JP6322063B2 - Vehicle driving support device - Google Patents

Description

  The present invention determines whether the overtaking is continued or interrupted when the preceding vehicle is about to move from the main line to the branch lane during the overtaking control for overtaking the preceding vehicle traveling immediately before the host vehicle. The present invention relates to a vehicle driving support apparatus.

  2. Description of the Related Art Conventionally, an ACC (Adaptive Cruise Control) device that makes a host vehicle run at a constant speed at a preset vehicle speed (set vehicle speed) is known. Furthermore, when the surrounding environment of the vehicle is recognized using a millimeter wave radar, infrared laser radar, stereo camera, monocular camera, etc., and a preceding vehicle traveling immediately before the own vehicle is detected (captured) based on the recognized environmental information A cruise control device with inter-vehicle distance control that performs follow-up running control with the preceding vehicle as a follow-up target is also known.

  For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2014-46748), when a preceding vehicle is detected as a control mode at the time of automatic driving, the following mode for following the preceding vehicle and the vehicle speed of the preceding vehicle are The vehicle is equipped with an overtaking control mode that is executed when the vehicle can be overtaken and is slower than the set vehicle speed, and the duration is determined based on the continuous detection time from when the preceding vehicle is detected until the automatic operation is started. If it is shorter than the threshold, it is determined that the driver has an intention to overtake the preceding vehicle and the overtaking control mode is executed. If the duration is longer than the threshold, there is no intention to overtake. A technique for determining and executing the follow-up mode is disclosed.

JP 2014-46748 A

  By the way, the preceding vehicle to be overtaken is not continuously driving in the current driving lane, and if it is driving on a highway or toll road, it will eventually pass through the branch lane from the main line. Move to a road or another highway.

  When a preceding vehicle tries to move from a main road such as an expressway or a toll road to a branch lane, first the turn signal lamp blinks to inform the subsequent vehicle that it will move to a branch lane, and then branches in a decelerated state. Move to the lane.

  If the turn signal lamp flashing of the preceding vehicle is detected when the host vehicle tries to overtake the preceding vehicle, the normal driving operation by the driver will determine the distance between the preceding vehicle and the own vehicle, and the preceding vehicle. Judge whether it is possible to overtake from the relative vehicle speed with the host vehicle, and if it is not necessary to overtake, follow the back of the preceding vehicle while decelerating, or change lanes if overtaking is required Then, the overtaking operation is continued.

  On the other hand, when the host vehicle is driving in the overtaking lane and overtaking the preceding vehicle, if the turn signal lamp blinking of the preceding vehicle is detected, the host vehicle may enter the front of the preceding vehicle or Judge whether to return.

  However, in the technique disclosed in the above-described document, when the overtaking control mode is executed, the overtaking control such as the lane change control is continuously executed regardless of the behavior of the preceding vehicle to be overtaken. Therefore, the control different from the driver's intention is continued, and there is a disadvantage that the driver feels uncomfortable.

  In view of the above circumstances, the present invention continues or interrupts overtaking from the relationship between the preceding vehicle and the host vehicle when overtaking the preceding vehicle or when the preceding vehicle is about to move from the main line to the branch lane during overtaking. An object of the present invention is to provide a vehicle driving support device that can accurately determine whether or not the driver feels discomfort.

The present invention provides a surrounding environment recognition means for recognizing the surrounding environment of the own vehicle, a driving state detection means for detecting the driving state of the own vehicle, and a preceding vehicle based on the surrounding environment recognized by the surrounding environment recognition means. while, in the vehicular driving support apparatus and a determining driving assistance means whether it is possible to overtaking said prior vehicle from the relationship of said prior vehicle and the own vehicle, the driving support unit, the preceding vehicle A lateral position in the vehicle width direction in the travel lane of the preceding vehicle detected based on the surrounding environment recognized by the surrounding environment recognition means during overtaking control for overtaking and a predetermined interruption set in the lateral position in the vehicle width direction Compared with a determination threshold value, it is determined whether the preceding vehicle exceeds the interruption determination threshold value and is deviated to the opposite side of the overtaking lane. Interrupt.

  According to the present invention, the lateral position in the vehicle width direction in the traveling lane of the preceding vehicle detected based on the surrounding environment recognized by the surrounding environment recognition means during the overtaking control for overtaking the preceding vehicle, and the vehicle width direction Comparing with the predetermined interruption determination threshold set in the horizontal position, if the preceding vehicle exceeds the interruption determination threshold and is determined to be biased to the opposite side of the overtaking lane, the overtaking control is interrupted So, when overtaking the preceding vehicle, or when the preceding vehicle is moving from the driving lane (main line) to the branch lane during overtaking, continue or stop overtaking due to the relationship between the preceding vehicle and the host vehicle It is possible to accurately determine whether to do so and to reduce discomfort given to the driver.

Configuration diagram of vehicle driving support device (A) is a bird's-eye view showing a state before the lane change to overtake the preceding vehicle, and (b) is a bird's-eye view showing a state in which the preceding vehicle has changed course to a branch lane. Flow chart showing automatic operation control routine Flow chart showing overtaking control mode subroutine Flowchart showing control subroutine before lane change Flowchart showing control subroutine after lane change Flowchart showing interruption determination threshold value setting routine Conceptual diagram of target vehicle inter-vehicle table Conceptual diagram of basic threshold table Conceptual diagram of the initial correction coefficient table (A) is a timing chart showing the relationship between the preceding vehicle lateral position, the interruption determination threshold value and the standby determination threshold value, and (b) is a timing indicating the change of the interruption determination flag when the left turn signal lamp of the preceding vehicle is turned off. Chart, (c) is a timing chart showing the change of the interruption determination flag when the left turn signal lamp of the preceding vehicle blinks Explanatory drawing which shows the correction gain set according to a road surface and a road condition Conceptual diagram of the vehicle lateral position correction value table Timing chart showing the change in the inter-vehicle distance between the host vehicle and the preceding vehicle and the initial correction coefficient Timing chart showing changes in the vehicle lateral position correction value and the basic threshold for changes in the vehicle lateral position and the preceding vehicle lateral position Timing chart showing change in deceleration correction value when deceleration of preceding vehicle is detected Timing chart showing changes in lane correction values set according to the road on which the preceding vehicle and the host vehicle are traveling

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 2 is a host vehicle, B is a preceding vehicle that travels immediately before, and the vehicle driving support device 1 shown in FIG. 1 is mounted on the host vehicle A. In the following, description will be made on the assumption that left-hand traffic. Therefore, in the case of right-hand traffic, the left and right descriptions are reversed.

