JP6221569B2 - Driving assistance device - Google Patents

Driving assistance device Download PDF

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JP6221569B2
JP6221569B2 JP2013200011A JP2013200011A JP6221569B2 JP 6221569 B2 JP6221569 B2 JP 6221569B2 JP 2013200011 A JP2013200011 A JP 2013200011A JP 2013200011 A JP2013200011 A JP 2013200011A JP 6221569 B2 JP6221569 B2 JP 6221569B2
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vehicle
inter
distance
lane
adjacent
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JP2015066963A (en
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康啓 鈴木
康啓 鈴木
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日産自動車株式会社
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Description

  The present invention relates to a driving support device.
  Conventionally, as a driving assistance device, for example, there is a conventional technique described in Patent Document 1. In this prior art, the estimated interference time when the host vehicle changes lanes to the adjacent lane is calculated. As the interference prediction time, for example, there is a time required for a rear vehicle traveling in an adjacent lane (hereinafter also referred to as an adjacent rear vehicle) to interfere with the host vehicle. Subsequently, in this prior art, when the calculated interference prediction time is equal to or longer than the set threshold, the host vehicle is changed to an adjacent lane.
JP 2009-78735 A
However, in the above-described conventional technology, for example, when the vehicle train traveling in the own lane is at a low speed compared to the vehicle train traveling in the adjacent lane, the interference prediction time between the adjacent rear vehicle and the host vehicle is reduced. There was a possibility. Therefore, in the prior art, there is a possibility that the interference prediction time between the adjacent rear vehicle and the own vehicle becomes less than the set threshold value, and the own vehicle cannot be changed to the adjacent lane.
The present invention focuses on the above points, and an object of the present invention is to enable more appropriate driving support for a lane change of the host vehicle.
  In order to solve the above-described problem, according to one aspect of the present invention, it is determined whether or not a vehicle can change lanes to a candidate inter-vehicle space that is an inter-vehicle space that is a candidate for a lane change destination. Subsequently, when it is determined that the lane cannot be changed to the candidate inter-vehicle space, the braking driving force of the own vehicle is set such that the inter-vehicle distance between the vehicle ahead of the own lane and the own vehicle is larger than the current inter-vehicle distance. To control. Subsequently, when the difference between the distance between the vehicle ahead of the host lane and the host vehicle and the set distance is equal to or less than the set value, the braking / driving force of the host vehicle is controlled so that the host vehicle accelerates. Subsequently, the braking / driving force of the host vehicle is controlled, and when the host vehicle accelerates, at least one of the control of the host vehicle and the notification to the driver is performed so that the host vehicle starts lane change to the adjacent lane.
  According to one aspect of the present invention, the inter-vehicle distance between the vehicle ahead of the own lane and the own vehicle can be increased, and the own vehicle can be accelerated by the increased inter-vehicle distance. Thereby, even when the vehicle train traveling in the own lane is relatively slow, the lane can be changed more appropriately.
It is a block diagram showing schematic structure of the own vehicle A carrying a driving assistance device. It is explanatory drawing for demonstrating various state quantities. 4 is a flowchart showing a driving support process executed by a controller 4.
An embodiment of a driving support apparatus according to the present invention will be described with reference to the drawings.
(Constitution)
FIG. 1 is a block diagram showing a schematic configuration of a host vehicle A equipped with a driving support device.
As shown in FIG. 1, the host vehicle A includes a radar unit 1, a navigation unit 2, a vehicle speed detection unit 3, a controller 4, a braking / driving force control unit 5, a lane change intention presentation unit 6, and a driving support unit 7.
FIG. 2 is an explanatory diagram for explaining various state quantities.
The radar unit 1 detects the inter-vehicle distance between the host vehicle A and another vehicle. As other vehicles, for example, as shown in FIG. 2, a front vehicle B in the own lane, a rear vehicle in the adjacent lane (hereinafter also referred to as an adjacent rear vehicle) C, and a forward vehicle in the adjacent lane (hereinafter referred to as an adjacent forward vehicle). D). Further, as the inter-vehicle distance, for example, the inter-vehicle distance L1 between the own vehicle A and the adjacent rear vehicle C, the inter-vehicle distance L2 between the adjacent front vehicle D and the adjacent rear vehicle C, and the front vehicle B and the own vehicle A in the own lane. There is an inter-vehicle distance L3. Further, the radar unit 1 detects the vehicle speed V2 of the adjacent rear vehicle C. Then, the radar unit 1 outputs the detection result to the controller 4. As the radar unit 1, for example, a laser rangefinder that emits laser light around the host vehicle A (for example, forward, backward, diagonally forward, diagonally backward) to detect reflected light can be employed. As a method for detecting the vehicle speed V2 of the adjacent rear vehicle C, for example, the relative vehicle speed between the own vehicle A and the adjacent rear vehicle C is calculated by time-differentiating the inter-vehicle distance L1, and the vehicle speed detection unit 3 detects the calculation result. There is a method of adding the vehicle speed of the subject vehicle A.
