JP6412346B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicle driving support apparatus capable of executing overtaking control of a major vehicle traveling in front of the host vehicle.

  2. Description of the Related Art In recent years, in vehicles such as automobiles, various support devices that are equipped with a camera, a radar device, and the like to recognize a traveling environment around the vehicle and reduce the burden on the driver's operation have been developed and put into practical use. As such a driving assistance device, for example, as disclosed in Patent Document 1, when the vehicle speed of the preceding vehicle is lower than the set vehicle speed of the own vehicle, the preceding vehicle is determined based on the traveling position of the own vehicle and traffic information. There is known a system that determines whether or not a vehicle can be overtaken, and executes the overtaking of the preceding vehicle by automatic control when it is determined that the vehicle can be overtaken.

JP 2009-248892 A

  Japanese Patent Laid-Open No. 2004-26883 is surprised to the driver of the own vehicle or a vehicle in the vicinity of the own vehicle by executing a preparatory operation when it is determined in advance whether the overtaking of the preceding vehicle is appropriate and it is determined that the overtaking is appropriate. Although overtaking is automatically executed without causing discomfort, no particular consideration is given to changes in the surrounding situation after overtaking is started.

  In other words, depending on the changes in the situation after the overtaking of the preceding vehicle, the overtaking may be stopped or the overtaking can be safely completed as it is. Need to support.

  The present invention has been made in view of the above circumstances, and supports driving of a vehicle that appropriately determines whether to stop or execute overtaking in response to a change in the situation after the start of overtaking of the preceding vehicle, and does not give the driver anxiety. The object is to provide a device.

Driving support apparatus for a vehicle according to an aspect of the present invention determines whether the preceding vehicle overtaking possible running ahead of the running lane of the own vehicle, when overtaking possible, next to the own vehicle from the traveling lane lane The vehicle driving support device for executing the overtaking control of the preceding vehicle, which moves back to the original travel lane after passing the preceding vehicle and judges that the preceding vehicle can be overtaken and the own vehicle When the vehicle moves to the overtaking lane and overtakes the preceding vehicle, the overtaking environment monitoring unit that monitors a change in the traveling environment around the overtaking lane, and the overtaking environment monitoring unit An overtaking execution / cancellation determining unit that determines whether to stop the overtaking and return to the rear of the preceding vehicle in the original traveling lane based on a traveling state of the subsequent vehicle when a subsequent vehicle is detected , Wherein the overtaking run / stop determination unit is configured to estimate the speed of the following vehicle after a set time, when the vehicle speed of the following vehicle estimated is equal to or greater than a set threshold value, and performs decision to the effect that stops the overtaking It is.

  According to the vehicle driving support device of the present invention, it is possible to appropriately determine whether to stop or execute overtaking in response to a change in the situation after the overtaking of the preceding vehicle, and to prevent the driver from being anxious.

Configuration diagram of vehicle driving support device Explanatory drawing showing the position of the vehicle when overtaking Flow chart of overtaking control routine Flowchart of lane change cancellation determination subroutine (part 1) Flowchart of lane change cancellation determination subroutine (part 2) Flowchart of overtaking stop determination subroutine

  Embodiments of the present invention will be described below with reference to the drawings.

  In FIG. 1, reference numeral 1 denotes a vehicle such as an automobile (own vehicle), and the driving support device 2 that executes driving support control including autonomous driving in response to the driving operation of the driver is mounted on the own vehicle 1. Has been. The driving support apparatus 2 includes an external environment recognition unit that includes various devices that recognize the surrounding external environment surrounding the host vehicle 1, and receives signals from various sensors that detect the driving state of the host vehicle 1. .

  In the present embodiment, the driving support device 2 detects a three-dimensional position of an object in front of the vehicle 1 as a device for sensing the external environment, and detects an object on the front side of the vehicle 1. A side radar unit 4 that performs, a rear radar unit 5 that uses a microwave or the like that detects an object behind the vehicle 1, and further obtains traffic information through infrastructure communication such as road-to-vehicle communication or vehicle-to-vehicle communication. 6 is provided. These units 4 to 6 form an external environment recognition unit that recognizes the external environment of the vehicle 1.

  The stereo camera unit 3 mainly includes, for example, a stereo camera composed of two left and right cameras 3a and 3b installed in the vicinity of a room mirror inside the front window at the upper part of the vehicle interior. The left and right cameras 3a and 3b are shutter-synchronized cameras having image sensors such as a CCD and a CMOS, and are fixed at a predetermined base line length. Further, the stereo camera unit 3 performs stereo image processing on a pair of images captured by the left and right cameras 3a and 3b, and acquires three-dimensional position information in a real space of an object ahead such as a preceding vehicle. Is integrally provided. The three-dimensional position of the object is determined from the parallax data of the object obtained by stereo image processing and the image coordinate value, for example, with the road surface directly below the center of the stereo camera as the origin, the vehicle width direction as the X axis, and the vehicle height direction as the Y direction. It is converted into coordinate values in a three-dimensional space with the axis and the vehicle length direction (distance direction) as the Z axis.