  The vehicle driving support apparatus 1 includes a driving support control unit 11 as driving support means, an engine control unit (hereinafter referred to as “E / G_ECU”) 12, a power steering control unit (hereinafter referred to as “PS_ECU”) 13, Each control unit such as a brake control unit (hereinafter referred to as “BK_ECU”) 14 is provided, and each control unit 11 to 14 is connected through an in-vehicle communication line 15 such as a CAN (Controller Area Network). Each of the units 11 to 14 includes a microcomputer having a CPU, a ROM, a RAM, and the like, and a control program for realizing an operation set for each system is stored in the ROM.

  An in-vehicle camera 22 is connected to the input side of the driving support control unit 11 via an image processing unit (IPU) 21. This in-vehicle camera 22 has a main camera 22a and a sub camera 22b, and is a stereo camera that is mounted on the front part of the cabin of the host vehicle A and photographs a predetermined area Er1 (see FIG. 2 (a)) forward in the traveling direction. . The IPU 21 performs predetermined image processing on the surrounding environment image in front of the traveling direction photographed by both the cameras 22 a and 22 b and outputs the processed image to the driving support control unit 11.

  Further, on the input side of the driving support control unit 11, an automatic driving switch 23, a vehicle speed sensor 24 for detecting the vehicle speed of the own vehicle A (hereinafter referred to as "own vehicle speed") Va, a front side radar 25, a rear side radar. 26, various sensors such as a yaw rate sensor 27 for detecting the yaw rate acting on the host vehicle A are connected, and a notification means 28 is connected on the output side. The on-vehicle camera 22, the front side radar 25, and the rear side radar 26 described above specifically illustrate the surrounding environment recognition means of the present invention. The vehicle speed sensor 24 and the yaw rate sensor 27 described above correspond to the driving state detection means of the present invention.

  The automatic operation switch 23 is provided at a position that can be operated by the driver, such as an instrument panel and a steering handle, and arbitrarily selects normal operation (switch OFF) and automatic operation (switch ON), and ACC operation. The set vehicle speed at the time and the operation mode during automatic operation can be set to either the follow-up control mode or the overtaking control mode. When the follow-up control mode is selected as the operation mode in automatic driving, even if the vehicle speed of the preceding vehicle B (hereinafter referred to as “preceding vehicle speed”) Vb is less than or equal to the set vehicle speed of the own vehicle A, the own vehicle A The follow-up running control is executed in a state where the predetermined inter-vehicle distance is maintained without overtaking the preceding vehicle B. On the other hand, when the overtaking control mode is selected, when the preceding vehicle speed Vb is slower than the set vehicle speed of the own vehicle A by a predetermined amount, the overtaking control mode is executed to maintain the set vehicle speed of the own vehicle A.

  The front side radar 25 is a millimeter wave radar, a microwave radar, an infrared laser radar, or the like, and is composed of a pair of radars disposed on the left and right sides of the front bumper, for example. The front side radar 25 monitors the left and right diagonally front areas Er2L and Er2R (see FIG. 2 (a)) that are difficult to recognize in the image from the on-vehicle camera 22 described above. Find the distance.

  The rear side radar 26 is a millimeter wave radar, a microwave radar, an infrared laser radar, or the like, and is composed of a pair of radars disposed on the left and right sides of the rear bumper, for example. The area scanned by the rear side radar 26 is relatively wider than that of the front side radar 25 described above, and the areas Er3L and Er3R which cannot be monitored by the front side radar 25 from the rear of the host vehicle A to the left and right (see FIG. a)) is monitored, and the distance between the vehicle A and the object detected laterally, obliquely rearward, and rearward is obtained.

  The notification means 28 notifies the driver of the start or stop of automatic driving by blinking display, character display, voice, or the like, and includes a display lamp, a display, a speaker, and the like.

  On the other hand, a throttle actuator 31 is connected to the output side of the E / G_ECU 12. The throttle actuator 31 opens and closes a throttle valve of an electronically controlled throttle provided in the throttle body of the engine, and adjusts the intake air flow rate by opening and closing the throttle valve by a drive signal from the E / G_ECU 12. The desired engine output is generated.

  An electric power steering motor 32 is connected to the output side of the PS_ECU 13. The electric power steering motor 32 applies a steering torque to the steering mechanism by the rotational force of the motor. In automatic operation, the electric power steering motor 32 is controlled by a drive signal from the PS_ECU 13 so that the current driving lane travels. Lane maintenance control for maintaining the vehicle, lane change control for moving the host vehicle A to the adjacent traveling lane, and the like are executed. In the following, for the sake of convenience, the right lane adjacent to the driving lane and the lane that changes the lane when overtaking will be referred to as the overtaking lane. Including the opposite lane.

  A brake actuator 33 is connected to the output side of the BK_ECU 14. The brake actuator 33 adjusts the brake hydraulic pressure supplied to the brake wheel cylinder provided on each wheel. When the brake actuator 33 is driven by a drive signal from the BK_ECU 14, each brake wheel 33 is driven by the brake wheel cylinder. Braking force is generated and the vehicle is forcibly decelerated.