  The navigation unit 2 includes a GPS (Global Positioning System) receiver, a map database, and a display monitor. And the navigation part 2 acquires the position and road information of the own vehicle A from a GPS receiver and a map database. Subsequently, the navigation unit 2 performs a route search based on the acquired position of the own vehicle A and road information. Subsequently, the navigation unit 2 displays the route search result on the display monitor. In addition, the navigation unit 2 outputs the distance L4 from the own vehicle A to the end point of the merged lane to the controller 4 when the own vehicle A is traveling in the merged lane based on the acquired position of the own vehicle A and road information. To do.
The vehicle speed detector 3 detects the vehicle speed V1 of the host vehicle A. Then, the vehicle speed detection unit 3 outputs the detection result to the radar unit 1 and the controller 4. As the vehicle speed detection unit 3, for example, a wheel speed sensor that detects the wheel speed of the host vehicle A and calculates the vehicle speed V1 of the host vehicle A can be employed.
The controller 4 includes an A / D (Analog to Digital) conversion circuit, a D / A (Digital to Analog) conversion circuit, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. Integrated circuit. The ROM stores one or more programs that realize various processes. The CPU executes various processes (for example, driving support processes) according to one or more programs stored in the ROM based on the detection results output by the radar unit 1, the navigation unit 2, and the vehicle speed detection unit 3. . In the driving support process, the controller 4 outputs a command to decelerate the host vehicle A (hereinafter also referred to as a deceleration command) to the braking / driving force control unit 5. Further, the controller 4 outputs a command for accelerating the host vehicle A (hereinafter also referred to as an acceleration command) to the braking / driving force control unit 5. Further, the controller 4 outputs to the lane change intention presenting section 6 a command (hereinafter also referred to as intention presenting command) for blinking the blinker on the adjacent lane side of the own vehicle A to which the lane is changed. In addition, the controller 4 outputs a command (hereinafter also referred to as a lane change command) for outputting a voice prompting the start of a lane change to an adjacent lane to the driving support unit 7. Details of the driving support processing executed by the controller 4 will be described later.
  The braking / driving force control unit 5 decelerates the host vehicle A when the controller 4 outputs a deceleration command. Specifically, the braking / driving force control unit 5 executes at least one of the generation of the braking force of each wheel of the host vehicle A and the reduction of the driving force of the host vehicle A. Moreover, the driving assistance part 7 will accelerate the own vehicle A, if the controller 4 outputs an acceleration command. Specifically, the braking / driving force control unit 5 executes at least one of reduction of the braking force and increase of the driving force.
When the controller 4 outputs the intention presentation command, the lane change intention presenting unit 6 performs blink control of the blinker on the adjacent lane side where the lane is to be changed. Thereby, the lane change intention presenting unit 6 notifies the driver of the adjacent rear vehicle of the intention of changing the lane of the own vehicle A.
When the controller 4 outputs a lane change command, the driving support unit 7 outputs a sound prompting the start of the lane change. As a result, the driving support unit 7 informs the driver whether the lane can be changed.
In the present embodiment, an example in which the driving support unit 7 outputs a voice prompting the start of lane change when the controller 4 outputs a lane change command has been described, but other configurations may be employed. For example, the driving support unit 7 may be configured to display an image that prompts the start of lane change, or may be configured to perform vehicle control such that the own vehicle A changes the lane to the adjacent lane. When performing vehicle control, the left and right wheels may be steered so that the own vehicle A may change the lane to the adjacent lane, the braking force of the left and right wheels may be controlled, and the own vehicle A may change the lane to the adjacent lane. It is good.
(Driving support processing)
Next, driving support processing executed by the controller 4 will be described. The driving support processing is performed when the vehicle train traveling in the own lane is at a lower speed than the vehicle train traveling in the adjacent lane, that is, when the vehicle speed V1 of the own vehicle A is less than the vehicle speed V2 of the adjacent rear vehicle C. This is executed when the driver performs an operation (for example, an operation of a blinker lever) indicating the intention of changing the lane.
FIG. 3 is a flowchart showing the driving support process executed by the controller 4.
As shown in FIG. 3, first, in step S101, the controller 4 causes the inter-vehicle distance L1 between the own vehicle A and the adjacent rear vehicle C output by the radar unit 1, the vehicle speed V2 of the adjacent rear vehicle C, and the vehicle speed detection unit. 3 obtains the vehicle speed V1 of the host vehicle A output by the vehicle. Subsequently, the controller 4 follows the following formula (1) based on the acquired inter-vehicle distance L1 between the own vehicle A and the adjacent rear vehicle C, the vehicle speed V2 of the adjacent rear vehicle C, and the vehicle speed V1 of the own vehicle A. And an interference prediction time TTC1 between the adjacent rear vehicle C is calculated. As the estimated interference time TTC1, for example, the own vehicle A is the inter-vehicle space between the adjacent front vehicle D and the adjacent rear vehicle C, and the inter-vehicle space in which the own vehicle A in the adjacent lane is the lane change destination candidate. In the case of a space, there is a time required for the own vehicle A and the adjacent rear vehicle C to interfere when the lane is changed to the inter-candidate space.
