JP3924774B2 - Vehicle travel support device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicular driving support device that executes driving support control of a host vehicle based on an obstacle or the like existing in front of the vehicle, and more particularly, when driving on a driving lane of an automatic toll collection system installed on a toll road. The present invention relates to a vehicle travel support apparatus that changes travel support control.
[0002]
[Prior art]
In recent years, an automatic toll collection (Electronic Toll Collection, ETC) system has been developed for non-stop, toll-free, cashless, and human cost reduction at toll roads on toll roads. Has been started.
[0003]
In this ETC system, an IC card in which contract information is recorded is inserted into an in-vehicle device mounted on a vehicle, and traffic is made by wireless communication between the roadside antenna installed at the toll gate of the toll gate on the toll road and the on-vehicle device. This is a system in which information such as tolls is recorded on both the toll road computer system connected to the roadside antenna and the IC card, and can be traveled without stopping for toll payment.
[0004]
On the other hand, an obstacle existing in front of the vehicle is detected, and a collision avoidance system that automatically executes collision avoidance control (braking, alarm, etc.) of the own vehicle from the detected obstacle information, and a traveling lane of the own vehicle are detected. A lane departure avoidance system that detects and automatically executes departure avoidance control (steering, braking, warning, etc.) so as not to deviate from the detected traveling lane has been developed.
[0005]
[Problems to be solved by the invention]
By the way, even if the driver thinks that the toll gate will open when a vehicle equipped with the collision avoidance system enters the ETC lane, If the same collision avoidance control is used, there is a problem that the vehicle cannot be stopped reliably.
[0006]
Also, in the ETC lane, there is a high possibility that the preceding vehicle will suddenly stop when a communication trouble occurs or a non-ETC compatible vehicle enters the ETC lane. There is a problem that there are many cases where the vehicle cannot be stopped reliably.
[0007]
On the other hand, when a vehicle equipped with the collision avoidance system travels on an ETC lane, the surrounding lane and the preceding vehicle are recognized as an obstacle because the lane is narrow, and the vehicle automatically intervenes in collision avoidance control. There is an inconvenience that braking is activated and the driver feels uncomfortable or hinders smooth running.
[0008]
The present invention has been made in view of the above-mentioned problems, and the object thereof can be surely stopped even when the toll gate is not opened, etc., and appropriate and promptly with respect to the environment around the host vehicle when traveling on the ETC lane. An object of the present invention is to provide a vehicular travel support apparatus capable of executing collision avoidance control.
[0009]
In addition, as another purpose, the collision avoidance control content can be changed between when traveling in the ETC lane and when traveling outside the ETC lane, thereby reducing the driver's uncomfortable feeling caused by the excessive collision avoidance control intervention. An object of the present invention is to provide a vehicular travel support device that eliminates the inconvenience of hindering smooth travel.
[0010]
[Means for Solving the Problems]
  In order to solve the above-described problems and achieve the object, the vehicle travel support device of the present invention detects an obstacle existing in front of the host vehicle,To avoid collisions with obstacles ahead from the distance to obstacles aheadA vehicle driving support device that executes driving support control, and collects charges by sending and receiving to / from roadside equipment installed on toll roads.Communication means for communicating with an automatic toll collection system that opens the gate after the toll collection is completed and permits the passage of the driving lane;A determination means for determining whether the vehicle is traveling in the lane of the automatic toll collection system;While driving in the driving lane, the driving support control is restricted or prohibited. On the other hand, even when driving in the driving lane, when driving at a predetermined vehicle speed or higher, the driving support control is restricted. Or lift the banControl means.
[0012]
  Preferably, the control means reduces a control gain in the driving support control when driving in the driving lane.The driving support control is regulated by.
[0013]
  Preferably, the control means delays a control intervention timing in the driving support control when driving in the driving lane.The driving support control is regulated by.
[0015]
  Also,The vehicle travel support apparatus of the present invention detects an obstacle existing in front of the host vehicle, and executes a travel support control for avoiding a collision with the obstacle in front from the distance from the obstacle in front. Automatic toll collection system, which is a travel support device for sending and receiving to / from roadside equipment installed on toll roads and allowing the passage of lanes by opening the gate after completing toll collection A communication means that communicates with the vehicle, a determination means that determines whether or not the vehicle is traveling in a travel lane of the automatic toll collection system, and the travel support control is restricted or prohibited during travel in the travel lane, Control means for canceling the restriction or prohibition of the driving support control when it is estimated that the driver has failed to confirm the safety ahead even during driving..
[0016]
Preferably, it is further provided with warning means for urging the driver to confirm safety when it is estimated that the driver has failed to confirm safety ahead.
[0020]
  Preferably, the determination unit determines whether the vehicle is traveling in a travel lane from information obtained from the communication unit or map information of car navigation.
[0021]
【The invention's effect】
  As described above, according to the invention of claim 1, it is determined whether the traveling lane of the automatic toll collection system is traveling, and when traveling in the traveling lane,By restricting or prohibiting driving support control, it is possible to reduce the uncomfortable feeling felt by the driver due to sensitive collision avoidance control intervention when driving in an ETC lane, and to eliminate the inconvenience of hindering smooth driving.