  The driving support control unit 11 checks whether or not the preceding vehicle B is traveling ahead of the own vehicle A based on the surrounding environment image in front of the own vehicle that is image-processed by the IPU 33 and photographed by the in-vehicle camera 22. When the vehicle B is captured, a distance (hereinafter referred to as “vehicle-to-vehicle distance”) L1 (see FIG. 2) between the preceding vehicle B and the host vehicle A and a relative vehicle speed ΔVba are calculated. In the automatic operation, it is determined whether the host vehicle A is to follow or overtake the preceding vehicle B based on the inter-vehicle distance L1 and the relative vehicle speed ΔVba.

  The automatic driving control executed by the driving support control unit 11 described above is specifically processed according to the automatic driving control routine shown in FIG.

  This routine is executed every predetermined calculation cycle after the driving support control unit 11 is activated, and first waits until the automatic operation switch 23 is turned on in step S1. Then, when the automatic driving switch 23 is turned on, the process proceeds to step S2, and it is checked whether or not there is a preceding vehicle B that travels ahead of the host vehicle A based on the image captured by the in-vehicle camera 22. When the automatic operation switch 23 is turned on, the indicator lamp of the notification means 28 that notifies the instrument panel that the automatic switch 23 has been turned on is turned on, and the set vehicle speed described later is displayed.

  If the preceding vehicle B is detected, the process proceeds to step S3. If the preceding vehicle B is not detected, that is, if the preceding vehicle B does not exist in front of the own vehicle traveling path, the process jumps to step S6.

  In step S3, the target vehicle-to-vehicle distance TL1 is set by referring to the target vehicle-to-vehicle distance table based on the own vehicle speed Va detected by the vehicle speed sensor 24 or from a predetermined calculation formula. The target vehicle-to-vehicle distance TL1 is a value for determining whether the host vehicle A follows the preceding vehicle B or passes, and as shown in FIG. 8, the target vehicle-to-vehicle distance TL1 is the host vehicle speed Va. As the value increases, the distance is set longer.

  When the inter-vehicle distance L1 is less than the target inter-vehicle distance TL1 (L1 <TL1), the process proceeds to step S5, and when the inter-vehicle distance L1 is equal to or greater than the target inter-vehicle distance TL1 (L1 ≧ TL1), the process proceeds to step S6.

  When proceeding to step S5, it is determined whether to start the overtaking control mode or the follow-up control mode with reference to the setting by the driver's automatic operation switch 23, and when the follow-up control mode is set, Proceeding to step S7, the follow-up control mode is started and the routine is exited. Note that the follow-up control mode is the same as the technique disclosed in, for example, Japanese Patent Application Laid-Open No. 2012-206700 previously filed by the present applicant, and thus the description thereof is omitted.

  On the other hand, if the overtaking control mode is set, the process proceeds to step S8 to start the overtaking control mode and exit the routine. This overtaking control mode is processed according to an overtaking control mode subroutine which will be described later. Note that the start of the overtaking control mode is notified to the driver by turning on an indicator lamp provided in the display means 28 or by sound from a speaker.

  When the process proceeds from step S2 or step S4 to step S6, the set vehicle speed control is executed and the routine is exited. This set vehicle speed control causes the host vehicle A to run at a constant speed with the vehicle speed (the upper limit is the speed limit) set by the driver operating the automatic operation switch 23 as a target vehicle speed, and is therefore well known in the art. Omitted.

  The overtaking control mode executed in step S8 described above is processed according to the overtaking control mode subroutine shown in FIG.

  In this subroutine, first, in step S21, whether the vehicle A is in a state before the lane change to the adjacent overtaking lane (see FIG. 2 (a)) or after the lane change (see FIG. 2 (b)). Is determined by estimating the behavior of the host vehicle A from the driving signal output from the PS_ECU 13 to the electric power steering motor 32, the history of the yaw rate detected by the yaw rate sensor 27, or the lane recognized based on the image taken by the in-vehicle camera 22. To do. Here, in the present embodiment, before the lane change, after the host vehicle A starts to steer, after moving to the overtaking lane, it shifts to the lane keeping control, and after that, after the lane change. In addition, since steering control at the time of a lane change is well-known, description is abbreviate | omitted.

  If it is determined in step S21 that the lane has not been changed and the process proceeds to step S22, the control before the lane change is executed and the routine is exited. If the lane change is determined and the process proceeds to step S23, the control after the lane change is performed. Execute and exit the routine.

  The control before lane change executed in step S22 is processed according to the control subroutine before lane change shown in FIG. 5, and the control after lane change executed in step S23 is processed according to the control subroutine after lane change shown in FIG. Is done.

  First, the control subroutine before lane change shown in FIG. 5 will be described. In this subroutine, it is checked in step S31 whether or not the left turn signal lamp is blinking from the image of the preceding vehicle B recognized by the in-vehicle camera 22. For example, on a highway, the preceding vehicle B traveling in the driving lane blinks the left turn signal lamp. For example, on an expressway, it is off the main line and branches such as a lead-in line that leads to an interchange or junction, or a service area or parking area. This is to notify the following vehicle that the course is to be changed to a lane.

  If the blinking of the left turn signal lamp is not recognized, that is, if the preceding vehicle B is predicted to go straight, the process proceeds to step S32. On the other hand, if blinking of the left turn signal lamp is recognized, the process branches to step S33.

  In step S32, the interruption determination threshold value T4 is read. The interruption determination threshold value T4 is a value for predicting whether or not to change the course to the branch lane from the behavior of the preceding vehicle B and determining whether to continue or interrupt the overtaking control accordingly. It is obtained according to the interruption determination threshold value setting routine shown in FIG. The interruption determination threshold value setting routine will be described later.

  By the way, when the driver wants to change the course of the vehicle to the branch lane, as described above, the left turn signal lamp blinks to notify the subsequent vehicle of the course change, and then the vehicle is moved to the left side of the travel lane between the branch lanes. Enter the branch lane while decelerating and deviating. Therefore, when the preceding vehicle B enters the branch lane, the preceding vehicle B always shows a behavior biased to the left side of the traveling lane. In the present embodiment, the behavior of the preceding vehicle B is detected at a lateral position (hereinafter referred to as “preceding vehicle lateral position”) L4 (see FIG. 2).

