section 32, a driving action plan setting section 33, a travel trajectory generation section 34, and a vehicle control section 35.
The own vehicle position detection unit 30 determines the absolute position of the own vehicle 1, that is, the position of the own vehicle 1 with respect to a predetermined reference point, based on the measurement results by the positioning device 13 and the odometry using the detection results from the vehicle sensor 12. , measure posture and speed.

The road condition detection unit 31 detects the road condition of the road Rd in the peripheral section 20 around the own vehicle 1 based on the detection signal of the object sensor 11. For example, the road condition detection unit 31 may detect the traveling speed of traffic flow for each lane in the surrounding section 20 (for example, the vehicle speed of vehicles around the own vehicle 1) as the road condition. For example, the road condition detection unit 31 may detect the inter-vehicle distance and vehicle density in the surrounding section 20 as the road condition.

The congestion information acquisition unit 32 acquires congestion information that is information on the congestion state of each lane of the road Rd on the target route. In the example of FIG. 2, congestion information for each of the planned lane Lp and the adjacent lane La is acquired.
For example, the congestion information acquisition unit 32 may receive congestion information from other vehicles located in the distant section 21 through vehicle-to-vehicle communication of the communication device 15. Other vehicles located in the far section 21 may generate congestion information by detecting the positions and number of vehicles existing in the vicinity using sensors that the other vehicles have.

Further, for example, the congestion information acquisition unit 32 may acquire congestion information in the far section 21 from the infrastructure through road-to-vehicle communication of the communication device 15. For example, the congestion information acquisition unit 32 may receive position information of vehicles on the road Rd in the far section 21 from the infrastructure as congestion information.
For example, the congestion information acquisition unit 32 may acquire congestion information based on historical data of past traffic volume on the road Rd. For example, the planned lane Lp and the adjacent lane La in the far section 21 are each divided into small sections, and the statistical values (average value, median value, maximum value, minimum value, etc.) of vehicle density in each section for each time period are calculated based on congestion. It may be obtained as information.
Note that an information processing device external to the driving support device 10 (for example, a server device external to the host vehicle 1) collects congestion information from other vehicles and infrastructure, and acquires congestion information based on past historical data. The congestion information may be acquired from an external information processing device.

The driving action plan setting unit 33 moves the own vehicle 1 along the target route based on the detection result by the own vehicle position detection unit 30, the detection result by the road condition detection unit 31, and the congestion information acquired by the congestion information acquisition unit 32. Set a general driving action plan for driving.
The driving behavior set by the driving behavior plan setting unit 33 includes, for example, stopping, pausing, traveling speed, deceleration, acceleration, changing course, turning right, turning left, going straight, and driving in a merging section or on a road with multiple lanes. This includes actions such as changing lanes, maintaining lanes, overtaking, and responding to obstacles. Details of the driving action plan setting section 33 will be described later.

The traveling trajectory generating section 34 generates a target traveling trajectory and a speed profile on which the own vehicle 1 is to travel based on the driving behavior set by the driving behavior plan setting section 33. For example, the driving trajectory generation unit 34 generates a plurality of candidates for target driving trajectories and speed profiles, and evaluates the future risk of each candidate based on a risk map that quantifies the degree of danger of the driving field around the own vehicle 1. and select the optimal target travel trajectory and speed profile.
The vehicle control unit 35 drives the actuator 19 so that the host vehicle 1 travels on the target travel trajectory at a speed that follows the target vehicle speed profile generated by the travel trajectory generation unit 34.

Next, details of the driving action plan setting section 33 will be explained. Here, a process will be described in which the driving behavior plan setting unit 33 plans a driving behavior to change lanes from the own lane to an adjacent lane on a road having multiple lanes.
The driving behavior plan setting section 33 includes a lane plan setting section 40 , a lane plan resetting section 41 , a reduction time calculation section 42 , a lane change judgment section 43 , and a notification processing section 44 .
The lane plan setting unit 40 sets a lane plan representing the lane in which the host vehicle 1 is scheduled to travel along the target route.

For example, when the road Rd on the target route has a plurality of lanes and there is a course change point Pc in front of the course of the road Rd, the lane plan setting unit 40 selects a lane in which a course change is possible at the course change point Pc. Set as a planned lane.
FIGS. 6(a) to 6(d) are diagrams showing examples of course change points Pc and planned lanes Lp. In FIGS. 6(a) to 6(d), the dashed-dotted line Rt indicates the target route Rt.
For example, the course change on the target route Rt may be a left turn or a right turn at an intersection that is a course change point Pc, as shown in FIGS. 6(a) and 6(b).