[0022]
  Also,Even when traveling in the driving lane, if you are traveling at a speed higher than the specified vehicle speed, you can reliably stop even if the toll gate does not open by releasing the restriction or prohibition of the driving support control Therefore, the collision avoidance control can be executed appropriately and promptly with respect to the environment around the host vehicle when traveling on the ETC lane.
[0024]
  According to the invention of claim 2, the control gain in the driving support control is reduced during driving in the driving lane.To regulate driving support controlAccordingly, it is possible to eliminate the inconvenience that the driver feels uncomfortable by preventing an excessive change in the running state or hinders smooth running.
[0025]
  According to the invention of claim 3, the control intervention timing in the driving support control is delayed when driving in the driving lane.To regulate driving support controlAccordingly, it is possible to eliminate the inconvenience that the driver feels uncomfortable by preventing an excessive change in the running state or hinders smooth running.
[0027]
  Claim4According to the invention, even when driving in the driving lane, if it is estimated that the driver has failed to confirm the safety ahead, by canceling the restriction or prohibition of the driving support control,Immediately while driving on ETC laneCollision avoidance control can be performed.
[0028]
  Claim5According to the invention, when it is presumed that the driver has failed to confirm the safety ahead, the driver is further provided with a warning means for urging the driver to confirm the safety, thereby promoting the safety confirmation ahead by the driver. , Can encourage deceleration.
[0032]
  Claim6According to the invention of the present invention, it is easily determined using the existing equipment by determining whether the vehicle is traveling on the driving lane from the information obtained from the communication means that can communicate with the automatic toll collection system on the toll road or the map information of the car navigation. can do.
[0033]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
[0034]
The embodiment described below is an example as means for realizing the present invention, and the present invention can be applied to a modified or modified embodiment described below without departing from the spirit of the present invention.
[ETC system]
First, the ETC system will be described with reference to FIG.
[0035]
FIG. 1 is a plan view of a toll gate including an ETC system as an embodiment according to the present invention.
[0036]
As shown in FIG. 1, the entrance 2 of the toll road 1 is provided with a general gate 3 for issuing a pass ticket and an entrance antenna 4 by an ETC system, and a general lane 5 is provided corresponding to the general gate 3. Corresponding to the entrance antenna 4, an ETC entrance lane 6 is provided.
[0037]
An entrance notification antenna 7 for transmitting an entrance notification signal is provided in front of the toll road entrance 2, and an exit notification antenna 13 for transmitting an exit notification signal is provided in front of the toll road exit 8.
[0038]
Also, at the exit 8 of the toll road 1, a conventional general gate 9 that collects cash as a toll and an exit antenna 10 by an ETC system are installed, and a general lane 11 is provided corresponding to the general gate 9, An ETC exit lane 12 is provided corresponding to the exit antenna 10.
[0039]
The number of lanes at the entrance and exit is not limited to the 6 lanes shown in the figure, and is arbitrarily determined depending on the scale of the toll booth.
[0040]
The ETC system communicates vehicle information between an in-vehicle device mounted on the vehicle and the entrance antenna 4 when the vehicle passes through the entrance 2 of the toll road 1, and the vehicle also exits the exit 8 of the toll road 1. When you pass through the ETC exit lane 12, the toll for the vehicle is calculated and collected using a credit card, prepaid card, or other similar IC card that can be attached to or removed from the card reader of the in-vehicle device. As a result, non-stop, alleviation of traffic congestion, cashlessness, and reduction of human expenses will be achieved.
[Various equipment installed in ETC lane]
FIG. 2 shows an installation example of various devices in a toll gate of the ETC system as an embodiment according to the present invention.
[0041]
At the entrances 2 and 8 of the toll road 1 in FIG. 1, as shown in FIG. 2, only vehicles equipped with the in-vehicle device 21 can pass through the ETC entrance lane 6 and the ETC exit lane 12 at present. 21 has a function of performing wireless communication between the entrance antenna 4 (exit antenna 10) and the entrance announcement antenna 7 (exit announcement antenna 13) as a roadside antenna, and an IC card 22 having a payment settlement function can be attached and detached. Yes. Further, as a result of communication with the roadside antennas 4, 7, 10, and 13, the in-vehicle device 21 normally displays a toll display that also serves as a notification of completion of payment of tolls in the ETC exit lane 12 and the in-vehicle device 21 and the IC card 22 Notify the user whether it is operating or the like.
[0042]
The IC card 22 specifies a payer of a toll and is issued at the time of use contract. When the IC card 22 is inserted into the in-vehicle device 21, the toll is settled by wireless communication with a roadside antenna. Further, in a lane where a roadside antenna is not provided, a toll person can settle a fee directly by processing the IC card 22 at a toll booth.