  The side radar unit 4 is a proximity radar that detects an object at a relatively short distance existing around the host vehicle. For example, the side radar unit 4 is installed in the left and right corners of the front bumper, and is a radar such as a microwave or a high-band millimeter wave. A wave is transmitted to the outside and a reflected wave from the object is received, and the distance and direction to the object existing on the front side of the vehicle outside the field of view of the stereo camera unit 3 are measured. The rear radar unit 5 is installed, for example, at the left and right corners of the rear bumper, and similarly transmits radar waves to the outside to receive reflected waves from the object, up to an object existing from the rear of the vehicle to the rear side. Measure the distance and direction.

  The rear object may be detected by image recognition using a rear view camera or sensor fusion between image recognition and another sensing device.

  The traffic information communication unit 6 transmits traffic information such as areas and intersection roads that cannot be seen (not sensed) from the stereo camera unit 3, the side radar unit 4, and the rear radar unit 5 to road-to-vehicle communication via road auxiliary equipment. Acquired by inter-vehicle communication with other vehicles. Although the traffic information communication unit 6 may be a dedicated device, the traffic information communication unit 6 has map information on the driving environment such as the position of intersections and traffic lights, the number of road lanes, the radius of curvature of the road, the speed limit, and the overtaking prohibited section. You may make it utilize the communication apparatus provided in positioning apparatuses, such as a navigation apparatus.

  On the other hand, sensors for detecting the driving state of the host vehicle 1 include a vehicle speed sensor 10 that detects a vehicle speed, a steering angle sensor 11 that detects a steering angle, and a G sensor 12 that detects acceleration. The driving support device 2 includes the traffic environment information surrounding the host vehicle 1 acquired by the units 4 to 6 and the driving state of the host vehicle 1 detected by various sensors such as the vehicle speed sensor 10, the steering angle sensor 11, and the G sensor 12. Based on the information, the driving support control of the vehicle 1 is executed.

  The driving support control of the driving support device 2 includes adaptive cruise control (ACC) as one of the main functions, and the function related to the ACC includes overtaking control of the preceding vehicle. In the overtaking control by the driving support device 2, when a preceding vehicle is recognized in front of the own vehicle and the vehicle speed of the preceding vehicle is lower than the set vehicle speed of the own vehicle, the traveling position of the own vehicle, the relative speed with respect to the preceding vehicle, the own vehicle It is determined whether or not the preceding vehicle can be overtaken based on surrounding traffic information and the like. If it is determined that overtaking is possible, overtaking of the preceding vehicle is executed by automatic piloting.

  Below, the overtaking control of the driving assistance apparatus 2 is demonstrated. The overtaking control here is to move the vehicle from the current lane to the next lane (passing lane) to overtake the preceding vehicle, overtake the preceding vehicle, and return to the original lane (before the preceding vehicle). As the overtaking lane, both the lane next to the current lane of the lane on one side of the center line and the opposite lane beyond the center line are assumed. Yes. The driving support device 2 includes the overtaking control unit 20, the overtaking environment monitoring unit 30, the overtaking execution / cancel determination unit 40, the automatic steering unit 50, the acceleration / deceleration control unit 60, and the overtaking information output as functional units related to such overtaking control. Part 70 is provided.

  The overtaking determination unit 20 determines that the current driving section is not an overtaking prohibited section from the state of the road white line (division line) recognized by the stereo camera unit 3 and the traffic information acquired through the traffic information communication unit 6, and On the assumption that there are no obstacles to overtaking such as accidents, toll booths, traffic lights or intersections, or when the preceding vehicle has slowed down or the preceding vehicle has slowed down. In this case, it is determined whether or not to pass the preceding vehicle.

  The detection of the road white line is performed by evaluating a change in luminance in the width direction of the road on the image plane of the image captured by the stereo camera unit 3 to extract a point group that is a candidate for the white line, and a time series of these white line candidate points. Data can be processed and used using a model that approximates the shape of the white line in the XYZ coordinate space with the vehicle (stereo camera unit 3) as the origin. As an approximate model of the white line, an approximate model obtained by connecting linear components obtained by the Hough transform, or a model approximated by a curve such as a quadratic equation can be used.

  Whether or not to execute overtaking is determined by, for example, the traveling speed of the host vehicle, the relative speed between the host vehicle and the preceding vehicle acquired from the outputs of the stereo camera unit 3 and the vehicle speed sensor 10, and between the host vehicle and the preceding vehicle. Judgment is made based on whether there is a following vehicle on the overtaking lane behind the host vehicle obtained from the inter-vehicle distance and the output of the rear radar unit 5. And, for example, when there is no following vehicle approaching the overtaking lane behind the host vehicle, when the difference between the set vehicle speed of the host vehicle and the actual traveling speed is a predetermined value or more and the inter-vehicle distance is less than the predetermined distance, It is determined that the preceding vehicle can be properly overtaken, and the automatic steering unit 50 and the acceleration / deceleration control unit 60 are instructed to start overtaking control.