  On the other hand, when the process proceeds to step S33, a standby determination threshold value T4 'is set. As shown in FIG. 11, the standby determination threshold value T4 ′ is a value (T4 ′ ← T4 + dead band width) set with a certain dead band width with respect to the interruption determination threshold value T4. The dead zone width is set in advance according to the characteristics of the host vehicle A.

  Thereafter, in step S34, the standby determination threshold value L4 ′ is compared with the preceding vehicle lateral position L4. If the preceding vehicle lateral position L4 is equal to or greater than the standby threshold value T4 ′ (L4 ≧ T4 ′), step S31 is performed. Returning to step ST8, the vehicle waits until the preceding vehicle lateral position L4 falls below the standby determination threshold value T4 ′. When the left turn signal lamp of the preceding vehicle B flashes, there is a high possibility that the preceding vehicle B will change the course to the branch lane. It is possible to realize traveling control in accordance with a person's intention. When the preceding vehicle lateral position L4 falls below the standby determination threshold value T4 '(L4 <T4'), the process proceeds to step S37.

  On the other hand, when proceeding from step S32 to step S35, the preceding vehicle lateral position L4 obtained based on the surrounding environment image in front of the host vehicle photographed by the in-vehicle camera 22 is compared with the interruption determination threshold value T4. As shown in FIGS. 2 and 9, in the present embodiment, the preceding vehicle lateral position L4 is defined as the center of the vehicle lane (hereinafter referred to as “travel lane width”) L5 (hereinafter referred to as “travel lane center”). L5 / 2 is used as a reference position, the left side is displayed with a minus sign, and the right side is displayed with a plus sign. Accordingly, the interruption determination threshold value T4 is also set with a minus on the left side and a plus on the right side with respect to the center of the traveling lane.

  When the preceding vehicle lateral position L4 exceeds the interruption determination threshold value T4 (L4> T4), that is, when the preceding vehicle B is located on the right side of the travel lane with respect to the interruption determination threshold value T4. The process proceeds to step S36. On the other hand, when the preceding vehicle lateral position L4 is equal to or less than the interruption determination threshold value T4 (L4 ≦ T4, see FIG. 11A), that is, the preceding vehicle B is positioned on the left side of the travel lane with respect to the interruption determination threshold value T4. If yes, the process branches to step S37.

  When the process proceeds from step S35 to step S36, the interruption determination flag F is cleared (F ← 0) to continue the overtaking control, and the process proceeds to step S38. On the other hand, when the process proceeds from step S34 or step S35 to step S37, it is determined that the preceding vehicle B changes the course to the branch lane, and the interruption determination flag F is set to interrupt the overtaking control (F ← 1). It progresses to step S39 (refer FIG.11 (b), (c)).

  The value of the interruption determination flag F is read when the driving support control unit 11 determines whether to continue or stop the overtaking control mode before changing the lane. If F = 0, the overtaking control mode is read. And is interrupted if F = 1 (see FIG. 11). When the overtaking control mode is interrupted, the driving support control unit 11 executes steering control for causing the own vehicle A to travel along the traveling lane without changing the lane, with respect to the control units 12, 13, and 14. Let Further, the driver is informed that the overtaking control mode is interrupted by the sound from the speaker while turning off the indicator lamp indicating that the overtaking control is provided in the notification means 28. .

  Thereafter, when the process proceeds from step S36 to step S38, it is checked whether or not the lane change to the branch lane of the preceding vehicle B is completed. If the lane change is incomplete, the process returns to step S31. Exit the routine. Whether or not the lane change of the preceding vehicle B has been completed is determined based on, for example, the image taken by the in-vehicle camera 22 and the drive signal output from the PS_ECU 13 to the electric power steering motor 32. Judgment is made based on whether or not the control is started. When the lane keeping control is started, it is determined that the lane change is completed.

  Further, when the process proceeds from step S37 to step S39, the driving support control unit 11 described above is caused to execute the follow-up control mode for following the preceding vehicle B or the set vehicle speed control according to the preceding vehicle lateral position L4, and the routine is exited. As described above, the follow-up control mode is the same as the technique disclosed in Japanese Patent Application Laid-Open No. 2012-206700 and the like previously submitted by the applicant of the present application, and thus the description thereof is omitted.

  Thus, in the present embodiment, in the overtaking control mode before the lane change is completed, when the preceding vehicle B tries to change the course to the branch lane (the left turn signal lamp blinks or L4 ≦ T4), the overtaking control mode 2 and the traveling lane is caused to travel like the own vehicle A indicated by a solid line in FIG. 2B, so that excessive overtaking is not continuously performed and the driver feels uncomfortable. Can be reduced.

  On the other hand, if it is determined in step S38 that the lane change has been completed, the host vehicle A moves to the overtaking lane, as indicated by the one-dot chain line in FIG. 2B, and the overtaking control mode subroutine shown in FIG. The process branches from step S21 to step S23, and the control subroutine after lane change shown in FIG. 6 is executed.

  In this subroutine, first, in step S41, the preceding vehicle lateral position L4 is compared with the interruption determination threshold value T4. When the preceding vehicle lateral position L4 exceeds the interruption determination threshold value T4, that is, when the preceding vehicle B is traveling in the traveling lane, it is determined that the overtaking control is continued, and the process proceeds to step S42. The interruption determination flag F is cleared (F ← 0), and the process proceeds to step S44. When the host vehicle A is running along the overtaking lane with respect to the preceding vehicle B traveling in the traveling lane, the blinking of the left turn signal lamp of the preceding vehicle B is based on the image taken by the in-vehicle camera 22. Since it is difficult to recognize, the presence / absence of blinking of the left turn signal lamp is not determined as in the control before the lane change described above.