[0043]
The entrance antenna 4 (exit antenna 10) is installed in the ETC entrance lane 6 and the ETC exit lane 12, and transmits information such as a toll to the in-vehicle device 21 by wireless communication.
[0044]
The entrance notification antenna 7 (exit notification antenna 13) is installed upstream of the entrance antenna 4 (exit antenna 10) in the ETC entrance lane 6 and the ETC exit lane 12, and whether or not the IC card 22 is normally inserted by wireless communication. In addition, the driver is notified through the human machine interface (HMI) function of the in-vehicle device 21 whether or not the ETC entrance lane 6 and the ETC exit lane 12 can be used.
[0045]
The vehicle detectors 23 are installed on both sides of the ETC entrance lane 6 and the ETC exit lane 12 in the vicinity of the upstream and downstream of the entrance antenna 4 (exit antenna 10), and detect the passage of the vehicle.
[0046]
The roadside indicator 24 is installed in front of the entrance antenna 4 (exit antenna 10), and displays a message such as whether or not the vehicle can enter the entrance vehicle appropriately.
[0047]
The toll gate 25 opens the gate when the toll collection is normally performed by wireless communication, allows the vehicle to pass, and closes the gate when the toll collection cannot be performed for some reason. Is prohibited.
[Driving support system]
Next, a driving support system according to an embodiment of the present invention will be described.
[0048]
In the vehicle according to the present embodiment, as a driving support system, an obstacle existing in front of the host vehicle is detected from information taken from a CCD camera or an infrared camera mounted on the host vehicle or information from a roadside antenna equipped with infrastructure. A collision avoidance system that performs collision avoidance control (information provision, warning, automatic braking, etc.) for the obstacle of the own vehicle from the detected obstacle information, and another vehicle existing behind the own vehicle Obstacles such as CCD camera and infrared camera mounted on the vehicle or information from roadside antennas equipped with infrastructure are detected, and the detected obstacle information is displayed on the display to display the lane of the vehicle. Lane change support system that supports changes, etc., and the shooting information or image of the CCD camera or infrared camera mounted on the host vehicle's driving lane. At least one lane departure avoidance system that detects lane departure avoidance control (warning, automatic steering, automatic braking, etc.) so as not to deviate from the detected traveling lane, detected from information on roadside antennas and lane markers that have been maintained One is installed. In addition, each system is configured such that the driver can arbitrarily select the operation / non-operation of the system by an operation switch or the like.
[0049]
FIG. 3 is a control block diagram of the driving support system according to the present embodiment.
[0050]
As shown in FIG. 3, the support control controller 31 that controls the driving support system in an integrated manner receives as input information the toll collection end information from the in-vehicle device 21 of the ETC system and the map information of the car navigation system 41 as to the toll road 1. Lane shape information (gate positions, etc.) at the entrances 2 and 8, the current position information of the host vehicle from the GPS antenna 42, vehicle speed detection information of the host vehicle from the vehicle speed sensor 32, and obstacle information existing in front of the host vehicle from the laser radar 33 ( Distance between the vehicle and other vehicles ahead), operation information from the operation switch 34, dozing detection information from the dozing detection device 81, and gaze detection information from the line of sight detection device 82, and image information on the display 35 as output information, Audio information is output to the speaker 36 and braking control information is output to the brake controller 51, respectively.
[0051]
The dozing detection device 81 and the line-of-sight detection device 82 are used to estimate whether or not the driver has neglected safety in the front in the control of the fifth and sixth embodiments described later.
[0052]
  Support control for controlling the driving support systemcontroller31 receives each said input information, performs the calculation process required for driving assistance control, and outputs the said output information to a control object as the calculation result.
[0053]
  The brake controller 51 provides support controlcontrollerThe brake actuator 53 is driven from the braking control information from 31 and the acceleration / deceleration signal detected by the acceleration / deceleration sensor (G sensor) 52 to apply a desired braking force.
[0054]
The in-vehicle device 21 performs toll collection processing between the in-vehicle antenna 26 mounted on the in-vehicle device 21 and the ETC system computer 27 via the roadside antennas 4, 7, 10, 13.
[0055]
In place of the in-vehicle laser radar 33, obstacles existing in front of the host vehicle may be input from photographing information of a CCD camera or an infrared camera mounted on the host vehicle or information from a roadside antenna equipped with infrastructure. .
[Outline of driving support control]
Next, an outline of the travel support control will be described.
<Collision avoidance control>
Collision avoidance control as driving support control is because the urgency of collision avoidance operation by the driver increases as the distance between the host vehicle and obstacles (such as pedestrians and other vehicles) in front of it decreases. Will be gradually changed to information provision, warning, and automatic braking.
[0056]
The information provision displays the character information 35a, the symbol information 35b, and the image information 35c as shown in FIG. 4 on the display 35, notifies the driver of the own vehicle of the presence of the obstacle β, and has the lowest degree of urgency to call attention. Control.
[0057]
The alarm is displayed on the display 35 with character information 35a, symbol information 35b, and image information 35c as shown in FIG. The control is higher than information provision.
