JP6390665B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device that predicts the behavior of surrounding vehicles and controls the driving state (vehicle speed and steering angle) of the host vehicle.

  2. Description of the Related Art Conventionally, a vehicle control device that controls the driving state of a host vehicle by predicting the behavior of surrounding vehicles is known. For example, in Patent Document 1, overtaking by a succeeding vehicle of an adjacent vehicle that is not on the traffic flow is based on the traffic flow indicating the traveling state of the plurality of adjacent vehicles traveling in the plurality of adjacent lanes adjacent to the own lane. An invention for predicting the above is disclosed.

JP2006-0305512

  By the way, in such a conventional vehicle control device, only the behavior of the surrounding vehicle is predicted, and the psychological state of the driver of the own vehicle with respect to the behavior of the surrounding vehicle is not taken into consideration. It may not be possible. For example, if the adjacent vehicle changes its lane from the adjacent lane to the front of the own vehicle due to sudden movement while the host vehicle is traveling, the driver may feel more dangerous than necessary. If an abrupt operation (excessive avoiding operation) is performed, an inappropriate driving state may be caused.

  FIG. 7 shows observation data showing how the danger feeling, which is the subjective value felt by the driver of the own vehicle, changes with respect to the reciprocal of the collision margin time TTC (Time To Collation) for the own vehicle and the preceding vehicle. It is a graph showing. As shown in the graph, as the TTC inverse increases, the driver's risk increases. However, even if the TTC inverse is the same, the optical flow generated by the preceding vehicle to the driver of the host vehicle (the flow of the landscape) The greater the vector), the greater the driver's risk. In this way, even if the objective dangerous state is the same, the driver's subjective sense of danger may increase.

  The present invention has been made in view of the above circumstances, and its purpose is that the driver of the own vehicle feels more dangerous than necessary even when the surrounding vehicle performs an abrupt driving operation. The object is to provide a vehicle control device that controls the operation of the host vehicle so as not to feel it.

In order to achieve the above object, the following solution is adopted in the present invention. That is, as described in claim 1,
Surrounding vehicle detection means for detecting surrounding vehicles traveling around the host vehicle;
Behavior prediction means for predicting the behavior of the surrounding vehicle detected by the surrounding vehicle detection means;
Optical flow calculation means for calculating a predicted value of the optical flow of the driver of the host vehicle caused by the behavior of the surrounding vehicle predicted by the behavior prediction means;
Vehicle control means for controlling the driving state of the host vehicle so that the predicted value of the optical flow calculated by the optical flow calculation means is smaller than a predetermined threshold ,
The surrounding vehicle is an adjacent vehicle that travels in an adjacent lane of the own lane in which the host vehicle travels,
The behavior prediction means predicts a lane change speed at which the adjacent vehicle changes lanes to the own lane,
The optical flow calculation means calculates a predicted value of the optical flow caused by a lane change of the adjacent vehicle,
The behavior prediction means uses the index representing the psychological state of the driver of the adjacent vehicle estimated based on at least one of the current behavior or the driving environment of the adjacent vehicle, and uses the lane change speed of the adjacent vehicle. Was predicted.

According to the above solution, when it is predicted that the optical flow generated in the driver of the host vehicle due to a sudden movement of the surrounding vehicle exceeds a predetermined threshold, the predicted value of the optical flow is set to be smaller than the threshold. Since the driving state of the vehicle is controlled, even if there is a sudden driving operation of the surrounding vehicle, the driver of the own vehicle will not feel more dangerous than necessary, and excessive avoidance operation is prevented, Proper operation is ensured. Further, when the adjacent vehicle suddenly changes lanes, it is possible to prevent the driver of the own vehicle from feeling more dangerous than necessary. Further, since the psychological state of the driver of the adjacent vehicle is also considered in the prediction of the lane change speed of the adjacent vehicle, the lane change speed can be predicted more appropriately.

A preferred mode based on the above solution is as described in claim 2 in the scope of claims. That is, the behavior prediction unit, wherein the adjacent vehicle using at least one of the collision tolerable time and headway time of the vehicle, so that to predict lane change speed of the adjacent vehicle (claim 2 corresponding ). In this case, since the lane change speed of the adjacent vehicle is predicted based on the collision allowance time and the vehicle head time, an appropriate lane change speed can be easily calculated.