  In addition, when the difference between the traveling speed of the host vehicle and the traveling speed of the preceding vehicle becomes extremely large (for example, when the preceding vehicle suddenly brakes), the collision prevention is performed without performing the overtaking determination. Control is preferentially executed to avoid collision between the host vehicle and the preceding vehicle.

  The overtaking environment monitoring unit 30 starts overtaking control in response to the overtaking determination by the overtaking determining unit 20, and monitors changes in the traveling environment centered on the overtaking lane when the host vehicle moves to the overtaking lane. Specifically, when the own vehicle moves to the overtaking lane to overtake the preceding vehicle, the presence / absence of the following vehicle that suddenly appears, the inter-vehicle distance between the own vehicle and the following vehicle, the vehicle speed change of the oncoming vehicle, and the like are monitored. The overtaking environment monitoring unit 30 also determines the position and vehicle speed (relative speed) of the surrounding vehicles (the preceding vehicle to be overtaken on the original lane, the preceding preceding vehicle in front of the preceding vehicle, etc.) Monitor the driving environment such as road surface conditions. As the road surface condition of the overtaking lane, the road surface friction coefficient μ is determined from the dry road by image recognition through the stereo camera unit 3 and traffic and weather information acquired through the traffic information communication unit 6 depending on weather conditions such as rain and snow. It also recognizes low μ roads, road gradients in the direction of travel, etc.

  The low μ road may be determined using not only the weather conditions but also the road surface friction coefficient μ estimated from the vehicle travel control parameters.

  When the overtaking control of the own vehicle is started, the overtaking execution / cancellation determination unit 40 checks whether or not a subsequent vehicle is detected by the overtaking environment monitoring unit 30, and stops overtaking according to the detection result of the subsequent vehicle. Or whether to perform the overtaking as it is. In other words, if a succeeding vehicle is not detected in the overtaking lane, the overtaking is executed as it is, the vehicle returns to the traveling lane ahead of the preceding vehicle, and the overtaking is completed. On the other hand, when the following vehicle suddenly appears in the overtaking lane and the following vehicle is detected, the overtaking is executed as it is in front of the preceding vehicle according to the positional relationship and relative speed between the own vehicle, the following vehicle and the surrounding vehicle. It is determined whether to return to the driving lane of the vehicle or to stop overtaking and return to the driving lane behind the preceding vehicle.

  In this case, the overtaking execution / cancellation determination unit 40, for example, when the host vehicle moves from the traveling lane P1 to the passing lane P2 as shown in FIG. 2 (that is, the host vehicle changes from the A0 state to the A1 state). When the lane change), when the succeeding vehicle C1 traveling toward the own vehicle appears behind the overtaking lane P2, the overtaking control is mainly performed based on the relationship between the vehicle speed Va of the own vehicle and the vehicle speed Vc of the following vehicle C1. It is determined whether to cancel (lane change). More specifically, the overtaking execution / cancel determination unit 40 determines, for example, that the vehicle speed Vc of the subsequent vehicle is equal to or higher than the set threshold value Vcth1, and it is difficult to avoid the approach of the subsequent vehicle C1 due to acceleration of the own vehicle. When it is done, it is determined to cancel the lane change. Further, the overtaking execution / cancellation determination unit 40 estimates the inter-vehicle distance Lc with the subsequent vehicle C1 after the set time t1 based on the vehicle speed Va of the host vehicle and the vehicle speed Vc of the subsequent vehicle C1, for example. When the overtaking execution / cancellation determination unit 40 determines that the estimated inter-vehicle distance Lc is equal to or less than the set threshold value Lcth1 and it is difficult to avoid the approach of the following vehicle C1 due to acceleration of the host vehicle, the lane change is performed. Make a decision to cancel. Further, the overtaking execution / cancellation determination unit 40, for example, based on the vehicle speed Va of the host vehicle and the vehicle speed Vc of the subsequent vehicle C1, the target acceleration At for maintaining the inter-vehicle distance from the subsequent vehicle C1 at a predetermined inter-vehicle distance. Is calculated. When the overtaking execution / cancellation determination unit 40 determines that the calculated target acceleration At is equal to or greater than the set threshold value Atth and it is difficult to avoid the approach of the subsequent vehicle C1 due to acceleration of the host vehicle, the lane change is performed. Make a decision to cancel.

  Further, the overtaking execution / cancel determination unit 40, for example, as shown in FIG. 2, when the own vehicle moves to the overtaking lane P2 and overtakes the preceding vehicle B1 (that is, the own vehicle changes from A1 to A2 When the succeeding vehicle C1 traveling toward the own vehicle appears behind the overtaking lane P2, mainly based on the relationship between the vehicle speed Va of the own vehicle and the vehicle speed Vc of the following vehicle C1. It is determined whether or not to stop overtaking control (overtaking). More specifically, the overtaking execution / cancel determination unit 40 estimates the vehicle speed Cce of the subsequent vehicle C1 after the set time t2 based on the vehicle speed Vc of the subsequent vehicle C1, for example, and the estimated vehicle speed Vce is equal to or higher than the set threshold value Vceth. When it is, it is determined that the overtaking is stopped. The overtaking execution / cancellation determination unit 40 estimates the vehicle speed Vbe of the preceding vehicle B1 after the set time t3 based on the vehicle speed Vb of the preceding vehicle B1, for example, and the estimated vehicle speed Vbe is equal to or higher than the set threshold value Vbeth. If the following vehicle C1 does not exist, it is determined that the overtaking is stopped.