[0058]
In automatic braking, character information 35a as shown in FIG. 6 is displayed on the display 35, the presence of an obstacle is warned to the driver of the vehicle by a voice message of the speaker 36, and further approach to the obstacle is further performed. This is the control with the highest degree of urgency that automatically activates the brake to avoid this.
<Lane change support control>
The lane change support control as the driving support control requires more attention to the lane change operation by the driver as the distance between the own vehicle and the obstacles (such as other vehicles) existing on the side of the vehicle becomes shorter. It will gradually change from provision to warning.
[0059]
When the lane change support system is installed, as shown in FIG. 7, a line CCD sensor 62 for detecting obstacles on the rear side is provided in the left and right door mirrors 61 formed of half mirrors. The sensor 62 images the rear side adjacent to the traveling lane of the host vehicle.
[0060]
The information provision displays image information 35c as shown in FIG. 8 on the display 35, and informs the driver of the distance between the obstacle β existing behind the host vehicle α and the obstacle β to call attention. Control.
[0061]
The alarm displays character information 35a, symbol information 35b and image information 35c as shown in FIG. 9 on the display 35, and the distance between the obstacle β existing behind the host vehicle α and the obstacle β is approaching. This is a control in which the degree of urgency for notifying the driver that an obstacle is approaching by a voice message of the speaker 36 while notifying the driver that the vehicle is being operated is higher than providing information.
<Lane departure avoidance control>
Lane departure avoidance control as driving support control is an automatic steering system that alerts the control content when the vehicle departs from the driving lane, because the degree of emergency of the departure avoidance operation by the driver increases according to the degree of departure. Or it changes in steps to automatic braking.
[0062]
When the lane departure avoidance system is installed, in addition to the vehicle speed sensor 32, a control block for mounting the white line detection CCD camera 71, the steering angle sensor 72, the yaw rate sensor 73, and the steering actuator 74 shown in FIG. The vehicle lane departure amount is determined. That is,
As shown in FIG. 10, based on the image captured by the white line detection CCD camera 71, the lateral deviation of the host vehicle with respect to the white line is detected, the lateral speed of the host vehicle is calculated from the vehicle speed and the captured image, and the host vehicle is calculated from the lateral deviation. Estimate the yaw angle. Then, a deviation prediction time TLD until the white line is reached is calculated from the lateral deviation and the lateral speed. Further, the degree of urgency until the alarm is issued is determined depending on whether the time from the predicted departure time TLD and the lateral speed to the lane departure is less than or equal to the first time T1 or the second time T2, and the rudder angle sensor 72 From the rudder angle detected by the driver, the intention of the lane departure by the driver is determined, and it is determined from the lateral deviation, the yaw angle, and the yaw rate detected by the yaw rate sensor 41 whether the driver is performing an lane departure avoidance operation.
[0063]
Based on the determination result, when the estimated departure time is shorter than the first time T1, intermittent steering torque is applied in the opposite direction to the lane edge L where the host vehicle is approaching, and in synchronization therewith. Output intermittent alarm sound (imitation sound). Also, taking into account the driver's reaction delay such as snoozing, when the departure prediction time TLD is shorter than the second time T2, which is shorter than the first time T1, the direction is opposite to the lane edge L where the host vehicle is approaching. Add continuous steering torque.
[0064]
The alarm displays the character information 35a, the symbol information 35b and the image information 35c as shown in FIG. 11 on the display 35, and informs the driver that the own vehicle α has deviated from the driving lane by a voice message from the speaker 36 or the like. It is a control to alarm.
[0065]
In the automatic steering or automatic braking, while the character information 35a as shown in FIG. 12 is displayed on the display 35, the driver is warned by the voice message of the speaker 36 that the own vehicle α is deviating from the driving lane, This is a highly urgent control in which the steering is automatically steered to avoid further lane departure.
[Contents of driving support control]
Next, the control contents when the ETC exit lane 12 passes when the collision avoidance control is executed as the travel support control will be described.
[0066]
As described above, when a vehicle equipped with the collision avoidance system travels on the ETC exit lane 12, the surrounding lane and the preceding vehicle are recognized as obstacles because of the narrow lane, and the collision avoidance control is sensitively performed. As a result, the automatic braking is activated, causing the driver to feel uncomfortable or hindering smooth running.
[0067]
For this reason, in this embodiment, i) all driving support control is restricted or prohibited in the ETC exit lane 12, ii) only automatic braking is restricted or prohibited in the driving support control in the ETC exit lane 12 (information provision) Iii) Restrict or prohibit alarm and automatic braking in the driving support control within the ETC exit lane 12 (only provide information), iv) Decrease the control gain in the driving support control, v) Vi) Delay the control intervention timing, vi) When the vehicle is traveling in the ETC exit lane 12 at a predetermined vehicle speed or higher, or when the driver is confirming the safety ahead, the restriction or prohibition of the i-iii support control is canceled. Vii) In addition, if the driver has neglected the safety check ahead, the driver is warned to check the safety. That.