  Further, as described in claim 3,
  Surrounding vehicle detection means for detecting surrounding vehicles traveling around the host vehicle;
  Behavior prediction means for predicting the behavior of the surrounding vehicle detected by the surrounding vehicle detection means;
  Optical flow calculation means for calculating a predicted value of the optical flow of the driver of the host vehicle caused by the behavior of the surrounding vehicle predicted by the behavior prediction means;
  Vehicle control means for controlling the driving state of the host vehicle so that the predicted value of the optical flow calculated by the optical flow calculation means is smaller than a predetermined threshold;
With
  The vehicle control means executes at least one of vehicle speed control that increases a distance between the surrounding vehicle and the host vehicle and steering control that moves the host vehicle away from the surrounding vehicle,
  A vehicle speed sensor for detecting the vehicle speed of the host vehicle,
  The vehicle control means performs the steering control when the vehicle speed detected by the vehicle speed sensor is smaller than a predetermined value, and when the vehicle speed detected by the vehicle speed sensor is greater than or equal to a predetermined value, the vehicle speed control To do.

According to the above solution, when it is predicted that the optical flow generated in the driver of the host vehicle due to a sudden movement of the surrounding vehicle exceeds a predetermined threshold, the predicted value of the optical flow is set to be smaller than the threshold. Since the driving state of the vehicle is controlled, even if there is a sudden driving operation of the surrounding vehicle, the driver of the own vehicle will not feel more dangerous than necessary, and excessive avoidance operation is prevented, Proper operation is ensured. In addition, since the vehicle speed control that secures the inter-vehicle distance and the steering control that moves the host vehicle laterally away from the surrounding vehicle are used in combination, the optical flow prediction value can be appropriately reduced. Further, since the steering control is performed only when the vehicle speed is sufficiently low and the driver does not feel uneasy even if the steering angle is changed, appropriate vehicle control can be performed.

  According to the present invention, since the vehicle control is performed so that the optical flow generated in the driver of the own vehicle is not excessively increased even by a sudden driving operation of the surrounding vehicle, the driver of the vehicle feels a sense of danger more than necessary. Thus, excessive avoidance operation is prevented.

The block block diagram which shows an example of the control system of this invention. The figure for demonstrating the outline of the vehicle control of this invention. The graph showing the prediction formula of the lane change lateral speed based on the collision margin time TTC. The graph showing the prediction formula of the lane change lateral speed based on the head time THW. The graph showing the prediction formula of the lane change lateral speed based on the frustration degree. The flowchart which shows the control procedure of an example of the vehicle control of this invention. The graph which shows the relationship between the reciprocal number of the collision margin time TTC, and the danger feeling which a driver | operator feels.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
In FIG. 1, the control system in the vehicle provided with the vehicle control apparatus of embodiment of this invention is shown with a block block diagram. FIG. 2 is a diagram for explaining the vehicle control according to the present embodiment, and the host vehicle 10 (vehicle equipped with a vehicle control device) traveling on the host lane L1 and the preceding adjacent vehicle traveling on the adjacent lane L2. 11.

  As shown in FIG. 1, the control system includes a controller (control unit) U configured using a microcomputer, as shown. The controller U receives the steering angle and vehicle speed detection signals of the host vehicle 10 from the steering angle sensor 1 and the vehicle speed sensor 2, respectively, and can be used to control the steering angle and the vehicle speed of the host vehicle 10. .

  The control system includes vehicle detection means 3 for detecting surrounding vehicles traveling around the host vehicle 10, and a signal from the surrounding vehicle detection means 3 is input to the controller U. The surrounding vehicle detection means 3 is composed of, for example, an in-vehicle camera or a laser radar.

  The controller U includes behavior prediction means 4, optical flow calculation means 5, and vehicle control means 5. Based on the detection signal from the surrounding vehicle detection means 3, the behavior prediction means 4 recognizes a neighboring vehicle that may change lanes, that is, a preceding neighboring vehicle 11 that travels ahead of the neighboring lane L2. Based on the recognized movement of the preceding adjacent vehicle 11, the subsequent behavior of the preceding adjacent vehicle 11 (how fast the preceding adjacent vehicle 11 changes the lane from the adjacent lane L2 to the own lane L1) Predict.