TTC1 = L1 / (V2-V1) (1)
Subsequently, the controller 4 determines whether or not the own vehicle A can be changed to the candidate inter-vehicle space. Specifically, the controller 4 determines whether or not the calculated interference prediction time TTC1 is equal to or longer than a set threshold (for example, 5 seconds). If the controller 4 determines that the interference prediction time TTC1 is equal to or longer than the set threshold (5 seconds), the controller 4 determines that the own vehicle A can be changed to the candidate inter-vehicle space, and proceeds to step S105. On the other hand, if the controller 4 determines that the interference prediction time TTC1 is less than the set threshold value (5 seconds), the controller 4 determines that the own vehicle A cannot be changed to the candidate inter-vehicle space. Subsequently, when the controller 4 determines that the own vehicle A cannot be changed to the candidate inter-vehicle space, as shown in FIG. 2 (a), the front vehicle B of the own lane output by the radar unit 1 and the own vehicle A The inter-vehicle distance L3 and the vehicle speed V2 of the adjacent rear vehicle C are acquired. Subsequently, the controller 4 calculates the lane change target vehicle speed V1 ′ (> the current vehicle speed V1 of the host vehicle A) according to the following equation (2) based on the acquired vehicle speed V2 and the inter-vehicle distance L3, and then proceeds to step S102. Transition. As the target vehicle speed V1 ′ at the time of lane change, for example, there is a target value (target vehicle speed) of the host vehicle A for changing the host vehicle A to an adjacent lane (for example, as shown in FIG. When the vehicle A is traveling in the merge lane, there is a target value of the vehicle speed of the vehicle A when the vehicle A changes lanes and merges with the adjacent lane (main line).
V1 ′ = V2− (L3 + Lmargin1) / setting threshold value (2)
Here, the first setting margin Lmargin1 is set based on at least one of the vehicle speed V2 of the adjacent rear vehicle C and the distance L4 from the own vehicle A to the merging lane end point. Specifically, the controller 4 sets the first setting margin Lmargin1 to a smaller value as the vehicle speed V2 of the adjacent rear vehicle C is lower. As a result, the controller 4 increases the target vehicle speed V1 ′ at the time of lane change. Therefore, the controller 4 can easily change the own vehicle A to the adjacent lane.
Further, the controller 4 sets the first setting margin Lmargin1 to a smaller value as the distance L4 from the own vehicle A to the merging lane end point is shorter. Thereby, the target vehicle speed V1 ′ at the time of lane change increases as the distance L4 becomes shorter. Therefore, it becomes easy to change the vehicle A to the adjacent lane. The distance L4 from the own vehicle A to the merging lane end point is acquired from the navigation unit 2.
Then the process proceeds to step S102, the controller 4, vehicle speed V1 is the vehicle speed detecting unit 3 detects, and the step S101 lane change when the target speed V1 calculated in ', and on the basis of the preset acceleration α a predetermined, required A distance ΔL is calculated. The required distance ΔL includes, for example, a distance required to accelerate the host vehicle A to the target vehicle speed V1 ′ when changing lanes.
Continued There, the controller 4, as shown in FIG. 2 (c), based on the inter-vehicle distance L3 to the preceding vehicle B and the vehicle A in the own lane calculated required distance ΔL and the radar unit 1 is output, the following (4
) To calculate a target value (hereinafter also referred to as a target inter-vehicle distance) L3 ′ of the inter-vehicle distance L3.
L3 ′ = L3 + ΔL (4)
Subsequently, the controller 4 controls the braking / driving force of the host vehicle A so that the inter-vehicle distance L3 between the vehicle B ahead of the host lane and the host vehicle A becomes the target inter-vehicle distance L3 ′ (> current inter-vehicle distance L3). A command (deceleration command) is output to the braking / driving force control unit 5. Accordingly, the braking / driving force control unit 5 performs at least one of generation of braking force and reduction of driving force. Then, the host vehicle A is decelerated, the inter-vehicle distance L3 is increased, and the difference between the target inter-vehicle distance L3 ′ and the inter-vehicle distance L3 is reduced.