  On the other hand, if the preceding vehicle lateral position L4 is less than or equal to the interruption determination threshold value T4, the process branches to step S43, and whether or not the preceding vehicle lateral position L4 is less than or equal to half the travel lane width L5 (see FIG. 2), that is, the preceding vehicle. It is checked whether or not B has reached the white line on the left side of the travel lane. If L4> (− L5 / 2), it is determined that the course change has not been completed, the process returns to step S41, and the program is repeatedly executed. Here, the state in which the preceding vehicle lateral position L4 is between the interruption determination threshold value T4 and the left white line (T4 ≧ L4> (− L5 / 2)) indicates whether the overtaking control mode is continued or interrupted. This is a control standby area in which the determination is suspended, and the program is repeatedly executed until the preceding vehicle lateral position L4 exceeds the interruption determination threshold value T4 or exceeds the left white line.

  Further, when the process proceeds from step S42 to step S44, the inter-vehicle distance L1 between the preceding vehicle B and the host vehicle A is the required extra distance L2 (= L2 ′) obtained by adding the offset distance offset [m] to the preceding vehicle forward distance L2 ′. + Offset) Check whether it is moving forward or more. As indicated by the alternate long and short dash line in FIG. 2B, the preceding vehicle forward distance L2 ′ is set based on the total length of the preceding vehicle B, etc., which is a distance sufficient for the host vehicle A to enter the front of the preceding vehicle B. .

This offset distance offset is a margin value set so as to cope with a sudden lane change of the preceding vehicle B, and may be a fixed value set based on the total length of the host vehicle A, or the preceding vehicle speed It may be a variable value set based on Vb. When this offset distance offset is set based on the preceding vehicle speed Vb,
offset = [(Vlim−Vb) /3.6] · t
Can be obtained from Here, Vlim is the speed limit [Km / h] and t is the time [sec] required for overtaking.

Therefore, for example, when Vlim = 100 [Km / h], Vb = 90 [Km / h], t = 4 [s],
offset = [(100−90) /3.6] · 4
= 11 [m]
It becomes.

  If L1 <L2, it is determined that a sufficient inter-vehicle distance L1 for moving the host vehicle A ahead of the preceding vehicle B is not yet secured, the process returns to step S41, and the program is repeated. On the other hand, when L1 ≧ L2, a sufficient inter-vehicle distance L1 for moving the host vehicle A ahead of the preceding vehicle B is secured, so that it is determined that the overtaking is completed and the routine is exited. The driving support control unit 11 continues the overtaking control while the interruption determination flag F is cleared (F ← 0). When it is determined that L1 ≧ L2, the driving support control unit 11 sets the host vehicle A to the original travel lane, that is, Then, steering control for moving the vehicle ahead B is performed.

  On the other hand, if L4 ≦ (−L5 / 2) in step S43, it is determined that the preceding vehicle B has changed the course to the branch lane, the process proceeds to step S45, and the interruption determination flag F is set to interrupt the overtaking control. (F ← 1) and exit the routine. In the post-lane change control subroutine, when the interruption determination flag F is set (F ← 1), the driving support control unit 11 returns the host vehicle A to the travel lane with respect to the control units 12, 13, and 14. For this reason, the running control is executed. At that time, the indicator light provided to the notification means 28 for notifying the driver that the instrument panel is being overtaken is turned off, and the overtake control mode is interrupted by the sound from the speaker. Notify that it was done.

  The interruption determination threshold value T4 read in step S32 of the control subroutine before lane change shown in FIG. 5 and step S41 of the control subroutine after lane change shown in FIG. 6 is the interruption determination threshold value shown in FIG. It is set according to the setting routine.

  In this routine, first, in step S51, it is determined whether or not the overtaking control mode is currently executed. For example, whether or not the overtaking control mode is executed in step S8 of the automatic operation control routine shown in FIG. Check with no. If the overtaking control mode is being executed, the process proceeds to step S52. If the overtaking control mode is not being executed, the routine is exited.

  If it determines with the overtaking control mode being performed and it progresses to step S52, the basic threshold value T4INI will be set based on the preceding vehicle lateral position L4. As shown in FIG. 9, this basic threshold value T4INI has a negative proportional relationship with respect to the preceding vehicle lateral position L4, and refers to a basic threshold value table having characteristics as shown in FIG. Obtained from an arithmetic expression. As described above, in the present embodiment, the preceding vehicle lateral position L4 is displayed with a minus sign on the left side and a plus sign on the right side with the traveling lane center L5 / 2 as a reference position. Therefore, the basic threshold value T4INI is set to a higher value as the preceding vehicle lateral position L4 moves to the side opposite to the overtaking lane.

  Next, when proceeding to step S53, it is checked whether the current overtaking control is control before lane change or control after lane change. Whether the control before the lane change or the control after the lane change is, for example, the behavior of the host vehicle A is estimated from the drive signal output from the PS_ECU 13 to the electric power steering motor 32 or the lane recognized based on the image taken by the in-vehicle camera 22. Judgment. And when it determines with control before lane change, it progresses to step S54, and when it determines with control after lane change, it jumps to step S56.

  In step S54, an initial correction coefficient KINI is set based on the inter-vehicle distance L1 between the preceding vehicle B and the host vehicle A. FIG. 10 shows the characteristics of the initial correction coefficient table before the lane change. As shown in the figure, the initial correction coefficient KINI has a substantially negative proportional relationship with the inter-vehicle distance L1, and its upper limit is 1.0. When the inter-vehicle distance L1 at the start of the overtaking control is long, it is easy for the own vehicle A to respond to the behavior of the preceding vehicle B. However, as the inter-vehicle distance L1 becomes shorter, The time margin for making the vehicle A correspond is reduced.

  Therefore, the basic threshold value T4INI is shifted to the left side of the traveling lane by setting the initial correction coefficient KINI to a lower value (where 1.0 ≧ KINI) as the inter-vehicle distance L1 becomes longer, and the interruption determination threshold value. T4 is lowered to widen the control continuation area. In other words, the overtaking control is limited by setting the initial correction coefficient KINI higher as the inter-vehicle distance L1 becomes shorter.