As shown in FIG. 6(a), when turning left at the course change point Pc, among the plurality of lanes L1 and L2 included in the road Rd, the lane L1 that can turn left at the course change point Pc is set as the planned lane Lp. You may do so.
As shown in FIG. 6(b), when making a right turn at the course change point Pc, among the plurality of lanes L1 and L2 included in the road Rd, a right turn lane L3 is permitted to turn right at the course change point Pc. The lane L2 adjacent to the road may be set as the planned lane Lp.

Further, the course change on the target route Rt may be, for example, as shown in FIGS. 6(c) and 6(d), even if it is proceeding from the main road Rm to the branch road Rj in the branch section which is the course change point Pc. good.
As shown in FIG. 6(c), among the plurality of lanes L4 and L5 on the main road Rm, when the exit lane L6 that advances from the lane L4 to the branch road Rj is branched, the lane L4 adjacent to the exit lane L6 is It may be set as the planned lane Lp.
As shown in FIG. 6(d), among the plurality of lanes L7 and L8 on the main road Rm, when the lane L7 separates from the main road Rm and becomes a lane of the branch road Rj, the lane L7 is changed to the planned lane Lp. You can set it as .
In addition, in FIG. 6(c) and FIG. 6(d), an example in which the branch road Rj branches off to the left from the main road Rm is explained, but when the branch road Rj branches to the right, the planned lane Lp is determined in the same manner. You can set it.

See FIG. 4. The lane plan resetting unit 41 determines whether the vehicle speed of the own vehicle 1 detected by the own vehicle position detection unit 30 is lower than a predetermined threshold while the own vehicle 1 is traveling on the planned lane Lp.
When the vehicle speed of the own vehicle 1 is lower than a predetermined threshold, the lane plan resetting unit 41 sets the lane plan in the surrounding area 20 around the own vehicle 1 based on the road condition around the own vehicle 1 detected by the road condition detection unit 31. , it is determined whether the own lane (planned lane Lp) is more congested than the adjacent lane La.

FIG. 5A is an explanatory diagram of an example of a method for determining whether the own lane Lp is more congested than the adjacent lane La. A dashed-dotted line indicates the vehicle speed of a vehicle on the own lane Lp in the peripheral section 20, and a dashed-two dotted line indicates the vehicle speed of a vehicle on the adjacent lane La.
For example, the lane plan resetting unit 41 determines that the vehicle speed of the vehicle on the adjacent lane La around the own vehicle 1 is faster than the vehicle speed of the vehicle on the own lane Lp, and the vehicle on the adjacent lane La and the vehicle on the own lane Lp It is determined whether a state in which the vehicle speed difference between the vehicles is equal to or greater than a threshold value Thv continues for a predetermined time or longer.

A state in which the vehicle speed of the vehicle on the adjacent lane La is faster than the vehicle speed of the vehicle on the own lane Lp and the vehicle speed difference between the vehicle on the adjacent lane La and the vehicle on the own lane Lp is equal to or greater than the threshold value Thv continues for a predetermined period of time or more. In this case, it is determined that the own lane Lp is more congested than the adjacent lane La in the surrounding section 20.
A state in which the vehicle speed of the vehicle on the adjacent lane La is faster than the vehicle speed of the vehicle on the own lane Lp and the vehicle speed difference between the vehicle on the adjacent lane La and the vehicle on the own lane Lp is equal to or greater than the threshold value Thv continues for a predetermined period of time or more. If not, it is not determined that the own lane Lp is more congested than the adjacent lane La in the surrounding section 20.
The lane plan resetting unit 41 may determine whether the own lane Lp is more congested than the adjacent lane La based on the inter-vehicle distance and vehicle density between the own lane Lp and the adjacent lane La in the surrounding section 20. For example, when the inter-vehicle distance of own lane Lp is shorter than the inter-vehicle distance of adjacent lane La, or when the vehicle density of own lane Lp is higher than the vehicle density of adjacent lane La, own lane Lp is It may be determined that it is more crowded than La.