  Subsequently, the process proceeds to step S103, where the controller 4 controls the braking / driving force of the host vehicle A, and the difference between the target inter-vehicle distance L3 ′ and the inter-vehicle distance L3 is set as shown in FIG. When the value is less than (≈0), the inter-vehicle distance L2 between the adjacent front vehicle D and the adjacent rear vehicle C output by the radar unit 1 and the vehicle speed V2 of the adjacent rear vehicle C are acquired. Subsequently, the controller 4 is based on the acquired inter-vehicle distance L2 between the adjacent front vehicle D and the adjacent rear vehicle C, the vehicle speed V2 of the adjacent rear vehicle C, and the target vehicle speed V1 ′ at the time of lane change calculated in step S101. The interference prediction time TTC2 between the host vehicle A and the adjacent rear vehicle C is calculated according to the following equation (5). The predicted interference time TTC2 is, for example, when the host vehicle A is changed to the inter-candidate space (adjacent lane) after the vehicle speed V1 of the host vehicle A is set to the target vehicle speed V1 ′ at the time of lane change. There is a time required for the adjacent rear vehicle C to interfere.
TTC2 = (L2 + Lmargin2) / (V2-V1 ') (5)
Here, the second setting margin Lmargin2 is a predetermined setting value.
Subsequently, can the controller 4 change the vehicle A to the candidate inter-vehicle space (adjacent lane) after setting the vehicle speed V1 of the host vehicle A to the target vehicle speed V1 ′ at the time of lane change based on the calculated predicted interference time TTC2? Determine whether or not. Specifically, the controller 4 determines whether or not the interference prediction time TTC2 is equal to or longer than a set threshold value (for example, 5 seconds). If the controller 4 determines that the interference prediction time TTC2 is equal to or longer than the set threshold value (5 seconds), the controller 4 determines that the host vehicle A can be changed to the adjacent lane, and proceeds to step S104. On the other hand, if the controller 4 determines that the interference prediction time TTC2 is less than the set threshold value (5 seconds), the controller 4 determines that the host vehicle A cannot be changed to the adjacent lane, and proceeds to step S101.
  In step S104, the controller 4 controls the host vehicle A so that the lane change target vehicle speed V1 ′ calculated in step S101 matches the host vehicle A speed, that is, the host vehicle A accelerates. A command (acceleration command) for controlling the driving force is output to the braking / driving force control unit 5. As a result, the braking / driving force control unit 5 performs at least one of reduction of the braking force and increase of the driving force. At that time, the acceleration of the host vehicle A is made to coincide with the set acceleration α used for calculation in the above equation (3). Then, the host vehicle A accelerates, and the difference between the target vehicle speed V1 'at the time of lane change and the vehicle speed of the host vehicle A is reduced. Further, the controller 4 outputs a control command (intention presentation command) for blinking the blinker on the adjacent lane side to the lane change intention presentation unit 6. As a result, the lane change intention presenting unit 6 performs control for blinking the blinker on the adjacent lane side of the lane change destination of the own vehicle A as shown in FIG. To the surroundings. Then, the driver of the adjacent rear vehicle C grasps the intention of changing the lane of the own vehicle A and warns of interference with the own vehicle A.
  In the present embodiment, the driving support unit 7 performs the control to blink the blinker on the adjacent lane side of the lane change destination of the own vehicle A when the controller 4 outputs the intention presentation command. A configuration can also be adopted. For example, the configuration may be such that the lane change intention presenting unit 6 performs a control of causing the own vehicle A to travel along the boundary with the adjacent lane and presents the intention of changing the lane of the own vehicle to the surroundings. In this case, the left and right wheels may be steered and the vehicle A may be controlled to travel along the boundary with the adjacent lane, the braking force of the left and right wheels is controlled, and the vehicle A is bounded with the adjacent lane. It is good also as a structure which performs control made to drive along. Thereby, the controller 4 can transmit the intention of the lane change of the own vehicle A to the adjacent rear vehicle C.
  Subsequently, the controller 4 controls the braking / driving force of the host vehicle A. When the vehicle speed of the host vehicle A coincides with the target vehicle speed V1 ′ at the time of lane change (when the host vehicle A accelerates), the radar unit 1 outputs it. The inter-vehicle distance L2 between the adjacent front vehicle D and the adjacent rear vehicle C and the vehicle speed V2 of the adjacent rear vehicle C are acquired. Subsequently, the controller 4 is based on the acquired inter-vehicle distance L2 between the adjacent front vehicle D and the adjacent rear vehicle C, the vehicle speed V2 of the adjacent rear vehicle C, and the target vehicle speed V1 ′ at the time of lane change calculated in step S101. The interference prediction time TTC3 between the host vehicle A and the adjacent rear vehicle C is calculated according to the following equation (6). As the predicted interference time TTC3, for example, there is a time required for the own vehicle A and the adjacent rear vehicle C to interfere when the own vehicle A changes the lane to the adjacent lane.
TTC3 = (L2 + Lmargin3) / (V2-V1 ') (6)
Here, the third setting margin Lmargin3 is set to a value smaller than the first setting margin Lmargin1. Thereby, the controller 4 can set the interference prediction time TTC3 to a relatively small value, and can improve the possibility of joining the own vehicle A to the adjacent lane.