  Incidentally, FIG. 14 illustrates a change in the initial correction coefficient KINI with respect to a change in the inter-vehicle distance L1 when the host vehicle A passes the preceding vehicle B. As shown in FIG. 2, the vehicle width of the overtaking lane (hereinafter referred to as the “overtaking lane width”) is L6, and the own vehicle A is located at the center of the overtaking lane width L6 from the driving lane center L5 / 2. Let's move to L6 / 2). As shown in the figure, since the vehicle accelerates before the lane change, the inter-vehicle distance L1 gradually decreases, and accordingly, the initial threshold value T4INI gradually increases. When the inter-vehicle distance L1 after the lane change reaches a predetermined distance, the basic threshold value T4INI becomes a constant value.

  Thereafter, when the process proceeds to step S55, the basic threshold value T4INI is corrected by the initial correction coefficient KINI and updated (T4INI ← KINI · T4INI). Accordingly, the basic threshold value T4INI is sequentially updated every calculation cycle.

  Next, when the process proceeds from step S53 or step S55 to step S56, the ambient environment information in the traveling direction of the host vehicle A, which is recognized based on the image captured by the in-vehicle camera 22 and the detection information by the front side radar 25, is read. . The surrounding environment information includes whether or not the overtaking lane is an oncoming lane, changes in the road surface condition (lane change from the driving lane to the overtaking lane, or vice versa), whether or not the road surface is covered with snow or frozen, Or sunny weather.

  In step S57, a threshold correction gain Gt for correcting the basic threshold T4INI is set based on the surrounding environment information. This threshold value correction gain Gt is selected and set from among a plurality of candidate correction gains G according to the priority order.

  FIG. 12 illustrates the correction gain G set by the driving support control unit 11 based on the recognized surrounding environment information. In the figure, as surrounding environment information, a rain correction gain, a road surface condition change gain, an oncoming lane correction gain, and a snow / freezing correction gain are set. On low μ roads such as when raining, snowing or freezing, vehicle controllability including acceleration control for overtaking and steering control when changing lanes is more difficult than for dry roads, increasing the time and danger of control. To do.

  Further, since the road is lower when snow and freezing than when raining, the correction gain G is set accordingly. Further, even when the road surface condition is different between the traveling lane in which the preceding vehicle B is traveling and the overtaking lane adjacent thereto, the correction gain G is set accordingly. On the other hand, when the overtaking lane is an oncoming lane, the degree of danger when traveling on the overtaking lane increases, so a correction gain G is set accordingly.

  When any correction gain G is detected, the correction gain G is set as the threshold correction gain Gt (Gt ← G). If the correction gain G is not detected, the threshold correction gain Gt is set to 100 [%] (Gt ← 1). Further, when a plurality of correction gains G are detected, the lowest correction gain G is set as the threshold correction gain Gt. That is, priorities are set in order from the lowest to the respective correction gains G. Prior to the lane change, priorities are set in the order of snow / frozen> oncoming lane> rain> road surface condition change. On the other hand, after the lane change, priorities are set in the order of snow / freezing> on opposite lane> on road surface change> rainy.

  Thereafter, the process proceeds to step S58, and the own vehicle lateral position correction value Ka is set based on the own vehicle lateral position L3. As shown in FIG. 2, the vehicle lateral position L3 is set based on an image taken by the in-vehicle camera 22 with the traveling lane center L5 / 2 as a reference. FIG. 13 shows the characteristics of the vehicle lateral position correction value table. As shown in the figure, the vehicle's lateral position correction value Ka is set to a constant value (1.0) until it crosses the dividing line (the white line between the driving lane and the overtaking lane) from the driving lane. In the lane, the vehicle is in a negative proportional relationship with the vehicle lateral position L3, and is decreased substantially in proportion to the vehicle lateral position L3. In other words, in a transitional state after the own vehicle A crosses the dividing line and moves to the overtaking lane and then shifts to the lane keeping control, the preceding vehicle B is not always traveling in a fixed position on the traveling lane, It may be possible to approach the overtaking lane.

  The own vehicle lateral position correction value Ka is set in consideration of the degree of danger due to the behavior of the preceding vehicle B moving to the right of the traveling lane and the discomfort given to the driver. That is, the vehicle lateral position correction value Ka is lower when the vehicle A travels to the right (side away from the travel lane) than the vehicle A travels to the left of the overtaking lane (the interruption determination threshold value T4 is set to the left). Therefore, the interruption determination threshold value T4, which will be described later, is set to a lower value when the host vehicle A travels to the right of the overtaking lane. As a result, if the own vehicle A travels to the left of the overtaking lane approaching the preceding vehicle B, the overtaking control is performed even if the preceding vehicle lateral position L4 becomes higher. It becomes difficult to be interrupted. As a result, the degree of danger due to the behavior of the preceding vehicle B and the discomfort given to the driver can be reduced. The vehicle lateral position correction value Ka may be obtained from an arithmetic expression corresponding to the characteristics shown in FIG.

  Thereafter, when the process proceeds to step S59, a deceleration that is a change in the vehicle speed of the preceding vehicle B is detected, and a deceleration correction value Kc is set. That is, as shown in FIG. 16, when deceleration is not detected, the deceleration correction value Kc is set to 1.0, and when deceleration is detected, the deceleration correction value Kc is set to a predetermined value (however, the predetermined value). Set in <1.0). When the preceding vehicle B starts decelerating, there is a possibility of changing lanes, so the interruption determination threshold value T4 is set low (transition to the right side of the traveling lane), and the control interruption area is expanded relatively early. Stop overtaking control. Note that this deceleration is determined as deceleration when the negative acceleration obtained by time differentiation of the preceding vehicle speed Vb is compared with a predetermined deceleration determination value, and when the negative acceleration is equal to or less than the deceleration determination value.