If it is determined that the own lane Lp is more congested than the adjacent lane La in the surrounding section 20, the lane plan resetting unit 41 determines whether the own vehicle 1 changes lanes from the own lane Lp to the adjacent lane La. Whether or not the own vehicle 1 can change lanes to return to the planned lane Lp before the course change point Pc on the target route ahead of the route No. 1 (that is, whether or not the own vehicle 1 can travel along the target route) ) is determined based on congestion information.
FIG. 5(b) is an explanatory diagram of an example of a method for determining whether or not the vehicle 1 can return to the planned lane Lp in front of the host vehicle 1.

For example, the lane plan resetting unit 41 may determine whether or not it is possible to return to the planned lane Lp based on the inter-vehicle distance on the planned lane Lp in the section ahead of the own vehicle 1 (for example, the far section 21).
The vertical axis in FIG. 5(b) indicates the inter-vehicle distance at each point on the planned lane Lp. A section where the inter-vehicle distance is "0" indicates a section where a vehicle exists.

For example, the lane plan resetting unit 41 determines the lane in which the vehicle 1 returns to the planned lane Lp when the inter-vehicle distance on the planned lane Lp is equal to or greater than a threshold Dc between the current position of the vehicle 1 and the course change point Pc. It is determined that changes can be made. For example, if the inter-vehicle distance on the planned lane Lp before the course change point Pc in the far section 21 is equal to or greater than the threshold Dc, it may be determined that the own vehicle 1 can change lanes back to the planned lane Lp.

Conversely, if the inter-vehicle distance on the planned lane Lp does not exceed the threshold value Dc, it is not determined that the own vehicle 1 can change lanes to return to the planned lane Lp.
In addition, when obtaining statistical values of vehicle density in small sections into which the planned lane Lp is divided as congestion information, the distance from the current position of the own vehicle 1 to the course change point Pc (for example, the course change point Pc in the far section 21) is obtained. It may be determined that the host vehicle 1 can change lanes to return to the planned lane Lp if there is a small section where the vehicle density is less than the threshold value in the range before the threshold.

If it is determined that the own vehicle 1 can change lanes back to the planned lane Lp, the lane plan resetting unit 41 causes the own vehicle 1 to change lanes from the currently running planned lane Lp to the adjacent lane La, and return to the planned lane Lp. At a point where the inter-vehicle distance is equal to or greater than the threshold value Dc (or a small section where the vehicle density is less than the threshold value), a lane plan for changing the lane from the adjacent lane La to the planned lane Lp is reset.
The lane plan reset in this way may be referred to as a "lane plan candidate" in the following explanation.

If it is not determined that the host vehicle 1 can change lanes to return to the planned lane Lp, the lane plan resetting unit 41 does not reset the lane plan candidates. As a result, the original lane plan in which the vehicle continues to travel in the planned lane Lp that it is currently traveling on is maintained.
The lane plan resetting unit 41 may predict a delay time in reaching the destination due to continuing to travel on the planned lane Lp. For example, based on the detection result by the road condition detection unit 31 and the congestion information acquired by the congestion information acquisition unit 32, the vehicle speed of the vehicle in the planned lane Lp in the surrounding section 20 and the distant section 21 is estimated, and the planned lane Lp is congested. Calculate the difference in vehicle speed from the average vehicle speed when the system is not running. The delay time may be predicted based on the distance to the course change point Pc and the vehicle speed difference.

See FIG. 4. When the lane plan resetting unit 41 resets the lane plan candidates, the time reduction calculation unit 42 reduces the time according to the lane plan candidates compared to the case where the lane is not changed according to the lane plan candidates (that is, when traveling on the planned lane Lp is maintained). The time saved when changing lanes (that is, changing lanes to the adjacent lane La and then changing back to the planned lane Lp) is estimated.

For example, the shortened time calculation unit 42 calculates the difference between vehicles on the planned lane Lp and the adjacent lane La in the peripheral section 20 and the distant section 21 based on the detection result by the road condition detection section 31 and the congestion information acquired by the congestion information acquisition section 32. Estimate vehicle speed.
The shortened time calculation unit 42 calculates the travel distance on the adjacent lane La when changing lanes to the adjacent lane La and then returning to the planned lane Lp, and the vehicle speed difference between the planned lane Lp and the adjacent lane La. The time savings may be calculated based on

The lane change determining unit 43 determines whether or not to perform a lane change from the planned lane Lp to the adjacent lane La as a driving action of the host vehicle 1 .
Specifically, the lane change determination unit 43 determines whether the lane plan candidate has been reset by the lane plan resetting unit 41 and the time reduction calculated by the reduction time calculation unit 42 is greater than or equal to a threshold value.
If the lane planning candidate is reset and the time reduction is equal to or greater than the threshold, it is determined to change lanes according to the lane planning candidate. If the lane planning candidate is not reset, or if the time reduction is less than the threshold, it is determined not to change lanes according to the lane planning candidate (that is, to maintain travel on the planned lane Lp).

