JP6323064B2 - Traveling lane identification device, lane change support device, traveling lane identification method - Google Patents

Description

  The present invention relates to a travel lane identification device, a lane change support device, and a travel lane identification method.

  In the prior art described in Patent Document 1, when a driver operates a direction indicator with the intention of changing lanes, other vehicles traveling in adjacent lanes are detected from a camera image capturing the surroundings of the host vehicle. . When there is a space that can be interrupted by the host vehicle, the driver is notified of the timing for starting the interruption, and when there is no space that can be interrupted, the driver is notified of that.

JP 2012-73925 A

However, in the configuration in which the other vehicle is detected from the camera image, for example, in a situation where the visibility of the white line is reduced such as at night or in bad weather, another vehicle that is behind and far from the own vehicle travels in the adjacent lane. It is difficult to identify whether the vehicle is in the same lane as the vehicle.
An object of the present invention is to identify the travel lane of another vehicle even in a situation where the visibility of the surroundings is lowered.

  A traveling lane identification device according to an aspect of the present invention acquires a road map of the current position of the host vehicle, and another vehicle traveling around the host vehicle by outputting an irradiation wave and a reflected wave by a radar unit. The relative position of is detected. Then, the road lane of the other vehicle is superimposed by superimposing the road map acquired by the road map acquisition unit and the relative position of the other vehicle detected by the radar unit with a predetermined plane coordinate based on the current position of the host vehicle. Identify

  According to the present invention, the other vehicle is detected by the radar unit, and the road lane of the other vehicle is identified by superimposing the road map and the relative position of the other vehicle on the basis of the own vehicle with predetermined plane coordinates. As an indicator of Therefore, it is possible to identify the traveling lane of another vehicle even in a situation where the visibility of the surroundings is lowered.

It is a schematic block diagram which shows a lane change assistance apparatus. It is an arrangement plan of a radar device. It is a flowchart which shows a lane change assistance process. It is a figure which shows the road map of the present position Po of the own vehicle Vo. It is a figure showing relative position Pa of other vehicles Va. It is the figure which superimposed the road map and the relative position of other vehicles. It is a figure which shows the horizontal position with respect to the lane centerline LN of the other vehicle Va. It is a flowchart which shows the driving lane identification process of 2nd Embodiment. It is a figure which shows selection of the reference | standard vehicle Vs. It is a figure which shows selection of the evaluation vehicle Ve. It is a figure which shows the rotational movement of the back vehicle group Vg (Vs-> LN1). It is a figure which shows the rotational movement of the back vehicle group Vg (Vs-> LN2). It is a figure which shows the rotational movement of the back vehicle group Vg (Vs-> LN3).

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<< First Embodiment >>
"Constitution"
In this embodiment, when the driver operates the direction indicator with the intention of changing the lane, it is determined whether or not the own vehicle can change the lane in the indicated direction, and the determination result is notified to the driver. This is to support lane change. In addition, in order to determine whether or not the own vehicle can change the lane in the indicated direction, it identifies which traveling lane the other vehicle around the own vehicle is traveling. In addition, not only when the driver is driving, but even if there is no human driving operation, the surrounding environment is recognized by the radar and camera mounted on the vehicle, and the vehicle traveling system is the main autonomous It can also be applied to those that can travel automatically (automatic traveling).
The configuration of the lane change assist device 11 will be described with reference to FIG.
The lane change support device 11 of this embodiment includes a map information acquisition unit 12, a radar unit 13, an operation detection unit 14, a wheel speed sensor 31, a controller 15, and a notification unit 16.
The map information acquisition unit 12 acquires a road map of the current position of the host vehicle. Here, for example, a navigation system is used.

  The navigation system recognizes the current position of the host vehicle and road map information at the current position. The navigation system has a GPS receiver and recognizes the position (latitude, longitude, altitude) of the host vehicle and the traveling direction based on the time difference between radio waves arriving from four or more GPS satellites. The controller refers to the road map information including the road type, road alignment, lane width, vehicle traffic direction, etc. stored in the DVD-ROM drive or hard disk drive, and recognizes the road map information at the current position of the host vehicle. 15 is output. In addition, as a safe driving support system (DSSS: Driving Safety Support Systems), various data may be received from an infrastructure using two-way radio communication (DSRC: Dedicated Short Range Communication).

The radar unit 13 is provided in a total of four locations on the front, rear, left side, and right side of the vehicle body. The radar unit 13 is composed of, for example, a millimeter wave radar or an LRF (Laser Range Finder), outputs an irradiation wave, and inputs the reflected wave, thereby allowing a distance to a forward object around the host vehicle, a relative speed, and The direction is detected, and each detected data is output to the controller 15.
The millimeter wave radar is a radar that uses millimeter waves having a wavelength of 1 to 10 mm and a frequency of 30 to 300 GHz among electromagnetic waves. As for the distance and the relative speed, for example, an FM-CW (Frequency Modulation-Continuous Wave) method is used, and the distance and the relative speed are detected according to the frequency difference due to the Doppler effect. As for the azimuth, for example, a DBF (Digital Beam Forming) method is used, and the azimuth is detected according to the phase difference of reflected waves received by a plurality of channels.