Subsequently, the controller 4 determines whether or not the vehicle A can be changed to an adjacent lane. Specifically, it is determined whether or not the calculated interference prediction time TTC3 is equal to or longer than a set threshold value (5 seconds). If the controller 4 determines that the interference prediction time TTC3 is equal to or longer than the set threshold (5 seconds), the controller 4 determines that the host vehicle A can be changed to the adjacent lane, and proceeds to step S105. On the other hand, if the controller 4 determines that the interference prediction time TTC3 is less than the set threshold value (5 seconds), the controller 4 determines that the host vehicle A cannot be changed to the adjacent lane, and proceeds to step S101. Thereby, the said flow is repeated by making the vehicle behind the present adjacent back vehicle C into the new adjacent back vehicle C by moving to said step S101.
  In step S105, the controller 4 outputs a command (lane change command) for outputting a voice prompting the driver to start the lane change to the adjacent lane to the driving support unit 7, and then ends the calculation process. As a result, the driving support unit 7 outputs a voice prompting the driver to start the lane change to the adjacent lane. Then, the driver of the host vehicle A starts the steering operation of the steering wheel, and changes the host vehicle A to the adjacent lane as shown in FIG.
  In the present embodiment, when the driving support unit 7 obtains a lane change command, an example of outputting a voice prompting the driver to start the lane change has been shown, but other configurations may be employed. For example, the driving support unit 7 may be configured to display an image that prompts the driver to change lanes, or may be configured to perform vehicle control such that the own vehicle A changes lanes in the candidate inter-vehicle space (adjacent lane). . When vehicle control is performed, the left and right wheels may be steered so that the own vehicle A changes lanes to the candidate inter-vehicle space (adjacent lane). It is good also as a structure which changes a lane to (adjacent lane).
(Operation other)
Next, the operation of the vehicle equipped with the driving support device of this embodiment will be described.
During traveling of the host vehicle A, as shown in FIG. 2A, there is an adjacent lane on the right side of the own lane, and the lane running in the own lane is lower than the lane driving in the adjacent lane. To do. Then, it is assumed that the driver of the host vehicle A operates the blinker lever as an operation indicating the intention of changing the lane to the adjacent lane. Then, the controller 4 executes a driving support process and is adjacent to the own vehicle A based on the inter-vehicle distance L1 between the own vehicle A and the adjacent rear vehicle C, the vehicle speed V2 of the adjacent rear vehicle C, and the vehicle speed V1 of the own vehicle A. A predicted interference time TTC1 with the rear vehicle C is calculated (step S101 in FIG. 3). Here, it is assumed that the calculated interference prediction time TTC1 is less than the set threshold value (5 seconds). Then, the controller 4 determines that the interference prediction time TTC1 is less than the set threshold value (5 seconds), and determines that the own vehicle A cannot be changed to the adjacent lane ("No" in step S101 in FIG. 3). Subsequently, the controller 4 calculates the vehicle speed (target vehicle speed V1 ′ at the time of lane change) when the host vehicle A changes the lane to the adjacent lane based on the vehicle speed V2 and the inter-vehicle distance L3.
  Subsequently, the controller 4 calculates a necessary distance ΔL for accelerating the host vehicle A to the target vehicle speed V1 ′ at the time of lane change based on the calculated target vehicle speed V1 ′ at the time of lane change and the vehicle speed V1 of the host vehicle A (FIG. 3 step S102). Subsequently, as shown in FIG. 2C, the controller 4 calculates the target value (target vehicle distance) of the inter-vehicle distance L3 based on the calculated necessary distance ΔL and the inter-vehicle distance L3 between the preceding vehicle B and the own vehicle A on the own lane. The distance L3 ′) is calculated (step S102 in FIG. 3). Subsequently, the controller 4 outputs a deceleration command for controlling the braking / driving force of the host vehicle A to the braking / driving force control unit 5 so that the calculated target inter-vehicle distance L3 'and the inter-vehicle distance L3 coincide. Thus, when the controller 4 outputs a deceleration command, the braking / driving force control unit 5 decelerates the host vehicle A, increases the inter-vehicle distance L3, and reduces the difference between the target inter-vehicle distance L3 ′ and the inter-vehicle distance L3. .