  In the behavior prediction of the preceding adjacent vehicle 11, the future behavior of the preceding adjacent vehicle 11 is predicted based on the behavior feature amount determined based on the current traveling state and traveling environment of the preceding adjacent vehicle 11. In the present embodiment, as the behavior feature amount, a collision margin time TTC (in the vehicle traveling direction) between the preceding adjacent vehicle 11 and the host vehicle 10, a vehicle head time THW (in the vehicle traveling direction) between the preceding adjacent vehicle 11 and the host vehicle 10, And the frustration degree which is the index | exponent which estimated the driver | operator's psychological state of the preceding adjacent vehicle 11 is used in combination suitably. Specifically, it is as follows.

First, by using the adjacent collision allowance time TTC as the behavior feature quantity, it is predicted that the quicker (rapid) lane change is performed (the lateral speed is greater with respect to the vehicle traveling direction) as the TTC is smaller. Here, the collision allowance time TCC is defined as a value obtained by dividing the inter-vehicle distance between the preceding vehicle and the host vehicle by the relative speed between the preceding vehicle and the preceding vehicle. In this case, as a prediction formula of the predicted value V _{y # pre} of the maximum value of the lateral speed V _y when the lane of the preceding adjacent vehicle 11 is changed,
V _{y # pre} = a · TTC ^-b (1)
Is used. Where a and b are appropriately selected constants. In FIG. 3, the prediction formula (1) is shown in a graph.

In addition, by using the vehicle head time THW as the behavior feature amount, it is predicted that the lane change is quicker as the THW is smaller. Here, the vehicle head time THW is defined as a value obtained by dividing the vehicle head interval from the preceding vehicle by the vehicle speed. In this case, as a prediction formula of the predicted value V _{y # pre} of the maximum value of the lateral speed V _y when the lane of the adjacent vehicle 11 is changed,
V _{y # pre} = c · TTC ^-d (2)
Is used. Where a and b are appropriately selected constants. FIG. 4 is a graph showing the prediction formula (2).

Further, by using the frustration degree that estimates the psychological state of the driver of the preceding adjacent vehicle 11 as the behavior feature amount, it is predicted that the faster the lane change is performed, the greater the frustration degree. Specifically, when the preceding adjacent vehicle 11 wants to pass the forward vehicle 12 traveling in front of it, but cannot easily pass, the driver of the preceding adjacent vehicle 11 performs a driving operation such as swinging the vehicle left and right. Since it is considered to appeal to the preceding vehicle 12, when such a behavior is seen in the preceding adjacent vehicle 11, the driver of the preceding adjacent vehicle 11 is greatly frustrated, and a rapid lane change occurs. Predict that it will be done. In this case, as a formula representing the degree of frustration, using the variance of the lateral position of the preceding adjacent vehicle 11,
Frustration = e · σ ² (y _veh ) (3)
Is used. FIG. 5 is a graph showing the relationship between the frustration degree defined in this way and the predicted value V _{y # pre} of the maximum lateral speed when the lane of the preceding adjacent vehicle 11 is changed.

The optical flow calculation means 5 calculates a predicted value OP _pre of the optical flow of the driver of the host vehicle 10 generated by the preceding adjacent vehicle 11 changing lanes at the speed predicted by the behavior prediction means 4. The optical flow is the velocity field of the external image projected on the human (driver) retina. Here, the optical flow is caused by the movement of the adjacent preceding vehicle 11 in the entire optical flow of the external image. The part (change in optical flow) is a problem.