LRF is a radar that uses laser light in the visible light region of electromagnetic waves. Two-dimensional scanning is performed by rotation of a polygon mirror serving as a deflector. As for the distance and the relative speed, the distance and the relative speed are detected according to the time from when the laser beam is irradiated until the reflected light is received. As for the azimuth, the azimuth is detected according to the rotation angle of the polygon mirror.
When distinguishing the four radar units 13, the radar unit provided at the front of the vehicle body is a front radar unit 13F, the radar unit provided at the rear of the vehicle body is a rear radar unit 13R, and is provided on the left side of the vehicle body. The radar unit is a left side radar unit 13SL, and the radar unit provided on the right side of the vehicle body is a right side radar unit 13SR.

An example of the arrangement of the radar unit 13 will be described with reference to FIG.
The front radar unit 13F is provided, for example, on the front grille, and detects a distance, a relative speed, and an azimuth to a front object that exists mainly in front of the vehicle body. The rear radar unit 13R is provided, for example, in a rear bumper, and detects a distance, a relative speed, and a direction to a rear object that mainly exists behind the vehicle body. The left side radar unit 13SL is provided, for example, in a rear fender on the left side, and detects a distance, a relative speed, and a direction to a side object that exists mainly on the left side of the vehicle body. The right side radar unit 13SR is provided on, for example, a rear fender on the right side, and detects a distance, a relative speed, and a direction to a side object that exists mainly on the right side of the vehicle body. The detection angle is, for example, about 150 degrees in the horizontal direction, and the detection distance is, for example, about 100 m.

  The operation detection part 14 consists of a blinker switch, and detects the operating state of a direction indicator (blinker). This blinker switch outputs, for example, a voltage signal corresponding to ON / OFF of the left switch and ON / OFF of the right switch via a normally open contact detection circuit to the controller 15. The controller 15 determines the operating state of the blinker switch from the input voltage signal, that is, the ON / OFF of the left direction switch and the ON / OFF of the right direction switch.

The wheel speed sensor 31 detects the wheel speeds Vw _{FL to} Vw _RR of each wheel. The wheel speed sensor 31 includes, for example, a sensor rotor that rotates together with a wheel and has a protrusion (gear pulser) formed on the circumference thereof, and a detection circuit that includes a pickup coil provided to face the protrusion of the sensor rotor. . Then, the change in magnetic flux density accompanying the rotation of the sensor rotor is converted into a voltage signal by the pickup coil and output to the controller 15. The controller 15 determines the wheel speeds Vw _{FL to} Vw _RR from the input voltage signal, and calculates, for example, the wheel speed average value of the non-driven wheels (driven wheels) and the wheel speed average value of all the wheels as the vehicle speed V. The unit is [m / s].

The controller 15 is composed of, for example, a microcomputer, and includes a traveling lane identification unit 22 and a lane change possibility determination unit 23.
The traveling lane identification unit 22 superimposes the road map acquired by the road map acquisition unit 12 and the relative position of the other vehicle detected by the radar unit 13 on the basis of the current position of the host vehicle with predetermined plane coordinates. Thus, the traveling lane of the other vehicle is identified.
When the operation detection unit 14 detects the driver's direction instruction operation, the lane change possibility determination unit 23 can change the lane of the host vehicle in the driver's direction according to the identification result of the traveling lane identification unit 22. It is determined whether or not.

The alerting | reporting part 16 alert | reports the determination result of the lane change possibility determination part 23 to the driver | operator of the own vehicle. For example, notification is made by display, sound, vibration, control intervention, or the like. In other words, when another vehicle is approaching from behind and the lane should not be changed, a warning is displayed on the display, a warning light is turned on, an alarm sound is generated, the steering wheel is vibrated, Increase the steering reaction force.
The map information acquisition unit 12, the radar unit 13, and the travel lane identification unit 22 correspond to the travel lane identification device 17.

Next, a lane change support process executed by the controller 15 every predetermined time Δt (for example, Δt = 10 msec) will be described with reference to FIG.
First, in step S101, the map information acquisition unit 12 acquires a road map of the current position {xo, yo} of the host vehicle Vo.
A road map of the current position {xo, yo} of the host vehicle Vo will be described with reference to FIG.
First, the current position Po {xo, yo} of the host vehicle Vo in the predetermined XY coordinates is detected, and the traveling direction φo of the host vehicle Vo is detected. The traveling direction φo is, for example, the current position Po _(n) {xo _(n) compared with the position Po _(n-1) {xo _(n-1) , yo _(n-1) } one cycle before the host vehicle Vo. , Yo _(n) }. Then, referring to the stored road map information, a road map of the current position Po {xo, yo} of the host vehicle Vo is acquired. At this time, the lane center line LA of each traveling lane is detected according to the number of lanes, the lane width, the road alignment (curvature), and the like. Here, the road is a two-lane road, the left lane is LA1, the right lane is LA2, the lane center line of the lane LA1 is LN1, and the lane center line of the lane LA2 is LN2.