  The automatic steering unit 50 receives the instruction to start overtaking control from the overtaking determining unit 20 and causes the automatic steering unit 50 to blink the direction indicator lamp and to move the host vehicle from the traveling lane to the oncoming lane. (Not shown). The acceleration / deceleration control unit 60 receives an instruction to start overtaking control from the overtaking determining unit 20 and controls an electronic throttle device (not shown) to move the own vehicle to the overtaking lane while accelerating.

  At this time, if there is no instruction to cancel overtaking from the overtaking execution / cancel determination unit 40, the acceleration / deceleration control unit 60 increases the acceleration of the host vehicle to overtake the preceding vehicle. And when the distance with a preceding vehicle turns into an appropriate distance, the automatic steering part 50 will return to the original traveling lane, and will perform the lane change for exiting in front of a preceding vehicle. The acceleration / deceleration control unit 60 controls the vehicle speed Va of the host vehicle after returning to the original travel lane to a set vehicle speed set by a driver or the like. Thereby, the overtaking control is completed.

  On the other hand, when the overtaking execution / cancel determination unit 40 is instructed to stop overtaking, steering and acceleration / deceleration control are performed so that the host vehicle is decelerated and returned to the rear of the preceding vehicle in the original traveling lane.

  The overtaking information output unit 70 performs audio output and image output for presenting various information in the overtaking control to the driver. For example, voice guidance regarding the start of an overtaking operation, the presence of a subsequent vehicle, or the start of an overtaking is output, and overtaking is canceled due to the appearance of a subsequent vehicle, and safe overtaking is possible even if a subsequent vehicle appears. The driver is notified of the control content corresponding to the change in the situation such as overtaking when the vehicle is confirmed.

  Next, the program processing of the driving support apparatus 2 that realizes the above overtaking control will be described with reference to the flowchart of FIG.

  This routine is repeatedly executed at set times by the overtaking determination unit 20 triggered by, for example, an instruction to start overtaking control of a preceding vehicle. When the routine starts, the driving support device 2 checks in step S101 whether or not the overtaking control / discontinuation determination unit 40 currently determines that the overtaking control is interrupted.

  If the stop determination is not made in step S101, the driving support device 2 proceeds to step S107.

  On the other hand, if it is determined in step S101 that the stop determination has been made, the driving support device 2 proceeds to step S102, and whether or not the host vehicle is currently changing the lane from the driving lane P1 to the overtaking lane P2. Check out.

  If it is determined in step S102 that the lane is being changed, the driving support device 2 proceeds to step S103, determines whether or not to cancel the lane change, and then proceeds to step S105.

  On the other hand, if it is determined in step S102 that the lane is not being changed, the driving support device 2 proceeds to step S104, determines whether or not to stop overtaking, and then proceeds to step S105.

  Here, when the process proceeds from step S102 to step S103, the driving support device 2 mainly determines in the overtaking execution / cancellation determination unit 40 whether to cancel the currently executing lane change. This lane change stop determination is executed, for example, according to the flowchart of the lane change stop determination subroutine shown in FIGS. 4 and 5. When the subroutine starts, the driving support device 2 sets various threshold values in step S201. Do.

  That is, the driving support device 2 uses the vehicle speed (following vehicle speed) Vc of the following vehicle C1 as a threshold for determining whether or not to change the lane when the following vehicle C1 is detected in the overtaking lane P2. Threshold values Vcth1, Vcth2, threshold values Lcth1, Lcth2 with respect to inter-vehicle distance (distance between subsequent persons) Lc after set time t1, and target acceleration At required to keep the inter-vehicle distance with subsequent vehicle C1 constant. Threshold values Atth1 and Atth2 are set.

  In this case, the threshold value Vcth1 is set based on, for example, the legal speed Vl of the overtaking lane P2, and is set to Vcth1 = Vl or Vcth1 = Vl−α1, for example. The threshold value Vcth2 is a value equal to or lower than the threshold value Vcth1, and is set to, for example, Vcth2 = Va (vehicle speed of the host vehicle) or Vcth2 = Va + α2.

  The threshold value Lcth1 is, for example, the minimum inter-vehicle distance necessary for avoiding the rear-end collision of the following vehicle, and is set to a smaller value as the vehicle speed Va of the host vehicle increases with reference to a preset map or the like. The threshold value Lcth2 is set to a value equal to or greater than the threshold value Lcth1. Note that the set time t1 is, for example, the time required until the lane change is estimated based on the current vehicle speed Va and the steering angle of the host vehicle.

  The threshold value Atth1 is set, for example, to an upper limit value of acceleration for suppressing the vehicle speed Va of the host vehicle after the set time t1 to be less than the legal speed Vl. Further, the threshold value Atth2 is set to a value equal to or smaller than the threshold value Atth1.