When the lane change determining unit 43 determines to change lanes, the traveling trajectory generating unit 34 changes the lane from the planned lane Lp in which the vehicle is currently traveling to the adjacent lane La, and the inter-vehicle distance on the planned lane Lp becomes equal to or greater than the threshold Dc. A target travel trajectory for changing lanes from the adjacent lane La to the planned lane Lp at a point (or a small section where the vehicle density is less than a threshold) is generated.
The vehicle control unit 35 changes the automatic lane of the host vehicle 1 by driving the actuator 19 based on the target travel trajectory generated by the travel trajectory generation unit 34 .

The notification processing unit 44 notifies the occupant of the determination result as to whether or not to change lanes from the planned lane Lp to the adjacent lane La, and the reason for determining whether or not to change lanes.
For example, if the lane change determination unit 43 determines not to change lanes even though the lane plan resetting unit 41 determines that the own lane Lp is more congested than the adjacent lane La, the notification processing unit 44 A notification image 22 (see FIG. 3) may be displayed on the display device of the HMI 17 to inform that the vehicle will continue traveling in the planned lane Lp and the reason thereof. The notification processing unit 44 may notify the occupant of the delay time in reaching the destination due to continuing to travel on the planned lane Lp.

In addition to or in place of this, an audio message may be output from the HMI 17 informing the reason for continuing to travel in the planned lane Lp. Furthermore, the notification image 22 may be displayed on the mobile terminal device used by the occupant of the host vehicle 1, or an audio message may be output from the mobile terminal device informing the driver of the reason for continuing to travel in the planned lane Lp.

When the lane change determination unit 43 determines to change lanes, the notification processing unit 44 may display on the display device of the HMI 17 a notification image that notifies the driver of changing lanes to the adjacent lane La and the reason thereof.
FIG. 7 is a diagram illustrating an example of a notification notifying that a lane change will be performed. For example, the controller 18 may display, on the display device of the HMI 17, a notification image 22 representing a notification notifying the driver of changing lanes to the adjacent lane La and the reason thereof.
For example, the notification image 22 may include a character string 23 representing the reason for changing lanes to the adjacent lane La, and a schematic diagram 24 explaining the road conditions from the current position of the host vehicle 1 to the course change point Pc. The schematic diagram 24 includes a graphic 24a representing the course change point Pc, a graphic 24b representing the course change direction at the course change point Pc, and a graphic 24c representing the congestion state of the lane from the current position of the host vehicle 1 to the course change point Pc. may include.

In addition to or in place of the notification image 22, the lane change determination unit 43 may output from the HMI 17 an audio message informing the driver that the vehicle will change lanes to the adjacent lane La and the reason thereof. Further, the notification image 22 may be displayed on the mobile terminal device used by the occupant of the own vehicle 1, or an audio message may be output from the mobile terminal device informing the driver of changing lanes to the adjacent lane La and the reason thereof.
Note that if the lane plan resetting unit 41 does not determine that the own lane Lp is more congested than the adjacent lane La, the notification processing unit 44 informs the occupants of the reason for continuing to drive in the planned lane Lp. There is no need to notify.

(effect)
FIGS. 8(a) to 8(h) are explanatory diagrams of an example of the operation of the driving support device 10 of the embodiment in individual situations.
As shown in FIGS. 8(a) and (c), both the planned lane Lp and the adjacent lane La are congested (congested) in the surrounding section 20, and the planned lane Lp is more congested than the adjacent lane La. If it is not determined, the lane change from the planned lane Lp to the adjacent lane La is not performed. Further, the driver is not notified of the intention to continue traveling in the planned lane Lp or the reason thereof.

As shown in FIG. 8(b), in the peripheral section 20, the planned lane Lp is more congested than the adjacent lane La, but in the far section 21, the planned lane Lp is congested and it is not possible to change lanes back to the planned lane Lp. In this case, the lane change from the planned lane Lp to the adjacent lane La is not performed.
In this case, the occupants may feel uncomfortable about the fact that their own vehicle 1 continues to travel in the congested planned lane Lp even though the adjacent lane La is empty. Therefore, the driver is notified of the reason for continuing to travel in the planned lane Lp.