In subsequent step S102, the radar unit 13 detects the relative position Pa of the other vehicle Va traveling around the host vehicle Vo.
The relative position Pa of the other vehicle Va will be described with reference to FIG.
The relative position Pa with respect to the host vehicle Vo is detected with {xa, ya} as the center point in the vehicle width direction of the front (front end) of the other vehicle Va. Here, three other vehicles Va are detected behind the own vehicle Vo, and are set as Va1, Va2, and Va3 in order from the other vehicles close to the own vehicle Vo. The relative position Pa1 of the other vehicle Va1 is represented by {xa1, ya1}, the relative position Pa2 of the other vehicle Va2 is represented by {xa2, ya2}, and the relative position Pa3 of the other vehicle Va3 is represented by {xa3, ya3}. The

In the subsequent step S103, the road map including the lane center line and the relative position of the other vehicle detected by the radar unit 13 are superimposed on the basis of the current position Po {xo, yo} of the host vehicle at predetermined XY coordinates. .
The superimposition of the road map and the relative position of the other vehicle will be described with reference to FIG.
Here, the lane center line LN of each traveling lane LA and the relative position Pa of the other vehicle Va are superimposed on the basis of the current position {xo, yo} of the host vehicle Vo.
In subsequent step S104, the travel lane in which the lateral position of the other vehicle Va with respect to the lane center line LN of each travel lane LA is minimized is identified as the travel lane LA of the other vehicle Va.

The lateral position of the other vehicle Va with respect to the lane center line LN will be described with reference to FIG.
The lateral position with respect to the lane center line LN is a distance Dy in the vehicle width direction from the center point in the vehicle width direction of the other vehicle Va to the lane center line LN closest to the other vehicle Va. Then, the lane center line LN that minimizes the lateral position (distance Dy) of the other vehicle Va with respect to the lane center line LN is selected, and the traveling lane LA corresponding to the lane center line LN is selected.
Accordingly, in FIG. 6, the lateral position (distance Dy) of the other vehicle Va1 is minimum with respect to the lane center line LN2, and therefore, it can be identified that the vehicle is traveling in the travel lane LA2 corresponding to the lane center line LN2. . Further, since the lateral position (distance Dy) of the other vehicle Va2 is minimum with respect to the lane center line LN1, it can be identified that the vehicle is traveling on the travel lane LA1 corresponding to the lane center line LN1. Further, since the lateral position (distance Dy) of the other vehicle Va3 is minimum with respect to the lane center line LN2, it can be identified that the vehicle is traveling on the travel lane LA2 corresponding to the lane center line LN2.

In subsequent step S105, the operation detection unit 14 determines whether or not an operation of the direction indicator by the driver is detected. Here, when the operation of the direction indicator is not detected, it is determined that the driver does not want to change the lane, and the process returns to the predetermined main program as it is. On the other hand, when the operation of the direction indicator is detected, it is determined that the driver wants to change the lane, and the process proceeds to step S106.
In step S106, it is determined whether or not the travel lane that the driver is going to change the lane is a travel lane in which the other vehicle Va travels. That is, it is determined whether another vehicle Va is traveling in the adjacent lane in the indicated direction. Here, when there is no other vehicle Va in the adjacent lane in the indicated direction, it is determined that the lane can be changed, and the process returns to the predetermined main program as it is. On the other hand, when there is another vehicle Va in the adjacent lane in the indicated direction, it is determined that there is a possibility that the other vehicle Va may be affected by the lane change of the host vehicle Vo, and the process proceeds to step S107. The influence on the other vehicle Va refers to a situation in which unnecessary deceleration or steering is forced on the other vehicle Va due to the approach of the host vehicle Vo.

In step S107, it is determined whether the inter-vehicle distance Dx between the host vehicle Vo and the other vehicle Va satisfies the relationship of the following formula. Here, T _THW is a target inter-vehicle time, for example, a value of 2.0 seconds or more. The inter-vehicle time (THW: Time-Headway) is a value (Dx / V) obtained by dividing the inter-vehicle distance Dx by the vehicle speed V. Therefore, the right side (V × T _THW ) of the following equation is the target inter-vehicle distance necessary to achieve the target inter-vehicle time T _THW .
Dx <V × T _THW
Here, when the determination result is Dx ≧ V × T _THW, it is determined that there is no influence on the other vehicle Va, and the process directly returns to the predetermined main program. On the other hand, when the determination result is Dx <V × T _THW, it is determined that an influence on the other vehicle Va may occur, and the process proceeds to step S108.