  When the process proceeds from step S201 to step S202, the driving support device 2 checks whether or not a subsequent vehicle is currently detected on the overtaking lane P2.

  If it is determined in step S202 that no subsequent vehicle is detected on the overtaking lane P2, the driving assistance device 2 proceeds to step S211.

  On the other hand, if it is determined in step S202 that the following vehicle is detected on the overtaking lane P2, the driving assistance device 2 proceeds to step S203 and checks whether or not the following vehicle speed Vc is equal to or higher than the set threshold value Vcth1.

  If it is determined in step S203 that the subsequent vehicle speed Vc is equal to or higher than the set threshold value Vcth1, it is difficult for the driving support device 2 to accelerate the own vehicle from the current own vehicle speed Va. If the change is continued, it is determined that it is difficult to avoid the approach of the following vehicle to the host vehicle, and the process proceeds to step S210.

  On the other hand, if it is determined in step S203 that the subsequent vehicle speed Vc is less than the set threshold value Vcth1, the driving support device 2 proceeds to step S204, and determines whether the subsequent inter-vehicle distance Lc after the set time t1 is less than or equal to the set threshold value Lcth1. Find out.

  In step S204, when it is determined that the following inter-vehicle distance Lc after the set time t1 is equal to or less than the set threshold value Lcth1, the driving support device 2 sufficiently secures the following inter-follower distance Lc even if the host vehicle is accelerated. This is difficult, and if the lane change is continued as it is, it is determined that it is difficult to avoid the approach of the following vehicle to the own vehicle, and the process proceeds to step S210.

  On the other hand, if it is determined in step S204 that the following inter-vehicle distance Lc after the set time t1 is greater than the set threshold value Lcth1, the driving assistance device 2 proceeds to step S205, and whether or not the target acceleration At is greater than or equal to the set threshold value Atth1. Find out.

  If it is determined in step S205 that the target acceleration At is equal to or greater than the set threshold value Atth1, it is difficult for the driving support device 2 to accelerate the host vehicle with the current target acceleration At. If it continues, it will be judged that it is difficult to avoid the approach of the following vehicle with respect to the own vehicle, and it progresses to step S210.

  On the other hand, if it is determined in step S205 that the target acceleration At is less than the set threshold value Atth1, the driving assistance device 2 proceeds to step S206 and checks whether or not the subsequent vehicle speed Vc is equal to or higher than the set threshold value Vcth2.

  If it is determined in step S206 that the subsequent vehicle speed Vc is equal to or higher than the set threshold value Vcth2, the driving support device 2 is likely to approach the own vehicle if the lane change is continued. Is determined to be further accelerated, and the process proceeds to step S209.

  On the other hand, when it is determined in step S206 that the subsequent vehicle speed Vc is less than the set threshold value Vcth2, the driving support device 2 proceeds to step S207 and checks whether or not the inter-successor distance Lc is less than or equal to the set threshold value Lcth2.

  If it is determined in step S207 that the following inter-vehicle distance Lc is equal to or less than the set threshold value Lcth2, the driving assistance device 2 is likely to approach the own vehicle if the lane change is continued as it is. It is determined that it is necessary to further accelerate the vehicle, and the process proceeds to step S209.

  On the other hand, if it is determined in step S207 that the inter-successor distance Lc is larger than the set threshold value Lcth2, the driving support device 2 proceeds to step S208 and checks whether or not the target acceleration At is equal to or greater than the set threshold value Atth2.

  If it is determined in step S208 that the target acceleration At is equal to or greater than the set threshold value Atth2, the driving assistance device 2 is likely to cause the following vehicle to approach the own vehicle if the lane change is continued as it is. Is determined to be further accelerated, and the process proceeds to step S209.

  On the other hand, if it is determined in step S208 that the target acceleration At is less than the set threshold value Atth2, the driving support device 2 has a low possibility that the following vehicle will approach the host vehicle even if the lane change is continued. Determination is made and the process proceeds to step S211.

  When the process proceeds from step S206, step S207, or step S208 to step S209, the driving support device 2 checks whether or not the current vehicle speed Va of the host vehicle is less than the legal speed Vl of the overtaking lane P2.

  If it is determined in step S209 that the vehicle speed Va is less than the legal speed Vl, the driving assistance device 2 proceeds to step S212.

  On the other hand, when it is determined in step S209 that the vehicle speed Va is equal to or higher than the legal speed Vl, the driving assistance device 2 proceeds to step S210.

  Further, when the process proceeds from step S203, step S204, step S205, or step S209 to step S210, the driving support device 2 has a return space for the host vehicle behind the preceding vehicle B1 in the original travel lane P1. Investigate whether or not to do so.

  If it is determined in step S210 that there is a return space for the host vehicle behind the preceding vehicle B1, the driving assistance device 2 proceeds to step S213, cancels the lane change to the overtaking lane P2, and performs the original travel. After determining that the vehicle should return to the lane P1, the subroutine is exited.