  Subsequently, as shown in FIG. 2D, when the difference between the target inter-vehicle distance L3 ′ and the inter-vehicle distance L3 becomes equal to or smaller than the set value, the controller 4 determines the inter-vehicle distance L2 between the adjacent front vehicle D and the adjacent rear vehicle C. Based on the vehicle speed V2 of the adjacent rear vehicle C and the target vehicle speed V1 ′ at the time of lane change, an estimated interference time TTC2 between the host vehicle A and the adjacent rear vehicle C is calculated (step S103 in FIG. 3). Here, it is assumed that the calculated interference prediction time TTC2 is equal to or longer than a set threshold value (5 seconds). Then, the controller 4 determines that the calculated interference prediction time TTC2 is equal to or longer than the set threshold (5 seconds), and determines that the host vehicle A can be changed to an adjacent lane (“Yes” in step S103 in FIG. 3). Subsequently, the controller 4 outputs an acceleration command for accelerating the host vehicle A to the braking / driving force control unit 5 so that the vehicle speed of the host vehicle A coincides with the target vehicle speed V1 ′ at the time of lane change (step S104 in FIG. 3). . Thus, the braking / driving force control unit 5 accelerates the host vehicle A when the controller 4 outputs an acceleration command. And the vehicle speed of the own vehicle A increases, and the difference between the target vehicle speed V1 'at the time of lane change and the vehicle speed of the own vehicle A is reduced. Further, the controller 4 outputs an intention presentation command to the lane change intention presentation unit 6. As a result, when the controller 4 outputs the intention presentation command, the lane change intention presentation unit 6 performs control to blink the blinker on the adjacent lane side as shown in FIG. Then, the driver of the adjacent rear vehicle C grasps the intention of changing the lane of the own vehicle A and warns against interference with the adjacent rear vehicle C.
  Subsequently, when the controller 4 matches the target vehicle speed V1 ′ when the lane is changed, the vehicle speed of the host vehicle A matches the distance L2 between the adjacent front vehicle D and the adjacent rear vehicle C, the vehicle speed V2 of the adjacent rear vehicle C, and the lane change. Based on the hour target vehicle speed V1 ′, an estimated interference time TTC3 between the host vehicle A and the adjacent rear vehicle C is calculated. Here, it is assumed that the calculated interference prediction time TTC3 is equal to or longer than the set threshold value (5 seconds). Then, the controller 4 determines that the interference prediction time TTC3 is equal to or longer than the set threshold (5 seconds), and determines that the host vehicle A can be changed to the adjacent lane. Subsequently, the controller 4 outputs a lane change command to the driving support unit 7 (step S105 in FIG. 3). As a result, the driving support unit 7 outputs a voice prompting the driver to start the lane change to the adjacent lane. And as shown in FIG.2 (f), a driver | operator starts steering operation and changes the own vehicle A to an adjacent lane.
  Thus, in the present embodiment, it is determined whether or not the own vehicle A can change the lane to the candidate inter-vehicle space that is the inter-vehicle space that is the candidate for the lane change destination. Subsequently, in this embodiment, when it is determined that the own vehicle A cannot be changed to the candidate inter-vehicle space, the target inter-vehicle distance L3 between the vehicle B ahead of the own lane and the own vehicle A is larger than the current inter-vehicle distance L3. The braking driving force of the host vehicle A is controlled so as to be the distance L3 ′. Subsequently, in the present embodiment, when the difference between the inter-vehicle distance L3 between the vehicle B ahead of the own lane and the own vehicle A and the target inter-vehicle distance L3 ′ is equal to or less than the set value, the own vehicle A is accelerated. Controls the braking / driving force. Subsequently, in the present embodiment, the braking / driving force of the own vehicle A is controlled, and when the own vehicle A accelerates, the own vehicle A is controlled and operated so that the own vehicle A starts to change lanes to the adjacent lane. At least one of notification to a person. Therefore, in the present embodiment, the inter-vehicle distance L3 between the vehicle B ahead of the own lane and the own vehicle A can be increased, and the own vehicle A can be accelerated by the increased inter-vehicle distance L3. Thereby, in this embodiment, the vehicle lane can be changed more appropriately even when the vehicle train traveling in the vehicle lane is at a relatively low speed.
  In the present embodiment, the vehicle speed detection unit 3 in FIG. 1 detects the own vehicle speed detection unit. Similarly, the radar unit 1 in FIG. 1 constitutes an adjacent vehicle speed detection unit, an adjacent inter-vehicle distance detection unit, and an inter-vehicle distance detection unit. Further, the controller 4 in FIG. 1 and step S101 in FIG. 3 constitute an interference prediction time calculation unit, a lane change possibility determination unit, a target vehicle speed calculation unit, and a setting margin setting unit. Further, the controller 4 in FIG. 1 and step S102 in FIG. 3 constitute an inter-vehicle distance control unit, a braking / driving force control unit, and a distance calculation unit. Further, the controller 4 in FIG. 1 and steps S103 to S105 in FIG. 3 constitute a lane change support unit. Further, the target vehicle speed V1 'at the time of lane change constitutes the target vehicle speed. Moreover, the navigation part 2 of FIG. 1 comprises an end point distance detection part. Furthermore, the controller 4 in FIG. 1 and step S103 in FIG. 3 constitute a second interference prediction time calculation unit. Moreover, the controller 4 of FIG. 1 and step S104 of FIG. 3 comprise a vehicle speed control part, a 3rd interference estimated time calculation part, and a lane change intention presentation part. Further, the controller 4 in FIG. 1 and step S105 in FIG. 3 constitute a lane change support execution unit.