In the subsequent step S108, an alarm is output for the lane change. That is, on the side where the driver is changing the lane, there is another vehicle Va approaching from behind, and the driver is notified that the own vehicle Vo approaches the other vehicle Va in the front-rear direction. To do. For example, a warning is displayed on the display, a warning light is turned on, an alarm sound is generated, a steering wheel is vibrated, or a steering reaction force is increased. After outputting an alarm in this way, the program returns to a predetermined main program. In addition, only when it determines with the influence on the other vehicle Va having generate | occur | produced, that is alert | reported, but when it determines with there being no influence on the other vehicle Va, you may alert | report that.
The above is the lane change support process.

<Action>
Next, the operation of the first embodiment will be described.
When the driver operates the direction indicator with the intention of changing the lane, in order to accurately determine whether or not the own vehicle can change the lane in the indicated direction, the vehicle is traveling behind the own vehicle Vo. It is necessary to identify the travel lane LA of the other vehicle Va. Therefore, it is conceivable to detect the other vehicle Va and the traffic dividing line (white line) from the camera image and identify the traveling lane LA of the other vehicle Va. For example, the visibility of the surroundings can be improved such as at night or in bad weather. In such a situation, the identification accuracy is lowered.

Therefore, the traveling lane LA of the other vehicle Va is identified by using the radar unit 13 that has a longer detection distance than the camera and is not easily affected by a decrease in visibility. First, a road map of the current position Po {xo, yo} of the host vehicle Vo is obtained (step S101), and the radar unit 13 detects the relative position Pa of the other vehicle Va traveling around the host vehicle Vo ( Step S102). Then, based on the current position Po {xo, yo} of the host vehicle, the road map including the lane center line LN and the relative position Pa of the other vehicle detected by the radar unit 13 are superimposed (step S103). Then, the travel lane in which the lateral position of the other vehicle Va with respect to the lane center line LN of each travel lane LA is minimized is identified as the travel lane LA of the other vehicle Va (step S104). Specifically, the travel lane LA having the minimum lateral position (distance Dy) of the other vehicle Va with respect to the lane center line LN of each travel lane LA is identified as the travel lane LA of the other vehicle Va.
As described above, the radar unit 13 detects the other vehicle Va, and the superposition of the road map and the relative position Pa of the other vehicle on the basis of the host vehicle Vo is used as an index for identifying the travel lane LA of the other vehicle Va. Yes. Therefore, the traveling lane LA of the other vehicle Va can be identified even in a situation where the surrounding visibility is deteriorated.

When the operation detection unit 14 detects the direction instruction operation of the driver (the determination in step S105 is “Yes”), the host vehicle Vo is instructed by the driver according to the identification result of the traveling lane identification unit 22. It is determined whether the lane can be changed. Here, attention is first paid to whether or not another vehicle Va exists in the adjacent lane in the indicated direction. Then, when there is no other vehicle Va in the adjacent lane in the indicated direction (determination in step S106 is “No”), it is determined that the lane can be changed in the direction indicated by the driver.
On the other hand, when the other vehicle Va exists in the adjacent lane in the indicated direction, attention is paid to the degree of approach between the host vehicle Vo and the other vehicle Va. When the inter-vehicle distance Dx between the host vehicle Vo and the other vehicle Va is _{equal to} or greater than the target inter-vehicle distance (V × T _THW ) (the determination in step S107 is “No”), even if the host vehicle Vo changes lanes, the other vehicle It is determined that there is no effect on Va.

However, when the inter-vehicle distance Dx between the host vehicle Vo and the other vehicle Va is smaller than the target inter-vehicle distance (V × T _THW ) (determination in step S107 is “Yes”), it is determined that the influence on the other vehicle Va may occur. To do. Then, an alarm is output for the lane change (step S108). That is, a display and sound indicating that there is another vehicle Va approaching from behind on the side where the driver is changing the lane, and that the own vehicle Vo approaches the other vehicle Va in the front-rear direction. Notify the driver by vibration, control intervention, etc. This can prompt the driver to refrain from changing lanes or to wait temporarily. For example, when the other vehicle Va overtakes the host vehicle Vo or the other vehicle Va changes the lane, it is determined that the other vehicle Va no longer affects the other vehicle Va even if the host vehicle Vo changes to the next lane. Release the alarm.

《Correspondence relationship》
In the present embodiment, the processing of the map information acquisition unit 12 and step S101 corresponds to a “road map acquisition unit”. The processing of the radar unit 13 and step S102 corresponds to the “radar unit”. The processing of the traveling lane identifying unit 22 and steps S103 and S104 corresponds to the “traveling lane identifying unit”. The processing of the operation detection unit 14 and step S105 corresponds to an “operation detection unit”. The processing of the lane change permission determination unit 23 and steps S106 and S107 corresponds to the “lane change permission determination unit”. The notification unit 16 and the process of step S108 correspond to the “notification unit”.