[0068]
On the other hand, it is necessary to be careful not to approach the preceding vehicle when the toll collection process of the preceding vehicle is not normally completed or when the front of the toll gate 25 is congested. However, since it is assumed that the driver can pass through the ETC exit lane 12 in a non-stop manner, it is possible that the vehicle width interval with respect to the ETC lane, the inter-vehicle distance with respect to the preceding vehicle, or the like cannot be appropriately maintained due to overspeed.
[0069]
For this reason, in this embodiment, in order to enhance the collision avoidance control in the ETC lane, viii) increase the control gain in the driving support control, and ix) advance the control intervention timing.
[0070]
  Specifically, FIGS.8Control is executed according to the flowchart shown as the embodiment. In the following, the control when passing through the ETC exit lane 12 will be described. However, the same applies to the case of the ETC entrance lane 6, and vehicle information or toll gate entrance can be used instead of determining the end of the toll collection process. Similar control may be executed by determining the end of communication processing such as information. Furthermore, the present invention can be applied to the lane change assist control and the lane departure avoidance control instead of the collision avoidance control.
<Control of First Embodiment>
  The control of the first embodiment corresponds to the contents of i) to iii) and is set to restrict or prohibit the collision avoidance control in the ETC exit lane 12. That is,
  As shown in FIG. 13, if the host vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1), the special mode is set in step S5, and i) all driving support control is regulated in the ETC exit lane 12. Or, ii) Restrict or prohibit only automatic braking in the driving support control in the ETC exit lane 12 (perform information provision and warning), or iii) Alarm and automatic in the driving support control in the ETC exit lane 12 After setting to a mode for restricting or prohibiting braking (only providing information), normal collision avoidance control is executed in step S7, but the special mode set in step S5 is set.
[0071]
On the other hand, if the host vehicle is not traveling on the ETC exit lane 12 in step S1 (NO in step S1), the driving support control is not restricted or prohibited as described in i) to iii) as the normal mode in step S3. After setting to the (released) mode, normal collision avoidance control is executed in step S7.
[0072]
In the above control, whether or not the vehicle is traveling on the ETC lane is determined based on the received information from the roadside antenna and the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal. Calculate from
[0073]
According to the control of the first embodiment, the content of collision avoidance control can be changed between when traveling in the ETC lane and when traveling outside the ETC lane. When driving on lane 12, because the lane is narrow, the surrounding equipment and the preceding vehicle are recognized as obstacles and sensitively intervened in the collision avoidance control, automatic braking is activated and the driver feels uncomfortable, The inconvenience of hindering smooth running can be solved.
<Control of Second Embodiment>
The control of the second embodiment corresponds to the content of the above iv), and the control gain of the collision avoidance control (for example, the target deceleration by automatic braking) is reduced in the ETC exit lane 12 to cause an excessive change in the running state. The content to be suppressed. That is,
As shown in FIG. 14, the same processing as that in the first embodiment is shown with the same step number, and if the host vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1), After correcting the control gain to be smaller in step S11, normal collision avoidance control is executed in step S13. The control gain is the value set in step S11.
[0074]
On the other hand, if the vehicle is not traveling on the ETC exit lane 12 in step S1 (NO in step S1), the control gain is set to a normal parameter in step S9, and then normal collision avoidance control is executed in step S13. To do.
[0075]
In the above control, whether or not the vehicle is traveling on the ETC lane is determined based on the received information from the roadside antenna and the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal. Calculate from
[0076]
According to the control of the second embodiment, in addition to the effects of the first embodiment, the problem that the driver feels uncomfortable or prevents smooth driving by suppressing excessive changes in the running state is solved. it can.
<Control of Third Embodiment>
The control of the third embodiment corresponds to the content of v) described above, and is a content that suppresses an excessive change in the running state by delaying the control intervention timing of the collision avoidance control in the ETC exit lane 12. That is,
As shown in FIG. 15, the same processing as that in the first embodiment is shown with the same step number, and if the vehicle is traveling on the ETC exit lane 12 in step S <b> 1 (YES in step S <b> 1). After correcting the control intervention timing in the direction to delay in step S17, normal collision avoidance control is executed in step S13, and the parameters set in step S17 are used.
[0077]
On the other hand, if the vehicle is not traveling on the ETC exit lane 12 in step S1 (NO in step S1), the control intervention timing is set to a normal parameter in step S15, and then normal collision avoidance control is performed in step S13. Execute.
[0078]
In the above control, whether or not the vehicle is traveling on the ETC lane is determined based on the received information from the roadside antenna and the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal. Calculate from
<Delay of control intervention timing>
The correction for delaying the control intervention timing in step S17 is, for example, when the alarm timing and the automatic braking timing are set to the time when the inequalities of the following formulas 1 and 2 are established, respectively, the parameter a_wA_wdA_cA_cdChange to However, a_wd<A_w<0, a_cd<A_c<0, and as a result, the threshold values on the right side of Equations 1 and 2 are both reduced, so that the control intervention timing is delayed.