As shown in FIG. 8(d), when the planned lane Lp is more congested than the adjacent lane La in the peripheral section 20 and it is possible to change lanes back to the planned lane Lp in the far section 21, the planned lane A lane change is executed from Lp to the adjacent lane La. In this case, the driver is notified of the lane change and the reason.
As shown in FIGS. 8(e) and 8(g), if the adjacent lane La is more congested than the planned lane Lp in the surrounding section 20, a lane change is performed from the planned lane Lp to the adjacent lane La. do not. Further, the driver is not notified of the intention to continue traveling in the planned lane Lp or the reason thereof.

As shown in FIGS. 8(f) and 8(h), both the planned lane Lp and the adjacent lane La are empty in the surrounding section 20, and the planned lane Lp is not determined to be more congested than the adjacent lane La. In this case, the lane change from the planned lane Lp to the adjacent lane La is not performed. Further, the driver is not notified of the intention to continue traveling in the planned lane Lp or the reason thereof.

(motion)
FIG. 9 is a flowchart of an example of the driving support method according to the embodiment.
In step S1, the navigation device 16 sets a target route from the current position of the host vehicle 1 to the destination.
In step S2, the lane plan setting unit 40 sets a lane plan representing the lane in which the host vehicle 1 is scheduled to travel along the target route.

While the host vehicle 1 is traveling on the planned lane Lp, the lane plan resetting unit 41 determines whether the vehicle speed of the host vehicle 1 is lower than a predetermined threshold value in step S3. If the vehicle speed of the host vehicle 1 is lower than the predetermined threshold (step S3: Y), the process proceeds to step S4. If the vehicle speed of the host vehicle 1 is not lower than the predetermined threshold (step S3: N), the process proceeds to step S14.
In step S4, the road condition detection unit 31 detects the road condition of the road Rd in the peripheral section 20 around the own vehicle 1.

In step S5, the lane plan resetting unit 41 determines whether the traveling speed of the vehicle on the other lane, which is the adjacent lane La, is faster than the traveling speed of the vehicle on the own lane, which is the planned lane Lp, in the peripheral section 20. Determine whether If the traveling speed of the other lane is faster than the traveling speed of the own lane (step S5: Y), the process advances to step S6. If the traveling speed of the other lane is not faster than the traveling speed of the own lane (step S5: N), the process proceeds to step S14.
In step S6, the congestion information acquisition unit 32 acquires congestion information that is information on the congestion state of each lane of the road Rd on the target route.

In step S7, the lane plan resetting unit 41 causes the own vehicle 1 to change lanes from the own lane Lp to the adjacent lane La, and then moves to the planned lane Lp before the course change point Pc on the target route ahead of the own vehicle 1. Try resetting the lane planning candidates.
If the own vehicle 1 can return to the planned lane Lp when changing lanes from the own lane Lp to the adjacent lane La (step S8: Y), the process proceeds to step S9. When the own vehicle 1 cannot return to the planned lane Lp when changing lanes from the own lane Lp to the adjacent lane La (step S8: N), the process proceeds to step S13.

In step S9, the shortened time calculation unit 42 estimates the shortened time that will be reduced when changing lanes according to the lane planning candidates, compared to when changing lanes according to the lane planning candidates.
In step S10, the lane change determination unit 43 determines whether the reduced time is equal to or greater than a threshold value. If the shortened time is equal to or greater than the threshold (step S10: Y), the process advances to step S11. If the shortened time is not equal to or greater than the threshold (step S10: N), the process proceeds to step S13.

In step S11, the notification processing unit 44 notifies the occupant of the lane change to the adjacent lane La and the reason thereof.
In step S12, the traveling trajectory generation unit 34 and the vehicle control unit 35 change the lane of the host vehicle 1 from the planned lane Lp to the adjacent lane La by changing the automatic lane. The process then ends.
In step S13, the notification processing unit 44 notifies the occupant that the vehicle will not change lanes (continue traveling in the planned lane Lp) and the reason thereof. Further, the driver is notified of the delay time in reaching the destination due to continuing to travel on the planned lane Lp.
In step S14, the travel trajectory generation unit 34 and the vehicle control unit 35 maintain the host vehicle 1 traveling in the originally planned lane Lp. The process then ends.