"effect"
Next, the effect of the main part in 1st Embodiment is described.
(1) In the traveling lane identification device according to the present embodiment, the map information acquisition unit 12 acquires a road map of the current position Po of the host vehicle Vo, and the radar unit 13 outputs an irradiation wave and an input of a reflected wave. A relative position Pa of another vehicle Va traveling around the vehicle Vo is detected. Then, the road lane LA of the other vehicle Va is identified by superimposing the road map and the relative position Pa of the other vehicle Va on the basis of the current position Po of the host vehicle Vo with predetermined XY coordinates.
As described above, the radar unit 13 detects the other vehicle Va, and the road map and the relative position Pa of the other vehicle on the basis of the host vehicle Vo are superimposed on the XY coordinates determined in advance as the travel lane LA of the other vehicle Va. It is used as an index for identifying. Therefore, the traveling lane LA of the other vehicle Va can be identified even in a situation where the surrounding visibility is deteriorated.

(2) The travel lane identification device according to the present embodiment uses the travel lane LA where the lateral position (distance Dy) of the other vehicle Va with respect to the lane center line LN of each travel lane LA is minimized as the travel lane LA of the other vehicle Va. Identify as.
In this way, since it is only necessary to detect the travel lane LA having the minimum lateral position (distance Dy) with respect to the lane center line LN, the travel lane LA of the other vehicle Va can be easily and accurately identified.

(3) In the lane change support device according to the present embodiment, when the operation detection unit 14 detects a driver's direction instruction operation, the lane change availability determination unit 23 determines whether the lane change enable / disable determination unit 23 has It is determined whether or not the host vehicle Vo can change the lane in the direction indicated by the driver. And the alerting | reporting part 16 alert | reports the determination result of the lane change possibility determination part 23 to the driver | operator of the own vehicle Vo.
In this way, it is determined whether or not the lane can be changed in the direction indicated by the driver according to the travel lane LA of the other vehicle Va, and this is notified to the driver. The risk of approaching needs can be reduced.

(4) The lane change assist device according to the present embodiment determines whether or not another vehicle Va exists in the adjacent lane in the indicated direction, and when the other vehicle Va does not exist, the lane changes in the direction indicated by the driver. It is determined that it can be changed.
Thus, by determining whether or not the lane change is possible depending on whether or not another vehicle Va exists in the adjacent lane in the indicated direction, it is easy to determine whether or not the lane change can be made in the driver's indicated direction. And it can be determined accurately.

(5) In the lane change assist device according to the present embodiment, when another vehicle Va is present in the adjacent lane in the indicated direction, the inter-vehicle distance Dx between the other vehicle Va and the host vehicle Vo is the target inter-vehicle distance (V × T _THW ). When it is above, it is determined that the lane can be changed in the direction indicated by the driver. On the other hand, when the inter-vehicle distance Dx is smaller than the target inter-vehicle distance (V × T _THW ), it is determined that the lane cannot be changed in the direction indicated by the driver.
In this way, whether the lane can be changed in the direction indicated by the driver by determining whether the lane can be changed according to the relative positional relationship with the other vehicle Va as well as the travel lane LA of the other vehicle Va. Whether or not can be determined easily and accurately.

(6) In the traveling lane identification method according to the present embodiment, the map information acquisition unit 12 acquires a road map of the current position Po of the host vehicle Vo, and the radar unit 13 outputs an irradiation wave and an input of a reflected wave. A relative position Pa of another vehicle Va traveling around the vehicle Vo is detected. Then, the road lane LA of the other vehicle Va is identified by superimposing the road map and the relative position Pa of the other vehicle Va on the basis of the current position Po of the host vehicle Vo with predetermined XY coordinates.
As described above, the radar unit 13 detects the other vehicle Va, and the road map and the relative position Pa of the other vehicle on the basis of the host vehicle Vo are superimposed on the XY coordinates determined in advance as the travel lane LA of the other vehicle Va. It is used as an index for identifying. Therefore, the traveling lane LA of the other vehicle Va can be identified even in a situation where the surrounding visibility is deteriorated.

<< Second Embodiment >>
"Constitution"
In the present embodiment, when there are a plurality of other vehicles Va traveling behind the host vehicle, the traveling lane LA of each other vehicle Va is identified with high accuracy.
The apparatus configuration is the same as that of the first embodiment described above.
A travel lane identification process executed by the travel lane identifying unit 22 will be described based on the flowchart of FIG.

First, in step S201, a plurality of other vehicles Va traveling behind the host vehicle Vo are set as the rear vehicle group Vg, and it is determined whether or not the rear vehicle group Vg exists. Here, when the rear vehicle group Vg does not exist, the travel lane is identified in step S104 of the first embodiment described above, and then the process returns to a predetermined main program. On the other hand, when the rear vehicle group Vg exists, the process proceeds to step S202.
In step S202, one other vehicle Va in the rear vehicle group Vg is selected as the reference vehicle Vs.