  Thereafter, the process proceeds to step S60, and the lane correction value Kd is set based on the road information recognized based on the surrounding environment image in front of the host vehicle detected by the in-vehicle camera 22.

  This lane correction value Kd is set corresponding to the road information of the road on which both vehicles A and B are traveling. In this embodiment, a three-lane road and a branch lane ahead are recognized. It is set about the case. Specifically, as shown in FIG. 17, the initial value of the lane correction value Kd is 1.0, and the lane correction value Kd is obtained when both vehicles A and B are traveling in the center of a three-lane road. Set to a slightly lower value. Further, when both vehicles A and B are traveling in the left lane and a branch lane is recognized in front of the lane correction, a lane correction with a lower value than that in the case where the host vehicle A is traveling in the central lane described above. Set the value Kd. As a result, as will be described later, the interruption determination threshold value T4 is set to a low value (value shifted to the overtaking lane side) and the overtaking control is continued, thereby reducing the discomfort given to the driver. be able to.

  Next, the process proceeds to step S61, where the basic threshold value T4INI is corrected by each lateral position correction value Ka, Kc, Kd, and the value is multiplied by the threshold value correction gain Gt to calculate the interruption determination threshold value T4 ( T4 ← Gt · (T4INI · Ka · Kc · Kd)), exits the routine.

  This interruption determination threshold value T4 is read in step S32 of the control routine before lane change shown in FIG. 5 and step S41 of the control subroutine after lane change shown in FIG.

  Since the interruption determination threshold value T4 is appropriately set according to the traveling conditions of the own vehicle A and the preceding vehicle B, the preceding vehicle B branches when the own vehicle A is executing the overtaking control mode. Even when the route is changed to a lane, it is possible to accurately determine whether to continue or interrupt the overtaking control mode. As a result, discomfort given to the driver can be reduced, and high reliability can be obtained.

  Here, with reference to FIG. 15, changes in the vehicle lateral position correction value Ka and the basic threshold value T4INI with respect to changes in the vehicle lateral position L3 and the preceding vehicle lateral position L4 will be described. As shown in the figure, after the own vehicle A starts the overtaking control, even if the own vehicle lateral position L3 gradually increases until the lane is changed from the traveling lane to the overtaking lane, the own vehicle lateral position correction value Ka maintains a constant value. Thereafter, the host vehicle lateral position correction value Ka decreases until the host vehicle A crosses the lane marking and the lane change is completed and shifts to lane keeping control.

  On the other hand, the basic threshold value T4INI decreases as the preceding vehicle B moves from the center of the traveling lane (lane center) to the right side, that is, from the lane line side, and increases as it moves from the lane center to the left side. The situation where the preceding vehicle B is biased to the left side of the lane is likely to change the course from the main lane to the branch lane. Therefore, the basic threshold T4INI is set high and the overtaking control is interrupted early, giving the driver a sense of security. Can be given.

  As described above, in the present embodiment, the overtaking control before the lane change is started by checking whether the left turn signal lamp is blinking when the overtaking control is started, and the left turn signal lamp is turned off. If the vehicle is ahead, the preceding vehicle lateral position L4 is compared with the interruption determination threshold value T4, and the overtaking control is continued until the preceding vehicle lateral position L4 falls below the interruption determination threshold value T4 (F ← 0). When the preceding vehicle lateral position L4 falls below the interruption determination threshold value T4, the overtaking control is interrupted (F ← 1). On the other hand, when the left turn signal lamp flashes, the preceding vehicle lateral position L4 is compared with the standby determination threshold value T4 ′, and the vehicle waits until the preceding vehicle lateral position L4 falls below the standby determination threshold value T4 ′. When the preceding vehicle lateral position L4 falls below the standby determination threshold value T4 ′, the overtaking control is interrupted early (F ← 1).

  In the overtaking control after the lane change, the preceding vehicle lateral position L4 is compared with the interruption determination threshold value T4, and the overtaking control is continued until the preceding vehicle lateral position L4 falls below the interruption determination threshold value T4. However, if the preceding vehicle lateral position L4 falls below the interruption determination threshold value T4, until the preceding vehicle lateral position L4 moves to the left end of the traveling lane, that is, the preceding vehicle B branches from the main line. When the route is changed to a branch lane, the overtaking control is interrupted (F ← 1).

  Thus, in the overtaking control after the lane change, when the left turn signal lamp of the preceding vehicle B is flashing, the probability of changing the course to the branch lane is higher than when the turn-off signal is off. Therefore, by discontinuing the overtaking control at an early stage, the discomfort given to the driver can be reduced and a sense of security can be given. In the overtaking control after the lane change, the preceding vehicle lateral position L4 reaches the left end (−L5 / 2) of the traveling lane even when the preceding vehicle lateral position L4 falls below the interruption determination threshold value T4. Since the determination whether to continue or interrupt the overtaking control is reserved until, for example, after the preceding vehicle lateral position L4 falls below the standby determination threshold value T4 ′, it does not move to the branch lane side. Even if the vehicle returns to the travel lane again, the interruption determination flag F is not set and the overtaking control is continued until the preceding vehicle lateral position L4 moves from the travel lane to the branch lane. Thereby, the control hunting which repeats the continuation and interruption of the overtaking control after the own vehicle A changes the lane to the overtaking lane can be effectively prevented.

  Note that the present invention is not limited to the above-described embodiment. For example, the value of the interruption determination flag F set in the above-described overtaking control is based on a manual operation performed by the driver without automatic driving. It can be applied in operation. In other words, after starting the overtaking operation to overtake the preceding vehicle B by a manual driving operation, when the preceding vehicle B tries to move from the main line to the branch lane, the driving support device refers to the value of the interruption determination flag. It is possible to give the driver advice on whether to continue or discontinue.