(Effects of embodiment)
(1) In the driving support method, a target route from the current position of the own vehicle 1 to the destination is set, a lane plan representing the lane in which the own vehicle 1 is scheduled to travel based on the target route is set, and the own vehicle 1 Detects the surrounding road conditions, acquires congestion information that is information on the congestion state of each lane of the road on the target route, and detects the congestion information that is information on the congestion state of each lane of the road on the target route. When the own vehicle 1 is traveling on the planned lane, which is a lane consistent with the plan, it is determined whether the planned lane is more congested than the adjacent lane based on the road conditions around the own vehicle 1, and the own vehicle When the vehicle 1 changes lanes to an adjacent lane, it is determined based on congestion information whether or not the vehicle 1 can return to the planned lane before the change point on the target route ahead of the vehicle 1. If it is determined that the lane is more congested than the adjacent lane and the vehicle 1 is determined to be able to return to the planned lane, the system supports lane change from the planned lane to the adjacent lane and makes sure that the planned lane is not more congested than the adjacent lane. If it is determined that the vehicle 1 can return to the planned lane, the driver is notified of the reason for continuing to travel in the planned lane.
As a result, even if the vehicle 1 is traveling in a planned lane that is more congested than the adjacent lane, the occupants of the vehicle 1 can drive in a lane that is suitable for efficiently traveling to the destination along the target route. It becomes easier to judge what is happening.

(2) If it is determined that the planned lane is more congested than the adjacent lane and it is determined that the own vehicle 1 can return to the planned lane, the occupant may be notified of the reason for changing lanes from the planned lane to the adjacent lane. .
Thereby, the occupant of the vehicle 1 can determine that even if the vehicle changes from the planned lane to the adjacent lane, the vehicle 1 will be able to return to the planned lane by the forward course change point on the target route.
(3) The time required to reach the destination is calculated by calculating the reduction in time required to reach the destination when changing lanes to the adjacent lane compared to not changing to the adjacent lane, and determining whether the planned lane is more congested than the adjacent lane. If it is determined that the vehicle 1 can return to the planned lane, and the time reduction is equal to or greater than a threshold value, the vehicle 1 may be supported to change lanes from the planned lane to the adjacent lane.
As a result, unnecessary lane changes can be suppressed when changing to an adjacent lane has little effect on shortening the travel time.

(4) It may be determined whether the planned lane is more congested than the adjacent lane based on at least one of the vehicle speeds of vehicles around the host vehicle 1 or the inter-vehicle distances around the host vehicle 1.
Thereby, it can be determined whether the planned lane is more congested than the adjacent lane around the own vehicle 1.
(5) Congestion information may be acquired by receiving, from other vehicles, detection results of vehicles existing around other vehicles detected by sensors of other vehicles traveling on roads on the target route.
Furthermore, congestion information may be obtained by obtaining position information of vehicles traveling on roads on the target route from infrastructure.
Furthermore, congestion information may be acquired based on historical data of past traffic volumes on roads on the target route.
Thereby, congestion information in the far section 21 that is further away than the detection range of the vehicle sensor 12 of the own vehicle 1 can be obtained.

(6) If the vehicle speed of the vehicle traveling in the adjacent lane is faster than the vehicle speed of the vehicle traveling in the planned lane, it may be determined that the planned lane is more congested than the adjacent lane.
This makes it possible to determine whether the planned lane is more congested than the adjacent lane.
(7) The display device in the host vehicle 1 or the passenger uses the determination result of whether to support lane change and the reason for continuing driving in the planned lane or the reason for changing lane from the planned lane to the adjacent lane. It may also be displayed on a terminal device.
Thereby, the occupant can be notified of the determination result of whether or not to support lane change and the reason for continuing to drive in the planned lane or the reason for changing lane from the planned lane to the adjacent lane.