The selection of the reference vehicle Vs will be described with reference to FIG.
Here, three other vehicles Va are detected, and are set as other vehicles Va1, Va2, Va3 in order from the side closer to the host vehicle Vo. These three other vehicles Va are the rear vehicle group Vg. The region As for selecting the reference vehicle Vs on the XY coordinates is a range close to the host vehicle Vo by a predetermined distance Ds from the position of the other vehicle Va3 farthest from the host vehicle Vo in the rear vehicle group Vg. To do. The predetermined distance Ds is obtained by the following formula, for example. Here, Dx3 is a distance from the host vehicle Vo to the farthest other vehicle Va3. W is the lane width, for example, about 3.5 [m]. Α is a vehicle body width, for example, about 1.8 [m].
Ds = Dx3 × {1-W / (W + α)}
Here, since the other vehicle Va2 and the other vehicle Va3 are included in the region As, whichever may be selected, for example, the other vehicle Va3 is selected as the reference vehicle Vs.

In the subsequent step S203, one other vehicle that is closer to the host vehicle than the reference vehicle Vs (= Va3) in the rear vehicle group Vg is selected as the evaluation vehicle Ve.
Selection of the evaluation vehicle Ve will be described with reference to FIG.
The area Ae for selecting the evaluation vehicle Ve on the XY coordinates is set to be closer to the host vehicle Vo by a predetermined distance De than the reference vehicle Vs (= Va3) in the rear vehicle group Vg. The predetermined distance De is, for example, about 10 [m]. Here, since only the other vehicle Va1 is included in the area Ae, the other vehicle Va1 is selected as the evaluation vehicle Ve.
In subsequent step S204, the rear vehicle group Vg is rotated about the host vehicle Vo so that the reference vehicle Vs (= Va3) is arranged on the lane center line LN of each travel lane LA on the XY coordinates. .

The rotational movement of the rear vehicle group Vg will be described with reference to FIGS.
Here, the road is a three-lane road on one side, the left lane is LA1, the center lane is LA2, and the right lane is LA3. The lane center line of the travel lane LA1 is LN1, the lane center line of the travel lane LA2 is LN2, and the lane center line of the travel lane LA3 is LN3.
In FIG. 11, the rear vehicle group Vg is rotated around the host vehicle Vo so that the reference vehicle Vs (= Va3) is arranged on the left travel lane on the LN1 lane centerline of LA1. ing. In FIG. 12, the rear vehicle group Vg is rotated around the host vehicle Vo so that the reference vehicle Vs (= Va3) is placed on the center lane of the LA2 and the lane centerline of the LA2 on the LN2. ing. In FIG. 13, the reference vehicle Vs (= Va3) is rotated around the host vehicle Vo so that the rear vehicle group Vg is centered on the host vehicle Vo so that the right travel lane is placed on the lane center line of LA3 on LN3. ing.

In the subsequent step S205, the travel lane LA of each of the other vehicles Va1 to Va3 is identified.
First, in each state when the rear vehicle group Vg is rotated, the lane center line LN closest to the evaluation vehicle Ve (= Va1) is selected, and the lateral position of the evaluation vehicle Ve (= Va1) with respect to the lane center line LN Is detected. This lateral position is a distance Dy in the orthogonal direction from the center point in the vehicle width direction of the evaluation vehicle Ve (= Va1) to the lane center line LN2.
First, in FIG. 11, the evaluation vehicle Ve (= Va1) is closest to LN2 among the lane centerlines LN1 to LN3. Therefore, the lateral position (distance Dy) of the evaluation vehicle Ve (= Va1) with respect to the lane centerline LN2 ) Is detected. In FIG. 12, the evaluation vehicle Ve (= Va1) is closest to LN2 among the lane centerlines LN1 to LN3. Therefore, the lateral position (distance Dy) of the evaluation vehicle Ve (= Va1) with respect to the lane centerline LN2 ) Is detected. In FIG. 13, the evaluation vehicle Ve (= Va1) is closest to LN3 among the lane centerlines LN1 to LN3. Therefore, the lateral position (distance Dy) of the evaluation vehicle Ve (= Va1) with respect to the lane centerline LN3. ) Is detected.

Then, the smallest arrangement is selected from each horizontal position (distance Dy). Here, the arrangement is as shown in FIG. With this arrangement, the travel lane in which the lateral position of the other vehicle Va with respect to the lane center line LN of each travel lane LA is minimized is identified as the travel lane LA of the other vehicle Va. That is, since the lateral position (distance Dy) of the other vehicle Va1 is minimum with respect to the lane center line LN2, it can be identified that the vehicle is traveling in the travel lane LA2 corresponding to the lane center line LN2. Further, since the lateral position (distance Dy) of the other vehicle Va2 is minimum with respect to the lane center line LN1, it can be identified that the vehicle is traveling on the travel lane LA1 corresponding to the lane center line LN1. Further, since the lateral position (distance Dy) of the other vehicle Va3 is minimum with respect to the lane center line LN2, it can be identified that the vehicle is traveling on the travel lane LA2 corresponding to the lane center line LN2.
Thus, after identifying the travel lane LA of each of the other vehicles Va1 to Va3, the process returns to a predetermined main program.
The above is the traveling lane identification process.