  On the other hand, in step S210, when it determines with the return space of the own vehicle not existing behind the preceding vehicle B1, the driving assistance device 2 progresses to step S211.

  Then, when the process proceeds from step S202, step S208, or step S210 to step S211, the driving support apparatus 2 determines that the lane change is performed without accelerating the subsequent vehicle (that is, the normal lane change). After making a decision to maintain the acceleration state sometimes necessary), exit the subroutine.

  Further, when the process proceeds from step S209 to step S212, the driving support device 2 determines that the lane change is performed while accelerating the vehicle speed Va with the legal speed Vl of the overtaking lane P2 as a limit, and then exits the subroutine. .

  In addition, as such a lane change cancellation determination, the subsequent vehicle speed Vc, the following inter-vehicle distance Lc, and the target acceleration At are determined in series, and instead of the above-described control in which various determinations are made based on these determination results. Various determinations can be made based on the determination results using these parameters comprehensively. In this case, for example, the driving support device 2 may determine the relative distance between the own vehicle and the following vehicle (inter-vehicle distance Lc) S, the relative speed V between the own vehicle and the following vehicle, and the relative acceleration A between the own vehicle and the following vehicle. Is used to calculate the expected time T until the following vehicle catches up with the host vehicle using the following equation (1).

S = V · T + (1/2) · A · T ² (1)
Then, the driving support device 2 sets various threshold values (allowance time) from the estimated required time until the host vehicle overtakes the preceding vehicle, and compares the threshold value with the expected time T, thereby making the above-described various determinations. It is also possible to perform.

  In the main routine of FIG. 3, when the process proceeds from step S102 to step S104, the driving support device 2 mainly determines in the overtaking execution / cancellation determination unit 40 whether or not to cancel the overtaking with respect to the preceding vehicle currently being executed. . This overtaking stop determination is executed, for example, according to the flowchart of the overtaking stop determination subroutine shown in FIG. When the subroutine starts, in step S301, the driving support device 2 checks whether or not the host vehicle traveling in the overtaking lane P2 has overtaken the preceding vehicle B1 running along the traveling lane P1.

  If it is determined in step S301 that the host vehicle has overtaken the preceding vehicle B1, the driving assistance apparatus 2 proceeds to step S308.

  On the other hand, if it is determined in step S301 that the host vehicle has not overtaken the preceding vehicle B1, the driving assistance device 2 proceeds to step S302 and determines whether or not a subsequent vehicle is currently detected on the overtaking lane P2. Investigate.

  If it is determined in step S302 that no succeeding vehicle is detected on the overtaking lane P2, the driving assistance device 2 proceeds to step S305.

  On the other hand, if it is determined in step S302 that the following vehicle C1 is detected on the overtaking lane P2, the driving assistance device 2 proceeds to step S303 and estimates the vehicle speed Vce of the following vehicle C1 after the set time t2. At the same time, a threshold value Vceth for the estimated vehicle speed Vce is set.

  Here, for example, the driving support device 2 is required until the relative positional relationship between the host vehicle and the preceding vehicle B1 becomes a predetermined relationship based on the current vehicle speed Va of the host vehicle and the vehicle speed Vb of the preceding vehicle B1. The time (for example, the time required until the host vehicle overtakes the preceding vehicle B1) is set as the set time t2, and the estimated vehicle speed Vce is calculated based on the change in the vehicle speed Vc of the subsequent vehicle C1 at the set time t2. Further, the driving support device 2 sets, for example, the legal vehicle speed Vl of the overtaking lane P2 as the threshold value Vceth for the estimated vehicle speed Vce. As the setting threshold Vceth, for example, a value obtained by adding a predetermined vehicle speed to the current vehicle speed Va within a range not exceeding the legal speed Vl can be set.

  Then, when the process proceeds from step S303 to step S304, the driving support device 2 checks whether or not the estimated vehicle speed Vce is equal to or higher than the set threshold value Vceth.

  In step S304, when it is determined that the estimated vehicle speed Vce of the subsequent vehicle C1 is equal to or higher than the set threshold value Vceth, the driving support device 2 determines that the subsequent vehicle C1 becomes the own vehicle while the own vehicle overtakes the preceding vehicle B1. On the other hand, it is determined that there is a possibility of abnormal approach, and the process proceeds to step S307.

  On the other hand, when it is determined in step S304 that the estimated vehicle speed Vce of the subsequent vehicle C1 is less than the set threshold value Vcrth, the driving support device 2 detects that the subsequent vehicle C1 is abnormal with respect to the own vehicle while overtaking the preceding vehicle B1. It is determined that the possibility of approaching is low, and the process proceeds to step S305.

  When the process proceeds from step S302 or step S304 to step S305, the driving support device 2 estimates the vehicle speed Vbe of the preceding vehicle B1 after the set time t3 and sets a threshold value Vbeth for the estimated vehicle speed Vbe.