DESCRIPTION OF SYMBOLS 1... Own vehicle, 10... Driving support device, 11... Object sensor, 12... Vehicle sensor, 13... Positioning device, 14... Map database, 15... Communication device, 16... Navigation device, 17... Human machine interface, 18... Controller , 18a...Processor, 18b...Storage device, 19...Actuator, 30...Vehicle position detection section, 31...Road condition detection section, 32...Congestion information acquisition section, 33...Driving action plan setting section, 34...Traveling trajectory generation section , 35...Vehicle control section, 40...Lane plan setting section, 41...Lane plan resetting section, 42...Reduction time calculation section, 43...Lane change determination section, 44...Notification processing section

Claims (10)

Set a target route from your vehicle's current location to your destination,
setting a lane plan representing a lane in which the host vehicle is scheduled to travel based on the target route;
Detecting road conditions around the own vehicle;
Obtaining congestion information that is information on the congestion state of each lane of the road on the target route,
When the own vehicle is traveling on a road having multiple lanes in the same traffic direction, and the own vehicle is traveling in a planned lane that is a lane consistent with the lane plan, the road conditions around the own vehicle are determined. Determining whether the planned lane is more congested than the adjacent lane based on the
When the own vehicle changes lanes to the adjacent lane, it is determined based on the congestion information whether the own vehicle can return to the planned lane before a course change point on the target route ahead of the own vehicle. to judge,
When determining that the planned lane is more congested than the adjacent lane and determining that the own vehicle can return to the planned lane, assisting in changing lanes from the planned lane to the adjacent lane;
If it is determined that the planned lane is more congested than the adjacent lane and it is not determined that the host vehicle can return to the planned lane, notify the occupant of the reason for continuing to drive in the planned lane;
A driving support method characterized by: When determining that the planned lane is more congested than the adjacent lane and determining that the host vehicle can return to the planned lane, notify the occupant of the reason for changing lanes from the planned lane to the adjacent lane. The driving support method according to claim 1, characterized in that: Calculating the time required to reach the destination is reduced when changing lanes to the adjacent lane compared to not changing lanes to the adjacent lane;
If it is determined that the planned lane is more congested than the adjacent lane, it is determined that the own vehicle can return to the planned lane, and the shortened time is equal to or greater than a threshold, the vehicle is transferred from the planned lane to the adjacent lane. assisting the vehicle in changing lanes,
The driving support method according to claim 1, characterized in that: It is characterized in that it is determined whether the planned lane is more congested than the adjacent lane based on at least one of vehicle speeds of vehicles surrounding the host vehicle or inter-vehicle distances around the host vehicle. The driving support method according to claim 1. The congestion information is obtained by receiving from the other vehicle a detection result of a vehicle existing in the vicinity of the other vehicle detected by a sensor of the other vehicle traveling on the road on the target route. The driving support method according to claim 1. 2. The driving support method according to claim 1, wherein the congestion information is obtained by obtaining position information of a vehicle traveling on a road on the target route from infrastructure. 2. The driving support method according to claim 1, wherein the congestion information is acquired based on historical data of past traffic volumes on roads on the target route. Claim 1 characterized in that the planned lane is determined to be more congested than the adjacent lane when the vehicle speed of the vehicle traveling in the adjacent lane is faster than the vehicle speed of the vehicle traveling in the planned lane. Driving support method described in. The determination result of whether or not to support the lane change and the reason for continuing driving in the planned lane or the reason for changing from the planned lane to the adjacent lane are displayed on the display device in the own vehicle or to the passenger. 9. The driving support method according to claim 1, wherein the driving support method is displayed on a terminal device used by the driver. A process of setting a lane plan representing a lane in which the vehicle is scheduled to travel based on a target route set from the current position of the vehicle to the destination, and detecting road conditions around the vehicle; A process of acquiring congestion information that is information on the congestion state of each lane of a road on the target route, and a process of acquiring congestion information that is information on the congestion state of each lane of a road on the target route, and a process of acquiring congestion information that is information on the congestion state of each lane of a road on the target route, and a process of acquiring congestion information that is information on the congestion state of each lane of a road on the target route, and a process in which the own vehicle is traveling on a road having multiple lanes in the same traffic direction and in a lane that is consistent with the lane plan. A process of determining whether or not the planned lane is more congested than an adjacent lane based on road conditions around the own vehicle when the own vehicle is traveling in a certain planned lane; Processing for determining whether or not the own vehicle can return to the planned lane before a course change point on the target route ahead of the own vehicle when changing lanes to the adjacent lane, based on the congestion information. and processing for supporting a lane change from the planned lane to the adjacent lane when it is determined that the planned lane is more congested than the adjacent lane and it is determined that the host vehicle can return to the planned lane. , when it is determined that the planned lane is more congested than the adjacent lane and it is not determined that the own vehicle can return to the planned lane, a process of notifying the occupant of the reason for continuing to drive in the planned lane; A driving support device characterized by comprising a controller that executes.

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