<Action>
Next, the operation of the second embodiment will be described.
When there are a plurality of other vehicles Va traveling behind the host vehicle Vo, grouping them as a rear vehicle group Vg and comprehensively identifying the traveling lane LA can improve the identification accuracy. Can do. First, in the rear vehicle group Vg, one other vehicle Va is selected as the reference vehicle Vs (step S202), and one other vehicle Va that is closer to the host vehicle Vo than the reference vehicle Vs is evaluated. Selected as Ve (step S203). Then, the rear vehicle group Vg is rotated about the host vehicle Vo so that the reference vehicle Vs is arranged on the lane center line LN of each travel lane LA in the plane coordinates (step S204).

Then, the rotational movement position when the lateral position of the evaluation vehicle Ve with respect to the lane center line LN is minimized by the rotational movement of the rear vehicle group Vg is selected. Then, the travel lane LA in which the lateral position (distance Dy) of each travel lane LA with respect to the lane center line LN is minimized is identified as the travel lane LA of the other vehicle Va at the rotational movement position.
As described above, when there are a plurality of other vehicles Va traveling behind the host vehicle Vo, these are grouped as the rear vehicle group Vg, and the traveling lane LA is comprehensively identified, thereby further identifying. Accuracy can be improved.

Further, in the rear vehicle group Vg, the reference vehicle Vs is selected from a position of the other vehicle Va farthest from the own vehicle Vo within a range close to the own vehicle Vo by a predetermined distance Ds. In this way, the travel lane LA of each other vehicle Va can be identified with high accuracy by using the other vehicle Va far from the host vehicle Vo as a reference.
In addition, the evaluation vehicle Ve is selected on the side closer to the host vehicle Vo by the distance De or more than the reference vehicle Vs. Thus, by using the other vehicle Va on the side close to the host vehicle Vo and evaluating the validity of the rotational movement, the travel lane LA of each other vehicle Va can be identified with high accuracy.
In the present embodiment, the same operation and effect are obtained for the other parts common to the first embodiment described above, and detailed description thereof is omitted.

<Modification>
In the present embodiment, the evaluation vehicle Ve is simply selected on the side closer to the host vehicle Vo by the distance De or more than the reference vehicle Vs, but further conditions may be added. For example, another vehicle Va whose relative lateral position with respect to the host vehicle Vo is within a predetermined range is selected. Thus, by adding the conditions, it is possible to reduce the calculation burden in a situation where there are many other vehicles Va.

《Correspondence relationship》
In the present embodiment, the process of step S202 corresponds to a “reference vehicle selection unit”. Further, the process of step S203 corresponds to an “evaluation vehicle selection unit”. Further, the processing in step S204 corresponds to a “coordinate conversion unit”. Further, the processing in steps S205 and S104 corresponds to the “traveling lane identification unit”.

"effect"
Next, the effect of the main part in 2nd Embodiment is described.
(1) The traveling lane identification device according to the present embodiment sets a plurality of other vehicles Va traveling behind the host vehicle Vo as a rear vehicle group Vg. In the rear vehicle group Vg, one other vehicle Va is selected as the reference vehicle Vs, and one other vehicle Va located closer to the host vehicle Vo than the reference vehicle Vs is selected as the evaluation vehicle Ve. Then, the rear vehicle group Vg is rotated about the host vehicle Vo so that the reference vehicle Vs is arranged on the lane center line LN of each travel lane LA in the plane coordinates. Then, the rotational movement position when the lateral position of the evaluation vehicle Ve with respect to the lane center line LN is minimized by the rotational movement of the rear vehicle group Vg is selected. Then, the travel lane LA in which the lateral position (distance Dy) of each travel lane LA with respect to the lane center line LN is minimized is identified as the travel lane LA of the other vehicle Va at the rotational movement position.
As described above, when there are a plurality of other vehicles Va traveling behind the host vehicle Vo, these are grouped as the rear vehicle group Vg, and the traveling lane LA is comprehensively identified, thereby further identifying. Accuracy can be improved.

(2) The travel lane identification device according to the present embodiment is within a range close to the host vehicle Vo by a predetermined distance Ds from the position of the other vehicle Va farthest from the host vehicle Vo in the rear vehicle group Vg. A reference vehicle Vs is selected.
In this way, the travel lane LA of each other vehicle Va can be identified with high accuracy by using the other vehicle Va far from the host vehicle Vo as a reference.