The vehicle control unit 6 controls the steering mechanism 5 and the vehicle speed control mechanism (brake and accelerator) 6 of the host vehicle 10 based on the predicted optical flow value OP _pre calculated by the optical flow calculation unit 5. Specifically, the optical flow prediction value OP _pre is compared with a preset threshold value OP _th, and when the optical flow prediction value OP _pre is larger than the threshold value OP _th , the optical flow prediction value OP _pre is set to the threshold value OP _th. The steering angle and the vehicle speed of the host vehicle 10 are controlled so as to be as follows. In this case, as shown by the own vehicle position 10A in FIG. 2, steering control is performed to move the own vehicle 10 away from the preceding adjacent vehicle 11, or as shown in the own vehicle position 10B in FIG. By performing vehicle speed deceleration control (brake control) that decelerates 10 and increases the inter-vehicle distance L between the host vehicle 10 and the preceding adjacent vehicle 11, the optical flow caused by the lane change of the preceding adjacent vehicle 11 is reduced. In FIG. 2, the position of the preceding adjacent vehicle 11 after the lane change is indicated by 11A.

  In such vehicle control, steering control is used in combination, based on vehicle speed control of the host vehicle 10 (securing the inter-vehicle distance L). Specifically, when a sufficient inter-vehicle distance L cannot be ensured due to the relationship with surrounding vehicles or the like, or even if the vehicle speed of the host vehicle 10 is smaller than a predetermined value and the rudder angle of the host vehicle 10 is changed, The steering control is executed only when there is no sense of insecurity.

Next, the control procedure of the vehicle control in this embodiment will be described in more detail using the flowchart of FIG.
In step S1, the preceding adjacent vehicle 11 is recognized based on the detection signal from the surrounding vehicle detection means 1. In step S2, the behavior feature quantity (TTC, THW and irritability) of the adjacent vehicle 11 is calculated from the current behavior of the preceding adjacent vehicle 11 recognized in step S1, and in the subsequent step S3, it is calculated in step S2. Based on the behavior feature value thus calculated, the predicted value V _{y # pre} of the maximum lane change lateral speed value of the preceding adjacent vehicle 11 is calculated.

In step S4, based on the predicted value V _{y # pre} of the maximum lane change lateral speed calculated in step S3, the predicted value OP of the optical flow generated in the driver of the host vehicle 10 due to the lane change of the preceding adjacent vehicle 11 Calculate _pre . In subsequent step S5, it is determined whether or not the optical flow predicted value OP _pre calculated in step S4 is larger than a predetermined threshold value _OPth . When the optical flow predicted value OP _pre is equal to or smaller than the threshold value _OPth. Ends one cycle of vehicle control as it is.

On the other hand, if it is determined in step S5 that the optical flow predicted value OP _pre is larger than the threshold value OP _th , in step S6, the preceding adjacent vehicle necessary for setting the optical flow predicted value OP _pre to be equal to or less than the threshold value OP _th. The distance between the vehicle 11 and the host vehicle 10 is calculated.

  In the subsequent step S6, it is determined whether or not the inter-vehicle distance calculated in step S5 can be secured by the vehicle speed control of the host vehicle 10. This determination is made by comprehensively considering the vehicle speed of the host vehicle 10 and the preceding adjacent vehicle 11, the situation of surrounding vehicles other than the preceding adjacent vehicle 11, and the like. If it is determined that the inter-vehicle distance can be secured by this determination, the process proceeds to step S8. If it is determined that the inter-vehicle distance cannot be secured, the process proceeds to step S10.

  In step S8, it is determined whether or not the current vehicle speed of the host vehicle 10 detected by the vehicle speed sensor 2 is equal to or higher than a predetermined value. If the vehicle speed is equal to or higher than the predetermined value, the process proceeds to step S9, where the vehicle speed is equal to the predetermined value. If smaller than this, the process proceeds to step S10.

In step S9, brake control of the vehicle speed control mechanism 7 is performed so that the inter-vehicle distance between the host vehicle 10 and the preceding adjacent vehicle 11 is equal to or greater than a predetermined value before the lane change of the preceding adjacent vehicle 11 is started. by ensuring inter-vehicle distance of the preceding adjacent vehicle 11, the optical flow prediction value P _pre as or less than the threshold OP _th, and ends one cycle of the vehicle control.