  Here, the driving support device 2 sets the set time t3 by, for example, the same calculation as the above-described set time t2, and calculates the estimated vehicle speed Vbe based on the change in the vehicle speed Vb of the preceding vehicle B1 at the set time t3. To do. Further, the driving support device 2 sets, for example, the legal vehicle speed Vl of the overtaking lane P1 as the threshold value Vbeth for the estimated vehicle speed Vbe. As the set threshold value Vbeth, for example, a value obtained by adding a predetermined vehicle speed to the current vehicle speed Va within a range not exceeding the legal speed Vl can be set.

  Then, when the process proceeds from step S305 to step S306, the driving support device 2 checks whether or not the estimated vehicle speed Vbe is equal to or higher than the set threshold value Vbeth.

  If it is determined in step S306 that the estimated vehicle speed Vbe of the preceding vehicle B1 is equal to or higher than the set threshold value Vbeth, the driving support device 2 may be difficult to overtake because the preceding vehicle B1 has started acceleration. It is determined that it is preferable to return to the original following state rather than overtaking the preceding vehicle B1, and the process proceeds to step S307. That is, the driving support device 2 according to the present embodiment determines not to overtake in consideration of the relationship with the preceding vehicle B1 as well as the relationship with the following vehicle C1.

  On the other hand, if it is determined in step S306 that the estimated vehicle speed Vbe of the preceding vehicle B1 is less than the set threshold value Vbeth, the driving assistance device 2 proceeds to step S308.

  If it progresses from above-mentioned step S304 or step S306 to step S307, the driving assistance apparatus 2 will investigate whether the return space of the own vehicle exists behind the preceding vehicle B1 in the original driving lane P1.

  If it is determined in step S307 that there is a return space for the host vehicle behind the preceding vehicle B1, the driving support device 2 proceeds to step S309, stops overtaking (passing) the preceding vehicle B1, and returns to the original travel. After determining that the vehicle should return to the lane P1, the subroutine is exited.

  On the other hand, if it is determined in step S307 that there is no return space for the host vehicle behind the preceding vehicle B1, the driving assistance device 2 proceeds to step S308.

  When the process proceeds from step S306 or step S307 to step S308, the driving support device 2 determines that the overtaking control for the preceding vehicle B1 is to be continued, and then exits the subroutine.

  In the main routine of FIG. 3, when the process proceeds from step S103 or step S104 to step S105, the driving support device 2 determines to stop the overtaking control in step S103 or step S104 (that is, cancels the lane change). Or a determination to stop overtaking the preceding vehicle B1).

  If it is determined in step S105 that it has not been determined to stop the overtaking control, the driving support apparatus 2 proceeds to step S106 and performs overtaking control through the automatic steering unit 50, the acceleration / deceleration control unit 60, and the like. After execution, the process proceeds to step S108.

  On the other hand, when the process proceeds from step S101 or step S105 to step S107, the driving support device 2 executes the overtaking stop control for returning to the original travel lane P1 through the automatic steering unit 50, the acceleration / deceleration control unit 60, and the like. The process proceeds to step S108.

  If it progresses to step S108 from step S106 or step S107, the driving assistance apparatus 2 will investigate whether the above-mentioned overtaking control or overtaking stop control was completed.

  If it is determined in step S108 that the overtaking control or overtaking stop control has not been completed, the driving support device 2 returns to step S101.

  On the other hand, when it is determined in step S108 that the overtaking control or the overtaking stop control has been completed, the driving support device 2 ends the routine.

  According to such an embodiment, when the host vehicle 1 determines that the preceding vehicle B1 can be overtaken and changes its lane to the overtaking lane P2, the overtaking environment monitoring unit 30 causes the following vehicle C1 to enter the overtaking lane P2. Is detected by the overtaking execution / cancellation determination unit 40 based on the traveling state of the following vehicle C1 to cope with the situation change after the overtaking start for the preceding vehicle B1. Thus, it is possible to appropriately determine whether the overtaking is stopped or executed, and to realize driving support for the vehicle without causing the driver anxiety.

  In this case, specifically, the overtaking execution / cancellation determination unit 40 has the vehicle speed Vc of the following vehicle C1 equal to or higher than the set threshold value Vcth1, and it is difficult to avoid the approach of the following vehicle C1 depending on the acceleration of the own vehicle. By determining that the lane change is to be canceled when it is determined that there is, it is possible to realize the lane change cancellation determination that matches the driver's feeling.

  Further, the overtaking execution / cancellation determination unit 40 has an inter-vehicle distance Lc that is equal to or greater than a set threshold value Lcth1 after a set time t1 with the following vehicle C1, and it is difficult to avoid the approach of the following vehicle C1 depending on the acceleration of the own vehicle. By determining that the lane change is to be canceled when it is determined that there is, it is possible to realize the lane change cancellation determination that matches the driver's feeling.

  In addition, the overtaking execution / cancellation determination unit 40 has a target acceleration At for maintaining the inter-vehicle distance from the subsequent vehicle C1 equal to or greater than the set threshold value Atth1, and it is difficult to avoid the approach of the subsequent vehicle C1 due to acceleration of the own vehicle. By determining that the lane change is to be stopped, it is possible to realize the lane change cancellation determination that matches the driver's feeling.