[0079]
D ≦ −v²/ 2 ・ a_w+ V · T + D₀... (1)
D ≦ −v²/ 2 ・ a_c+ V · T + D₀... (2)
In the above formulas 1 and 2, D: distance to the obstacle, D₀: Inter-stop distance, v: Vehicle speed, T: Reaction time, a_w: Average deceleration after alarm response, a_c: Deceleration by automatic braking, but a_w<A_c
And define each parameter.
[0080]
According to the control of the third embodiment, in addition to the effects of the first embodiment, it is possible to eliminate the inconvenience that the driver feels uncomfortable or prevents smooth running by suppressing excessive changes in the running state. it can.
<Control of Fourth Embodiment>
The control of the fourth embodiment corresponds to the contents of the above vi), and even when the vehicle is traveling at a predetermined vehicle speed or more even in the ETC exit lane 12, the collision avoidance of the first to third embodiments is performed. This is a content to quickly perform the collision avoidance control by releasing the restriction or prohibition of the control. That is,
As shown in FIG. 16, the same processes as those in the first to third embodiments are denoted by the same step numbers, and the host vehicle is not traveling on the ETC exit lane 12 in step S1 (NO in step S1). ) Or even if the host vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1), and if the vehicle speed is greater than or equal to the predetermined vehicle speed in step S21 (NO in step S21), the first to third implementations are performed in step S23. After the restriction or prohibition of the collision avoidance control in step S3, S9, or S15 in the embodiment is canceled and set to the normal mode or parameter, the normal operation of step S7 or S13 in the first to third embodiments is performed in step S27. Perform collision avoidance control.
[0081]
On the other hand, even if the host vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1), if the vehicle speed is less than the predetermined vehicle speed in step S21 (NO in step S3), the first to the first in step S25. After restricting or prohibiting the collision avoidance control in step S5, S11, or S17 in the third embodiment, normal collision avoidance control is executed in step S27, but the control mode, control gain, or control intervention timing is the above This is the value set in step S25.
[0082]
In the above control, whether or not the vehicle is traveling on the ETC lane is determined based on the received information from the roadside antenna and the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal. Calculate from
[0083]
According to the control of the fourth embodiment, in addition to the effects of the first to third embodiments, when the vehicle is traveling at a predetermined vehicle speed or higher even in the ETC exit lane 12, the first to the first embodiments. Even when the restriction or prohibition of the collision avoidance control of the third embodiment is canceled and the toll gate is not opened, the stop can be surely stopped, and the collision avoidance control can be performed quickly.
<Control of Fifth Embodiment>
The control of the fifth embodiment corresponds to the contents of vi) above, and even in the ETC exit lane 12, when the driver has neglected safety confirmation ahead or is traveling at a predetermined vehicle speed or higher. This is a content for quickly performing the collision avoidance control by canceling the restriction or prohibition of the collision avoidance control of the first to third embodiments. That is,
As shown in FIG. 17, the same processes as those in the first to fourth embodiments are denoted by the same step numbers, and if the vehicle is traveling on the ETC exit lane 12 in step S1 (in step S1). YES), the driver's forward safety confirmation state is estimated in step S29.
[0084]
This forward safety confirmation state is estimated by detecting that the driver is falling asleep by the dozing detection device 81 using the CCD camera, or that the driver is not looking at the toll gate guide plate by the gaze detection device 82 using the CCD camera. It is detected from the detection result that the driver is looking aside.
[0085]
If the driver has failed to confirm the safety ahead in step S31 (YES in step S31), or if the vehicle speed is greater than or equal to the predetermined vehicle speed in step S21 (NO in step S21), the above first to third in step S23. After the restriction or prohibition of the collision avoidance control in step S3, S9 or S15 in the embodiment is canceled and set to the normal mode or parameter, the normal in step S7 or S13 in the first to third embodiments in step S27. The collision avoidance control is executed.
[0086]
On the other hand, if the host vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1) and the driver has not neglected the safety in front in step S31 (NO in step S31), or the vehicle speed is predetermined in step S21. If the vehicle speed is lower than the vehicle speed (YES in step S21), the collision avoidance control in steps S5, S11, or S17 in the first to third embodiments is restricted or prohibited in step S25, and then in step S27. Although normal collision avoidance control is executed, the control mode, control gain, or control intervention timing is the value set in step S25.
[0087]
In the above control, whether or not the vehicle is traveling on the ETC lane is determined based on the received information from the roadside antenna and the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal. Calculate from
[0088]
According to the control of the fifth embodiment, in addition to the effects of the first to fourth embodiments, even in the ETC exit lane 12, when the driver has neglected safety confirmation ahead or at a predetermined vehicle speed or higher. When the vehicle is running, it can be stopped even when the toll gate is not opened by releasing the restriction or prohibition of the collision avoidance control of the first to third embodiments, and the collision avoidance control can be performed. It can be done as soon as possible.