1 ... Vehicle driving support device,
11 ... Driving support control unit,
22 ... In-vehicle camera,
23 ... Automatic operation switch,
24 ... Vehicle speed sensor,
25 ... Front side radar,
26: Rear side radar,
28 ... informing means,
A ... own vehicle,
B ... preceding car,
F: Interruption determination flag,
G: Correction gain,
Gt: Threshold correction gain,
Ka: the vehicle lateral position correction value,
Kc: Deceleration correction value,
Kd: Lane correction value,
KINI ... Initial correction factor,
L1 ... inter-vehicle distance,
L2 ... Required distance for overtaking,
L2 '... Distance ahead of the preceding vehicle,
L3 ... the vehicle's lateral position,
L4 ... Preceding vehicle lateral position,
L5 ... Running lane width,
L6 ... Overtaking lane width
offset ... offset distance,
T4: Interruption determination threshold value,
T4 '... standby determination threshold value,
T4INI: Basic threshold,
TL1 ... Target vehicle distance,
Va ... own vehicle speed,
Vb ... preceding vehicle speed

Claims (12)

A surrounding environment recognition means for recognizing the surrounding environment of the host vehicle;
Driving state detecting means for detecting the driving state of the host vehicle;
Detects the preceding vehicle based on the surrounding environment recognized by the environment recognition means, and a determining driving assistance means whether it is possible to overtaking said prior vehicle from the relationship of said prior wheel and said vehicle In a vehicle driving support device,
The driving support means includes a lateral position in the vehicle width direction in the travel lane of the preceding vehicle detected based on the surrounding environment recognized by the surrounding environment recognition means during execution of the overtaking control for overtaking the preceding vehicle, and the vehicle. Compared with a predetermined interruption determination threshold set in the lateral position in the width direction, it is determined whether the preceding vehicle has exceeded the interruption determination threshold and is deviated to the opposite side of the overtaking lane. When the vehicle is determined to be present, the overtaking control is interrupted. The driving support means obtains the position and relative vehicle speed of the preceding vehicle and the host vehicle based on the surrounding environment recognized by the surrounding environment recognition means when interrupting the overtaking control, based on the vehicle speed, the vehicle driving support device according to claim 1 where the vehicle and judging whether it is possible to return to the rear of the preceding vehicle. When the driving support means detects blinking of a turn signal lamp provided on the opposite side of the overtaking lane of the preceding vehicle detected based on the surrounding environment recognized by the surrounding environment recognition means, the preceding vehicle When the lateral position in the vehicle width direction is between the interruption determination threshold value and the standby determination threshold value set on the overtaking lane side with respect to the interruption determination threshold value, the overtaking control is performed. The vehicle driving support device according to claim 1, wherein the vehicle driving support device is in a standby state in which the determination as to whether or not to interrupt is reserved. When the host vehicle is traveling in the overtaking lane, the driving support means may detect in advance a change in the lateral direction of the preceding vehicle detected based on the surrounding environment recognized by the surrounding environment recognition means. The vehicle according to any one of claims 1 to 3, wherein when it becomes smaller than a set threshold value , the vehicle enters a standby state in which the determination as to whether or not to interrupt the overtaking control is reserved. Driving support device. The driving support means sets a basic threshold that is set to a higher value as the preceding vehicle moves to the opposite side of the overtaking lane, and detects based on the surrounding environment recognized by the surrounding environment recognition means. and based on said inter-vehicle distance of the preceding vehicle and the subject vehicle has, the該車inter-vehicle distance is long nearly as before Symbol Passing lane set the initial correction factor for the transition to the opposite side, the said basic threshold initial correction coefficient correct auxiliary sets a new basic threshold, threshold correction the suspension determination threshold value which is set based on the surrounding environment recognizing the basic threshold by the surrounding environment recognizing means The vehicle driving support device according to any one of claims 1 to 4, wherein the vehicle driving support device is set by correcting with a gain . The interruption determination threshold value is set to a value that causes the lateral position in the traveling lane of the preceding vehicle to transition to the overtaking lane as the lateral position moves to the opposite side of the overtaking lane. The driving support device for a vehicle according to any one of claims 1 to 5 . The suspension determination threshold value, the vehicle driving support device according to claim 5 wherein claims, characterized in that is corrected to the overtaking lane side threshold correction gain noted before. The threshold correction gain is variably set depending on the situation of the overtaking lane adjacent to the traveling lane in which the surrounding environment road surface condition is detected based on the surrounding environment recognized by the recognizing means and the preceding vehicle is traveling vehicular driving support apparatus according to claim 7, characterized in Rukoto. The driving support means sets the interruption determination threshold value as the vehicle lateral direction position in the overtaking lane of the host vehicle moves away from the traveling lane based on the surrounding environment recognized by the surrounding environment recognizing means. 9. The vehicle lateral position correction value to be shifted to the opposite side of the overtaking lane of the lane is obtained, and the interruption determination threshold value is corrected by the vehicle lateral position correction value. The vehicle driving support device according to any one of the preceding claims. The driving support means detects deceleration of the preceding vehicle based on a change in the inter-vehicle distance between the preceding vehicle and the host vehicle obtained based on the surrounding environment recognized by the surrounding environment recognition means, and the deceleration is The vehicle driving support apparatus according to any one of claims 1 to 9, wherein when detected, the interruption determination threshold value is corrected with a deceleration correction value for transitioning to the overtaking lane side. The driving support means acquires traveling lane information based on the surrounding environment recognized by the surrounding environment recognizing means, and the preceding vehicle and the host vehicle travel in a three-lane central lane based on the traveling lane information. The vehicle driving support device according to any one of claims 1 to 10, wherein when it is determined that the vehicle is in a lane, the interruption determination threshold value is corrected with a lane correction value that causes a transition to the overtaking lane side. . The driving support means sets the interruption determination threshold value to a low value as the host vehicle travels on a side away from the traveling lane when the host vehicle is traveling in the overtaking lane. The vehicle driving support device according to claim 1, wherein the vehicle driving support device is a vehicle driving support device.

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