(3) The traveling lane identification device according to the present embodiment selects the evaluation vehicle Ve on the side closer to the host vehicle Vo by the distance De or more than the reference vehicle Vs.
Thus, by using the other vehicle Va on the side close to the host vehicle Vo and evaluating the validity of the rotational movement, the travel lane LA of each other vehicle Va can be identified with high accuracy.

  Although the present invention has been described with reference to a limited number of embodiments, the scope of rights is not limited thereto, and modifications of the embodiments based on the above disclosure are obvious to those skilled in the art. Moreover, each embodiment can be adopted in any combination.

DESCRIPTION OF SYMBOLS 11 Lane change assistance apparatus 12 Travel condition detection part 13 Radar part 14 Operation detection part 15 Controller 16 Notification part 17 Travel lane identification device 22 Travel lane identification part 23 Course change possibility determination part 31 Wheel speed sensor

Claims (8)

A road map acquisition unit that acquires a road map of the current position of the vehicle;
A radar unit that detects a relative position of another vehicle that is traveling around the host vehicle by outputting an irradiation wave and inputting a reflected wave;
Based on the current position of the host vehicle with a predetermined plane coordinate, the road map acquired by the road map acquisition unit and the relative position of the other vehicle detected by the radar unit are superimposed, thereby driving the other vehicle. A traveling lane identification unit that identifies a lane ,
The travel lane identification unit is
A plurality of other vehicles traveling behind the host vehicle as a rear vehicle group, and a reference vehicle selection unit that selects one other vehicle as a reference vehicle from the rear vehicle group,
An evaluation vehicle selection unit that selects one other vehicle as an evaluation vehicle in the rear vehicle group that is closer to the host vehicle than the reference vehicle;
A coordinate conversion unit for rotating the rear vehicle group about the host vehicle so that the reference vehicle is arranged on the lane center line of each traveling lane in the plane coordinates,
The rotational movement position when the lateral position of the evaluation vehicle with respect to the lane center line is minimized by the rotational movement of the rear lane by the coordinate conversion unit, for each of the other vehicles, with respect to the lane center line of each traveling lane. A travel lane identification device that identifies a travel lane having a minimum lateral position as a travel lane of the other vehicle . The travel lane identification unit is
The travel lane identification device according to claim 1, wherein a travel lane in which a lateral position of the other vehicle with respect to a lane center line of each travel lane is minimum is identified as a travel lane of the other vehicle. The reference vehicle selection unit
Of the rear wheel group, the position of the farthest other vehicle relative to the host vehicle, distance within a range close to the vehicle a predetermined, to claim 1 or 2, characterized in that selecting the reference vehicle The travel lane identification device described. The evaluation vehicle selection unit
The travel lane identification device according to any one of claims 1 to 3 , wherein the evaluation vehicle is selected on the side closer to the host vehicle for a predetermined distance or more than the reference vehicle. A traveling lane identification device according to any one of claims 1 to 4 ,
An operation detection unit that detects a driver's direction instruction operation;
When the operation detection unit detects a direction instruction operation of the driver, a lane change that determines whether or not the host vehicle can change the lane to the direction indicated by the driver according to the identification result of the traveling lane identification unit A determination unit;
A lane change support device, comprising: a notification unit that notifies a driver of the host vehicle of a determination result of the lane change permission determination unit. The lane change permission determination unit
6. The method according to claim 5 , wherein it is determined whether or not the other vehicle is present in an adjacent lane in the indicated direction, and when the other vehicle is not present, it is determined that the lane can be changed in the direction indicated by the driver. Lane change support device. The lane change permission determination unit
It is determined whether or not the other vehicle exists in the adjacent lane in the indicated direction. If the other vehicle exists, the front-rear distance between the other vehicle and the host vehicle is equal to or greater than a predetermined target inter-vehicle distance. sometimes, it is determined that it lane change to the pointing direction of the driver, when the vehicle distance is smaller than the target inter-vehicle distance, the pointing direction of the driver and judging can not be change lanes claim 5 or 6. The lane change assisting device according to 6 . A road map of the current position of the host vehicle is acquired, and the relative position of other vehicles traveling around the host vehicle is detected by the output of the irradiation wave and the input of the reflected wave by the radar unit. The road map of the other vehicle is identified by superimposing the relative position of the road map and the other vehicle with reference to the current position of the own vehicle ,
A plurality of other vehicles traveling behind the host vehicle are set as a rear vehicle group, one other vehicle is selected as a reference vehicle among the rear vehicle groups, and the reference vehicle is selected among the rear vehicle groups. Selecting one other vehicle closer to the vehicle than the vehicle as an evaluation vehicle, and in the plane coordinates, the reference vehicle is arranged on the lane center line of each traveling lane, A rotational movement position when the lateral position of the evaluation vehicle with respect to the lane center line is minimized by rotating the rear vehicle group around the host vehicle, and for each other vehicle lane. A traveling lane identification method , wherein a traveling lane having a minimum lateral position with respect to a lane center line is identified as a traveling lane of the other vehicle .

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