<Control of Sixth Embodiment>
The control of the sixth embodiment corresponds to the contents of the above vii), and even in the ETC exit lane 12, when the driver has neglected safety confirmation ahead or is traveling at a predetermined vehicle speed or higher. The collision avoidance control of the first to third embodiments is canceled and the collision avoidance control is immediately performed. On the other hand, if the driver has neglected the safety confirmation ahead, the driver should confirm the safety. This is a warning. That is, as shown in FIG. 18, the same processes as those in the first to fifth embodiments are denoted by the same step numbers, and if the host vehicle is traveling on the ETC exit lane 12 in step S1 (step S1). In step S29, the driver's forward safety confirmation state is estimated.
[0089]
This forward safety confirmation state is estimated by detecting that the driver is falling asleep by the dozing detection device 81 using the CCD camera, or that the driver is not looking at the toll gate guide plate by the gaze detection device 82 using the CCD camera. It is detected from the detection result that the driver is looking aside.
[0090]
If the driver has failed to confirm the safety ahead (YES in step S31) or if the vehicle speed is greater than or equal to the predetermined vehicle speed in step S21 (NO in step S21), a safe driving promotion measure is set in step S33. In step S23, the restriction or prohibition of the collision avoidance control in steps S3, S9, or S15 in the first to third embodiments is canceled and set to the normal mode or parameter, and then the first to first steps in step S27. The normal collision avoidance control in step S7 or S13 in the third embodiment is executed.
[0091]
The above safe driving promotion measures should be a toll booth, or a warning sound will be emitted from the speaker 36 in order to promote forward safety confirmation by the driver or to encourage deceleration, or the warning sound will be gradually increased. Is a voice message.
[0092]
On the other hand, if the host vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1) and the driver has not neglected the safety in front in step S31 (NO in step S31), or the vehicle speed is predetermined in step S21. If the vehicle speed is lower than the vehicle speed (YES in step S21), the collision avoidance control in steps S5, S11, or S17 in the first to third embodiments is restricted or prohibited in step S25, and then in step S27. Although normal collision avoidance control is executed, the control mode, control gain, or control intervention timing is the value set in step S25.
[0093]
In the above control, whether or not the vehicle is traveling on the ETC lane is determined based on the received information from the roadside antenna and the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal. Calculate from
[0094]
According to the control of the sixth embodiment, in addition to the effects of the first to fifth embodiments, the driver is traveling in the ETC exit lane 12 when the driver has neglected safety confirmation ahead or at a predetermined vehicle speed or higher. In such a case, it is possible to promote forward safety confirmation by the driver or to accelerate deceleration.
<Control of the seventh embodiment>
The control of the seventh embodiment corresponds to the contents of viii) above, and in the ETC exit lane 12, the control gain of the collision avoidance control (for example, the target deceleration by automatic braking) is increased to increase the vehicle width interval to the ETC lane, This is a content that promptly performs a collision avoidance operation while maintaining an appropriate inter-vehicle distance with respect to the preceding vehicle. That is,
As shown in FIG. 19, the same processing as that of the second embodiment is shown with the same step number, and if the host vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1), After correcting the control gain in the increasing direction in step S35, normal collision avoidance control is executed in step S13. The control gain is the value set in step S35.
[0095]
On the other hand, if the vehicle is not traveling on the ETC exit lane 12 in step S1 (NO in step S1), the control gain is set to a normal parameter in step S9, and then normal collision avoidance control is executed in step S13. To do.
[0096]
In the above control, whether or not the vehicle is traveling on the ETC lane is determined based on the received information from the roadside antenna and the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal. Calculate from
[0097]
According to the control of the seventh embodiment, it can be surely stopped even when the toll gate is not opened, and the collision avoidance operation can be performed quickly.
<Control of Eighth Embodiment>
The control of the eighth embodiment corresponds to the content of the above ix), and the control intervention timing of the collision avoidance control is advanced in the ETC exit lane 12 so that the vehicle width interval with respect to the ETC lane, the inter-vehicle distance with respect to the preceding vehicle, etc. The content of the collision avoidance operation is immediately performed. That is,
As shown in FIG. 20, the same processing as that in the third embodiment is shown with the same step number, and if the vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1), In step S37, the control intervention timing is corrected so as to be advanced, and then normal collision avoidance control is executed in step S13. The parameters set in step S17 are used.
[0098]
On the other hand, if the vehicle is not traveling on the ETC exit lane 12 in step S1 (NO in step S1), the control intervention timing is set to a normal parameter in step S15, and then normal collision avoidance control is performed in step S13. Execute.
[0099]
In the above control, whether or not the vehicle is traveling on the ETC lane is determined based on the received information from the roadside antenna and the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal. Calculate from
<Early control intervention timing>
For example, when the alarm timing and the automatic braking timing are set to the time when the inequalities of the following formulas 1 and 2 are established, respectively, the correction for accelerating the control intervention timing in step S17 is performed as follows._wA_wdA_cA_cdChange to However, a_w<A_wd<0, a_c<A_cd<0, and as a result, the threshold values on the right side of Equations 1 and 2 both increase, so that the control intervention timing is advanced.