(Effect of this embodiment)
This embodiment has the following effects.
(1) The controller 4 determines whether or not the own vehicle A can change the lane to the candidate inter-vehicle space that is the inter-vehicle space that is the candidate for the lane change destination. Subsequently, when the controller 4 determines that the own vehicle A cannot be changed to the candidate inter-vehicle space, the inter-vehicle distance L3 between the vehicle B ahead of the own lane and the own vehicle A is larger than the current inter-vehicle distance L3. The braking driving force of the host vehicle A is controlled so as to be L3 ′. Subsequently, when the difference between the inter-vehicle distance L3 between the vehicle B ahead of the host lane and the host vehicle A and the target inter-vehicle distance L3 ′ becomes equal to or less than the set value, the controller 4 causes the host vehicle A to accelerate. Controls braking / driving force. Subsequently, the controller 4 controls the braking / driving force of the host vehicle A. When the host vehicle A accelerates, the controller 4 controls the host vehicle A so that the host vehicle A starts a lane change to the adjacent lane, and the driver. At least one of notifications to
According to such a configuration, the inter-vehicle distance L3 between the vehicle B ahead of the host lane and the host vehicle A can be increased, and the host vehicle A can be accelerated by the increased inter-vehicle distance L3. Thereby, even when the vehicle train traveling in the own lane is at a relatively low speed, the lane of the own vehicle A can be changed more appropriately.
(2) The controller 4 accelerates the host vehicle A to the target vehicle speed V1 ′ at the time of lane change based on the target vehicle speed V1 ′ at the time of lane change and the vehicle speed of the host vehicle A for changing the host vehicle A to the adjacent lane. Necessary distance ΔL is calculated. Subsequently, the controller 4 adds the calculated required distance ΔL to the inter-vehicle distance L3 to obtain a target inter-vehicle distance L3 ′.
According to such a configuration, the inter-vehicle distance L3 between the vehicle B ahead of the host lane and the host vehicle A can be increased, and the host vehicle A can be accelerated at a higher speed than the vehicle B ahead of the host lane.
(3) The controller 4 sets the first setting margin Lmargin1 to a smaller value as the vehicle speed V2 of the adjacent rear vehicle C is lower.
According to such a configuration, the target vehicle speed V1 ′ at the time of lane change increases as the vehicle speed V2 of the adjacent rear vehicle C decreases, so that the host vehicle A can be easily changed to the adjacent lane.
(4) The controller 4 sets the first setting margin Lmargin1 to a smaller value as the distance L4 from the own vehicle A to the merging lane end point is shorter.
According to such a configuration, the target vehicle speed V1 ′ at the time of lane change increases as the distance L4 from the host vehicle A to the end point of the merging lane increases, so that the host vehicle A can be easily changed to the adjacent lane.
(5) When the controller 4 controls the braking / driving force of the host vehicle A so that the host vehicle A accelerates, the controller 4 controls blinking of the blinker and controls the host vehicle A to travel along the boundary with the adjacent lane. At least one of the above is performed and the intention to change the lane of the host vehicle is presented to the surroundings.
According to such a structure, the intention of the lane change of the own vehicle A can be transmitted to the adjacent rear vehicle C.
3 Vehicle speed detector (own vehicle speed detector)
1 Radar unit 1 (adjacent vehicle speed detection unit, adjacent inter-vehicle distance detection unit, inter-vehicle distance detection unit)
2 Navigation unit (end point distance detection unit)
4 Controller 4 (interference prediction time calculation unit, lane change availability determination unit, target vehicle speed calculation unit, setting margin setting unit, inter-vehicle distance control unit, braking / driving force control unit, distance calculation unit, lane change support unit, second interference prediction Time calculation unit, vehicle speed control unit, third interference prediction time calculation unit, lane change intention presentation unit, lane change support execution unit)

Claims (4)

  1. A vehicle speed detection unit for detecting the vehicle speed of the vehicle;
    An adjacent inter-vehicle distance detection unit that detects an inter-vehicle distance between a vehicle behind the candidate inter-vehicle space that is an inter-vehicle space in which the own vehicle in the adjacent lane is a candidate for a lane change destination; and
    An adjacent vehicle speed detector that detects a vehicle speed of a vehicle behind the candidate inter-vehicle space;
    When the host vehicle changes lanes to the candidate inter-vehicle space based on the vehicle speed detected by the host vehicle speed detection unit, the inter-vehicle distance detected by the adjacent inter-vehicle distance detection unit, and the vehicle speed detected by the adjacent vehicle speed detection unit. An interference prediction time calculation unit that calculates an interference prediction time that is a time required for the host vehicle and a vehicle behind the candidate inter-vehicle space to interfere with each other;