  Further, even if the overtaking execution / cancellation determination unit 40 determines that it is difficult to avoid the approach with the following vehicle C1 due to acceleration of the host vehicle, there is no return space in the original travel lane P1. When the determination is made, the determination to cancel the lane change is not performed as the second best measure, so that the determination to cancel the lane change that matches the driver's feeling can be realized.

  Similarly, when it is determined that the preceding vehicle B1 can be overtaken and the own vehicle 1 moves to the overtaking lane P2 and overtakes the preceding vehicle B1, the overtaking environment monitoring unit 30 detects the following vehicle C1 in the overtaking lane P2. When this is done, the situation change after the start of overtaking of the vehicle with respect to the preceding vehicle B1 is performed by the overtaking execution / cancellation determination unit 40 determining whether or not to stop overtaking (overtaking) based on the traveling state of the following vehicle C1. Accordingly, it is possible to appropriately determine whether to stop or execute overtaking, and to realize driving support for the vehicle that does not give the driver anxiety.

  In this case, specifically, the overtaking execution / cancellation determination unit 40 estimates the vehicle speed of the following vehicle C1 after the set time t2 (calculates the estimated vehicle speed Vce), and the estimated vehicle speed Vce is equal to or higher than the set threshold value Vceth. At this time, it is possible to realize a decision to stop overtaking that matches the driver's feeling by making a determination to stop overtaking.

  Further, even if the overtaking execution / cancellation determination unit 40 determines that there is no return space in the original travel lane P1 even if the estimated vehicle speed Vce is equal to or higher than the set threshold value Vceth, the overtaking execution / cancellation determination unit 40 does not perform determination to cancel the overtaking. Thus, it is possible to realize the overtaking stop determination that matches the driver's feeling.

  The overtaking execution / cancellation determination unit 40 estimates the vehicle speed of the preceding vehicle B1 after the set time t3 (calculates an estimated vehicle speed Vbe), and cancels the overtaking when the estimated vehicle speed Vbe is equal to or higher than the set threshold value Vbeth. By making this determination, it is possible to realize the overtaking stop determination that matches the driver's feeling.

  Further, even if the overtaking execution / cancellation determination unit 40 determines that there is no return space in the original travel lane P1 even if the estimated vehicle speed Vbe is equal to or higher than the set threshold value Vbeth, the overtaking execution / cancellation determination unit 40 does not perform determination to cancel the overtaking. Thus, it is possible to realize the overtaking stop determination that matches the driver's feeling.

  In addition, this invention is not limited to each embodiment described above, A various deformation | transformation and change are possible, and they are also in the technical scope of this invention.

1 ... Vehicle (own vehicle)
DESCRIPTION OF SYMBOLS 2 ... Driving assistance device 3 ... Stereo camera unit 3a, 3b ... Camera 4 ... Side radar unit 5 ... Back radar unit 6 ... Traffic information communication unit 10 ... Vehicle speed sensor 11 ... Steering angle sensor 12 ... G sensor 20 ... Passing judgment part DESCRIPTION OF SYMBOLS 30 ... Overtaking environment monitoring part 40 ... Overtaking execution / cancellation judgment part 50 ... Automatic steering part 60 ... Acceleration / deceleration control part 70 ... Overtaking information output part

Claims (4)

It is determined whether or not it is possible to overtake the preceding vehicle traveling in front of the traveling lane of the own vehicle, and if it can be overtaken, the original vehicle is moved from the traveling lane to the adjacent lane and overtakes the original vehicle. A driving support device for a vehicle that executes the overtaking control of the preceding vehicle to return to the travel lane ,
An overtaking environment monitoring unit for monitoring a change in a traveling environment centered on the overtaking lane when the host vehicle moves to the overtaking lane and overtakes the preceding vehicle by judging that the preceding vehicle can be overtaken; ,
Whether or not the overtaking environment monitoring unit detects a succeeding vehicle on the overtaking lane and cancels the overtaking based on the traveling state of the following vehicle and returns to the rear of the preceding vehicle in the original traveling lane and a passing run / stop determination unit that determines,
The overtaking execution / cancellation determination unit estimates a vehicle speed of the subsequent vehicle after a set time, and determines that the overtaking is stopped when the estimated vehicle speed of the subsequent vehicle is equal to or higher than a set threshold. A vehicle driving support device.   The overtaking execution / cancellation determination unit does not make a determination to cancel the overtaking when it is determined that there is no return space in the original lane even if the estimated vehicle speed of the succeeding vehicle is equal to or higher than a set threshold. The vehicle driving support device according to claim 1.   The overtaking execution / cancellation determination unit estimates a vehicle speed of the preceding vehicle after a set time, and determines that the overtaking is stopped when the estimated vehicle speed of the preceding vehicle is equal to or higher than a set threshold value. The vehicle driving support device according to claim 1 or 2.   The overtaking execution / cancellation determination unit does not make a determination to cancel the overtaking when it is determined that there is no return space in the original lane even if the estimated vehicle speed of the preceding vehicle is equal to or higher than a set threshold. The vehicle driving support device according to claim 3.

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