[0100]
D ≦ −v²/ 2 ・ a_w+ V · T + D₀... (1)
D ≦ −v²/ 2 ・ a_c+ V · T + D₀... (2)
In the above formulas 1 and 2, D: distance to the obstacle, D₀: Inter-stop distance, v: Vehicle speed, T: Reaction time, a_w: Average deceleration after alarm response, a_c: Deceleration by automatic braking, but a_c<A_w
And define each parameter.
[0101]
According to the control of the eighth embodiment, the toll gate can be reliably stopped even when the toll gate is not opened, and the collision avoidance operation can be performed quickly.
[Brief description of the drawings]
FIG. 1 is a plan view of a toll gate including an ETC system as an embodiment according to the present invention.
FIG. 2 is a diagram showing an installation example of various devices in a toll gate of an ETC system as an embodiment according to the present invention.
FIG. 3 is a control block diagram of the driving support system according to the present embodiment.
FIG. 4 is a diagram showing a display example of a display showing control contents for providing information as collision avoidance control.
FIG. 5 is a diagram showing a display example of a display showing alarm control contents as collision avoidance control.
FIG. 6 is a diagram showing a display example of a display showing control contents of automatic braking as collision avoidance control.
FIG. 7 is a diagram showing an arrangement example of a line CCD sensor for obstacle detection on the rear side mounted in the lane change support system.
FIG. 8 is a diagram showing a display example of a display showing control contents of information provision as lane change support control.
FIG. 9 is a diagram showing a display example of a display showing control contents of an alarm as lane change support control.
FIG. 10 is a control block diagram of the lane departure avoidance system.
FIG. 11 is a diagram showing a display example of a display showing control contents of an alarm as lane departure avoidance control.
FIG. 12 is a diagram showing a display example of a display showing control contents of automatic steering as lane departure avoidance control.
FIG. 13 is a flowchart showing collision avoidance control according to the first embodiment.
FIG. 14 is a flowchart showing collision avoidance control according to the second embodiment.
FIG. 15 is a flowchart illustrating collision avoidance control according to the third embodiment.
FIG. 16 is a flowchart showing collision avoidance control according to the fourth embodiment.
FIG. 17 is a flowchart showing collision avoidance control according to the fifth embodiment.
FIG. 18 is a flowchart showing collision avoidance control according to the sixth embodiment.
FIG. 19 is a flowchart showing collision avoidance control according to the seventh embodiment.
FIG. 20 is a flowchart showing collision avoidance control according to an eighth embodiment.
[Explanation of symbols]
1 toll road
2 entrance
4 Entrance antenna (roadside antenna)
7 Entrance notice antenna (roadside antenna)
10 Exit antenna (roadside antenna)
13 Exit notice antenna (roadside antenna)
6 ETC entrance lane
8 Exit
12 ETC exit lane
20 In-vehicle equipment
21 IC card
25 Tollgate
α Own vehicle
β Obstacle (Other vehicle)

Claims (6)

A vehicle driving support device that detects an obstacle existing in front of the host vehicle and executes driving support control for avoiding a collision with an obstacle in front from a distance from the obstacle in front,
A communication means that communicates with an automatic toll collection system that performs transmission and reception with a roadside device installed on a toll road, collects a fee, opens a gate after the toll collection is completed, and permits passage of a driving lane;
A determination means for determining whether the vehicle is traveling in the traveling lane of the automatic fee collection system;
While driving in the driving lane, the driving support control is restricted or prohibited. On the other hand, even when driving in the driving lane, when driving at a predetermined vehicle speed or higher, the driving support control is restricted. Alternatively, a vehicle travel support apparatus comprising control means for canceling the prohibition. 2. The vehicle travel support apparatus according to claim 1, wherein the control unit regulates the travel support control by reducing a control gain in the travel support control when traveling in the travel lane. 2. The vehicle travel support device according to claim 1, wherein the control unit regulates the travel support control by delaying a control intervention timing in the travel support control when traveling in the travel lane. 3. . A vehicle driving support device that detects an obstacle existing in front of the host vehicle and executes driving support control for avoiding a collision with an obstacle in front from a distance from the obstacle in front,
A communication means that communicates with an automatic toll collection system that performs transmission and reception with a roadside device installed on a toll road, collects a fee, opens a gate after the toll collection is completed, and permits passage of a driving lane;
A determination means for determining whether the vehicle is traveling in the traveling lane of the automatic fee collection system;
When driving in the driving lane, while restricting or prohibiting the driving support control, even when driving in the driving lane, when it is estimated that the driver has neglected the safety check ahead, A vehicle travel support apparatus comprising: control means for canceling restriction or prohibition of the travel support control.   The vehicle travel support apparatus according to claim 4, further comprising warning means for urging the driver to confirm safety when it is estimated that the driver has failed to confirm safety ahead. It said determination means, the vehicle travel support device according to claim 1 or 4, wherein the determining whether traveling in the traveling lane from the map information of the information or the car navigation obtained from said communication means.

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