    A lane change availability determination unit that determines whether or not the host vehicle can change lanes to the candidate inter-vehicle space based on the interference prediction time and the setting threshold value calculated by the interference prediction time calculation unit;
    If the lane change possibility determination unit determines that the own vehicle cannot change the lane to the candidate inter-vehicle space, the inter-vehicle distance between the vehicle ahead of the own lane and the own vehicle becomes a set distance larger than the current inter-vehicle distance. An inter-vehicle distance control unit for controlling the braking driving force of the host vehicle,
    When the inter-vehicle distance control unit controls the braking / driving force of the host vehicle, and the difference between the inter-vehicle distance between the vehicle ahead of the host vehicle and the host vehicle and the set distance is equal to or less than a set value, the host vehicle A braking / driving force control unit for controlling the braking / driving force of the host vehicle to accelerate,
    The braking / driving force control unit controls the braking / driving force of the host vehicle, and when the host vehicle accelerates, the host vehicle controls the driver and the driver so that the host vehicle starts a lane change to an adjacent lane. A lane change support unit that performs at least one of the notifications;
    An inter-vehicle distance detection unit that detects an inter-vehicle distance between a vehicle ahead of the host lane and the host vehicle;
    Based on the inter-vehicle distance detected by the inter-vehicle distance detection unit, the vehicle speed detected by the adjacent vehicle speed detection unit, a predetermined setting margin, and the setting threshold, a target vehicle speed for changing the host vehicle to an adjacent lane is determined. A target vehicle speed calculation unit to calculate,
    A distance calculation unit that calculates a necessary distance for the host vehicle to accelerate to the target vehicle speed based on the vehicle speed detected by the host vehicle speed detection unit and the target vehicle speed calculated by the target vehicle speed calculation unit;
    A distance setting unit that calculates the set distance based on the inter-vehicle distance detected by the inter-vehicle distance detection unit, and the necessary distance calculated by the distance calculation unit;
    A driving support apparatus comprising:
  2. The target vehicle speed calculation unit divides the addition result obtained by adding the set margin to the inter-vehicle distance detected by the adjacent inter-vehicle distance detection unit by the set threshold value , and subtracts the division result from the vehicle speed detected by the adjacent vehicle speed detection unit. The subtraction result as the target vehicle speed,
    The driving support device according to claim 1 , further comprising a setting margin setting unit that sets the setting margin to a smaller value as the vehicle speed detected by the adjacent vehicle speed detection unit is lower.
  3. The target vehicle speed calculation unit divides the addition result obtained by adding the set margin to the inter-vehicle distance detected by the adjacent inter-vehicle distance detection unit by the set threshold value , and subtracts the division result from the vehicle speed detected by the adjacent vehicle speed detection unit. The subtraction result as the target vehicle speed,
    An end point distance detection unit for detecting a distance from the own vehicle to the end point of the merged lane when the own vehicle is traveling in the merged lane;
    The driving support apparatus according to claim 1 , further comprising: a setting margin setting unit that sets the setting margin to a smaller value as the distance detected by the end point distance detection unit is shorter.
  4. When the lane change support unit controls the braking / driving force of the host vehicle so that the host vehicle accelerates, the control of blinking the blinker on the adjacent lane side, and the host vehicle at the boundary with the adjacent lane by performing at least one control for running along said according to any one of claims 1 to 3, characterized in that it comprises a lane change intent presenting unit that presents around the intention of lane change of the vehicle Driving assistance device.
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US9475491B1 (en) * 2015-06-08 2016-10-25 Toyota Motor Engineering & Manufacturing North America, Inc. Lane changing for autonomous vehicles
JP6447468B2 (en) 2015-11-17 2019-01-09 株式会社デンソー Driving assistance device
JP6623501B2 (en) * 2016-03-14 2019-12-25 本田技研工業株式会社 Vehicle control device, vehicle control method, and vehicle control program
US20190143972A1 (en) * 2016-03-15 2019-05-16 Honda Motor Co., Ltd. Vehicle control system, vehicle control method, and vehicle control program
JP6485399B2 (en) 2016-04-15 2019-03-20 株式会社デンソー Support device
JP6490044B2 (en) 2016-12-09 2019-03-27 本田技研工業株式会社 Vehicle control device
KR20190004133A (en) 2017-07-03 2019-01-11 현대자동차주식회사 Ecu, autonomous vehicle including the ecu, and method of controlling lane change for the same
WO2020058739A1 (en) * 2018-09-21 2020-03-26 日産自動車株式会社 Vehicle control method and vehicle control device

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JP2003025868A (en) * 2001-07-16 2003-01-29 Nissan Motor Co Ltd Lane-change supporting device for vehicle
JP4366419B2 (en) * 2007-09-27 2009-11-18 株式会社日立製作所 Driving support device
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