On the other hand, in step S10, it calculates the amount of movement in the transverse direction of the vehicle 10 required to the optical flow estimated value OP _pre less than or equal to the threshold value OP _th, at the following step S11, the preceding adjacent vehicle 11 Simultaneously with the start of the lane change, the control of the steering mechanism 6 (steering control) is executed to move the host vehicle 10 by the necessary amount in the lateral direction, thereby setting the optical flow predicted value P _pre to be equal to or less than the threshold value OP _th and controlling the vehicle. This completes one cycle.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, In the range described in the claim, an appropriate change is possible. For example, in the above embodiment, when the vehicle speed of the host vehicle 10 is smaller than a predetermined value, the predicted optical flow value is decreased by the steering control. However, the present invention is not limited to such a form. Rather, vehicle speed control and steering control of the vehicle can be used in appropriate combination. For example, regardless of the vehicle speed of the host vehicle 10, only vehicle speed control may be performed, or vehicle speed control and steering control may be performed simultaneously.

  In the above embodiment, the collision margin time TTC, the vehicle head time THW, and the frustration degree are used as the behavior feature quantities of the preceding adjacent vehicle 11, but the present invention is not limited to such a form, and various behaviors are provided. A feature amount (a method of predicting a lane change lateral speed) can be employed. For example, it is possible to predict the lane change lateral speed according to the traveling environment of the preceding adjacent vehicle 11 (the situation of surrounding vehicles and lanes).

  In the above embodiment, the case where the preceding adjacent vehicle 11 traveling in the adjacent lane L2 changes the lane to the own lane L1 has been described as an example, but the present invention is not limited to such a form. The present invention can be widely applied in the case where fluctuations occur in the optical flow of the driver of the own vehicle due to a sudden driving operation of the surrounding vehicle traveling around the own vehicle.

  The present invention can be used to further optimize the running control of a vehicle such as an automobile.

U controller 1 rudder angle sensor 2 vehicle speed sensor 3 behavior prediction means 4 optical flow calculation means 5 vehicle control means 6 steering mechanism 7 vehicle speed control mechanism 10 own vehicle 11 preceding adjacent vehicle 12 forward vehicle

Claims (3)

Surrounding vehicle detection means for detecting surrounding vehicles traveling around the host vehicle;
Behavior prediction means for predicting the behavior of the surrounding vehicle detected by the surrounding vehicle detection means;
Optical flow calculation means for calculating a predicted value of the optical flow of the driver of the host vehicle caused by the behavior of the surrounding vehicle predicted by the behavior prediction means;
Vehicle control means for controlling the driving state of the host vehicle so that the predicted value of the optical flow calculated by the optical flow calculation means is smaller than a predetermined threshold ,
The surrounding vehicle is an adjacent vehicle that travels in an adjacent lane of the own lane in which the host vehicle travels,
The behavior prediction means predicts a lane change speed at which the adjacent vehicle changes lanes to the own lane,
The optical flow calculation means calculates a predicted value of the optical flow caused by a lane change of the adjacent vehicle,
The behavior prediction means uses the index representing the psychological state of the driver of the adjacent vehicle estimated based on at least one of the current behavior or the driving environment of the adjacent vehicle, and uses the lane change speed of the adjacent vehicle. Vehicle control device for predicting The vehicle control device according to claim 1 ,
The behavior prediction means is a vehicle control device that predicts a lane change speed of the adjacent vehicle using at least one of a collision margin time and a vehicle head time between the adjacent vehicle and the host vehicle.   Surrounding vehicle detection means for detecting surrounding vehicles traveling around the host vehicle;
  Behavior prediction means for predicting the behavior of the surrounding vehicle detected by the surrounding vehicle detection means;
  Optical flow calculation means for calculating a predicted value of the optical flow of the driver of the host vehicle caused by the behavior of the surrounding vehicle predicted by the behavior prediction means;
  Vehicle control means for controlling the driving state of the host vehicle so that the predicted value of the optical flow calculated by the optical flow calculation means is smaller than a predetermined threshold;
With
  The vehicle control means executes at least one of vehicle speed control that increases a distance between the surrounding vehicle and the host vehicle and steering control that moves the host vehicle away from the surrounding vehicle,
  A vehicle speed sensor for detecting the vehicle speed of the host vehicle,
  The vehicle control means performs the steering control when the vehicle speed detected by the vehicle speed sensor is smaller than a predetermined value, and when the vehicle speed detected by the vehicle speed sensor is greater than or equal to a predetermined value, the vehicle speed control Vehicle control device that performs

Images